JP2021133840A - Movable body, transportation device and component implement system - Google Patents

Abstract

To improve stability of travel attitude.SOLUTION: A movable body 1 includes: a body 10; a drive wheel 2 supported to the body 10; at least a pair of auxiliary wheels 3; and a link mechanism 20. The link mechanism 20 connects between the pair of auxiliary wheels 3. The link mechanism 20 is supported to the body 10 while being rotatable about a rotation shaft 22 positioned along a travel surface B1 on which the drive wheel 2 and the pair of auxiliary wheels 3 travel.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to mobiles, transport devices, and component mounting systems. More specifically, the present disclosure relates to a moving body, a transport device, and a component mounting system traveling on a traveling surface.

Patent Document 1 discloses a transport vehicle that moves while supporting a load such as a distribution cart. The substrate of the transport vehicle includes two driving wheels arranged at predetermined intervals and two driven wheels arranged at a narrower interval than the driving wheels in parallel with the direction in which the driving wheels are arranged.

Japanese Unexamined Patent Publication No. 2020-15403

If the transport vehicle tries to turn at a steep angle while the transport vehicle is moving alone, the wheels inside the curve (driving wheels and driven wheels) may rise and the running posture may become unstable. was there.

An object of the present disclosure is to provide a moving body, a transport device, and a component mounting system capable of improving the stability of a traveling posture.

The moving body of one aspect of the present disclosure includes a main body, drive wheels supported by the main body, at least a pair of auxiliary wheels, and a link mechanism. The link mechanism connects between the pair of training wheels and is supported by the main body in a state in which the drive wheels and the pair of training wheels can rotate around a rotation axis along a traveling surface on which the driving wheels and the pair of training wheels travel.

The transport device of one aspect of the present disclosure is a transport device using the moving body, and the main body has a holding portion for holding the object to be transported.

The component mounting system of one aspect of the present disclosure includes at least one component mounting machine that mounts components on a substrate. The component mounting machine includes a feeder carriage for supplying the components and a mounting body including a mounting head for mounting the components on the board. The feeder trolley is the object to be transported, which is transported to the mounting body by the transport device.

According to the present disclosure, it is possible to improve the stability of the running posture.

FIG. 1 is a plan view schematically showing a transport device and an object to be transported according to an embodiment. FIG. 2 is a schematic perspective view of the transport device of the same. FIG. 3 is a schematic plan view of the transport device of the same. FIG. 4 is a schematic front view of the transfer device of the same. FIG. 5 is a schematic block diagram of the entire system including the transfer device of the same. FIG. 6 is a schematic perspective view of the transport device of the same. FIG. 7 is a plan view schematically showing the transfer device and the component mounting system of the same. FIG. 8 is a schematic side view of the transport device of the same. FIG. 9 is a schematic front view of a link mechanism included in the transport device according to the first modification of the embodiment. FIG. 10 is a schematic front view of the link mechanism when the transport device of the same is traveling on a traveling surface having a step.

The embodiments described below are merely one of the various embodiments of the present disclosure. The embodiments of the present disclosure are not limited to the following embodiments, and may include other embodiments. Further, the following embodiments can be variously modified according to the design and the like as long as they do not deviate from the technical idea of the present disclosure.

(Embodiment)
(1) Outline As shown in FIGS. 1 to 4, the moving body 1 according to the present embodiment includes a main body 10, a driving wheel 2 supported by the main body 10, at least a pair of auxiliary wheels 3, and a link mechanism 20. And. The link mechanism 20 connects between the pair of training wheels 3. The link mechanism 20 is supported by the main body 10 in a state in which it can rotate around the rotating shaft 22. The rotating shaft 22 is along a traveling surface B1 on which the driving wheels 2 and the pair of training wheels 3 travel.

Here, the traveling surface B1 is a surface having a predetermined range including a range in which the driving wheels 2 and the auxiliary wheels 3 of the moving body 1 touch the ground among the surfaces on which the moving body 1 moves. The fact that the rotating shaft 22 is along the traveling surface B1 may include a state in which the rotating shaft 22 is parallel to the traveling surface B1. It should be noted that the fact that the rotating shaft 22 is parallel to the traveling surface B1 is not limited to the fact that the rotating shaft 22 and the normal line of the traveling surface B1 intersect vertically, and that they are substantially parallel to the human eye. If it can be regarded, the angle at which the rotation shaft 22 and the normal of the traveling surface B1 intersect may deviate from a right angle by several degrees. The normal line of the traveling surface B1 is a normal line with respect to the average surface of the surfaces in a predetermined range including the existence position of the moving body 1.

In the present embodiment, for example, even when the main body 10 is tilted by an external force applied to the main body 10 due to acceleration / deceleration during curve traveling, the pair of training wheels 3 are supported by the main body 10 via the link mechanism 20. The training wheels 3 are less likely to lift from the traveling surface B1. For example, when there are a plurality of drive wheels 2, even if a part of the plurality of drive wheels 2 is lifted from the traveling surface B1, at least one driving wheel is in contact with the traveling surface B1 because the pair of auxiliary wheels 3 are in contact with the traveling surface B1. The main body 10 is supported by the 2 and the pair of training wheels 3. Therefore, according to the moving body 1 of the present embodiment, since the main body 10 is grounded by at least one driving wheel 2 and the pair of auxiliary wheels 3, there is an advantage that the stability of the traveling posture of the main body 10 is improved. There is.

In the following, as shown in FIG. 1, a case where the moving body 1 according to the present embodiment is a transport device X1 for transporting the object to be transported A1 will be described as an example. The object to be transported A1 has wheels A11, and is configured to be able to travel on the traveling surface B1 together with the conveying device X1 by the wheels A11.

The transport device X1 is installed in facilities such as factories, distribution centers (including distribution centers), offices, stores, schools, and hospitals. The traveling surface B1 is a surface on which the transport device X1 moves. When the transport device X1 moves in the facility, the floor surface or the like of the facility becomes the traveling surface B1, and when the transport device X1 moves outdoors. The ground or the like becomes the running surface B1. In the following, a case where the transport device X1 is used in a factory where the component mounting system W1 is installed will be described as an example. The component mounting system W1 will be described in "(2.3) Component mounting system".

(2) Details Hereinafter, a transfer device X1 using the moving body 1 according to the present embodiment and a component mounting system W1 (see FIG. 7) including the transfer device X1 will be described in detail with reference to the drawings.

(2.1) Overall Configuration The transport device X1 of the present embodiment is configured to be able to communicate with the host system 5 (see FIG. 5), for example. The term "communicable" in the present disclosure means that information can be exchanged directly or indirectly via a network NT1 or a repeater 6 by an appropriate communication method of wired communication or wireless communication. In the present embodiment, the host system 5 and the transport device X1 can communicate with each other in both directions, and information is transmitted from the host system 5 to the transport device X1 and information from the transport device X1 to the host system 5 is transmitted. Both transmissions are possible.

The host system 5 is a system for comprehensively controlling one or a plurality of transport devices X1, and is realized by, for example, a server device. The host system 5 indirectly controls the plurality of transport devices X1 by issuing instructions to each of the plurality of transport devices X1. Specifically, when the host system 5 issues a transport instruction for the transported object A1 to the transport device X1, the transport device X1 autonomously moves the transported object A1 to the target position in response to the transport instruction. To do.

In the present embodiment, the host system 5 mainly comprises a computer system having one or more processors and memories. Therefore, the function of the host system 5 is realized by executing the program recorded in the memory by one or more processors. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card. In the present embodiment, the host system 5 is not an indispensable configuration and can be omitted as appropriate, and the transport device X1 transports the object to be transported A1 based on the transport instructions input directly or via the operation terminal. May be performed autonomously.

(2.2) Moving body Next, the moving body 1 used as the transport device X1 will be described.

As shown in FIGS. 1, 6, and 7, the moving body 1 travels unmanned to convey the object to be transported A1.

As described above, the moving body 1 includes a main body 10, a driving wheel 2, a pair of training wheels 3, and a link mechanism 20. Further, as shown in FIG. 5, the mobile body 1 of the present embodiment includes a drive wheel unit 30 for driving the drive wheels 2, a control device 11, a power supply 12, a communication unit 13, and a detection unit 14. Further prepared.

The moving body 1 has a plurality of (a pair in the present embodiment) driving wheels 2 arranged in the left-right direction of the moving body 1. The "left-right direction" referred to in the present disclosure is the longitudinal direction of the moving body 1 and is the X-axis direction in FIG. The front-rear direction of the moving body 1 is a direction orthogonal to each of the left-right direction and the vertical direction (normal direction of the traveling surface B1), that is, the lateral direction of the moving body 1, and is the Y-axis direction in FIG. When the moving body 1 transports the transported object A1, a gripping mechanism 18 for connecting the transported 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 to be transported A1 connected to the moving body 1 by using the gripping mechanism 18. The gripping mechanism 18 is detachably connected to the transported object A1 by gripping at least a part of the transported object A1 traveling on the traveling surface B1 by, for example, hooking or fitting. The gripping mechanism 18 detachably connects the main body 10 and the object to be transported A1 with a degree of freedom in the vertical direction, for example. Here, the object to be transported A1 is connected to the gripping mechanism 18 automatically by the moving body 1 or other device, or by a person. Further, the shape of the gripping mechanism 18 and the number of gripping mechanisms 18 included in the moving body 1 (conveying device X1) can be changed as appropriate. In the present embodiment, the moving body 1 includes a gripping mechanism 18 as a holding portion for holding the object to be transported A1, but the holding portion is not limited to the gripping mechanism 18. The moving body 1 may have, for example, an electromagnet as a holding portion, and may hold the transported object A1 by attracting the transported object A1 with the 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 is referred to as the front, and the opposite direction is referred to as the rear. When the moving body 1 transports the transported object A1, the moving body 1 leads the transported object A1 to pull the transported object A1, and the moving body 1 pushes the transported object A1 with the transported object A1 at the head. There is a way of running. In general, the traveling state in which the transported object A1 is towed is more stable than the traveling mode in which the transported object A1 is pushed from the rear side. Therefore, the moving body 1 usually pushes the transported object A1. Tow and move. When the moving body 1 pulls the object to be transported A1 and moves, the positive direction in the Y-axis direction is the front side, and the positive direction in the X-axis direction is the right side. However, these directions are examples, and are not intended to limit the directions when the moving body 1 is used. In addition, the arrows indicating each direction in the drawing are shown only for the sake of explanation, and are not accompanied by an entity.

The main body 10 of the moving body 1 is formed in a rectangular parallelepiped shape as shown by a dotted line in FIG. A drive wheel 2 and a pair of training wheels 3 are arranged at the lower part of the main body 10. In the present embodiment, the main body 10 is provided with a pair of drive wheels 2, and the pair of drive wheels 2 and the pair of auxiliary wheels 3 are arranged at the four corners of the virtual quadrangle S1 (see FIG. 1) in a plan view. .. The pair of training wheels 3 are located at both ends of one side E1 of the two opposing sides E1 and E2 of the virtual quadrangle S1, and the pair of driving wheels 2 are the other side E2 of the two opposing sides E1 and E2. A pair of driving wheels 2 and a pair of training wheels 3 are arranged so as to be located at both ends of the above.

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. The number of drive wheels 2 is not limited to two, and may be three or more. That is, the main body 10 may be provided with at least a pair of drive wheels 2, and is configured to move on the traveling surface B1 by at least a pair of drive wheels 2.

In the present embodiment, each of the left drive wheel 2L and the right drive wheel 2R also serves as a steering wheel. The drive mechanism that drives the left drive wheel 2L and the steering mechanism that changes the direction of the left drive wheel 2L are integrated as the left drive wheel unit 30L. Further, a drive mechanism for driving the right drive wheel 2R and a steering mechanism for changing the direction of the right drive wheel 2R are integrated as a right drive wheel unit 30R. That is, the drive wheel unit 30 includes a left drive wheel unit 30L and a right drive wheel unit 30R.

The left drive wheel unit 30L controls the rotation and steering angle of the left drive wheel 2L. As shown in FIG. 2, the left drive wheel unit 30L includes a drive motor 31L that rotates the left drive wheel 2L in the circumferential direction and a steering motor 33L that changes the direction (rolling direction) of the left drive wheel 2L. I have. The steering motor 33L is fixed to the main body 10 via the bracket 34L. The steering motor 33L changes the direction of the left drive wheel 2L by rotating the bracket 32L to which the drive motor 31L is fixed in a plane parallel to the traveling surface B1. That is, the left drive wheel unit 30L and the left drive wheel 2L supported by the left drive wheel unit 30L are fixed to the main body 10 via the bracket 34L and the like. Here, in the left drive wheel unit 30L, in response to a control command from the control device 11, the steering motor 33L changes the left drive wheel 2L in the direction instructed by the control command, and the drive motor 31L changes the left drive wheel 2L. Rotate at the rotational torque or rotational speed specified by the control command.

The right drive wheel unit 30R controls the rotation and steering angle of the right drive wheel 2R. As shown in FIG. 2, the right drive wheel unit 30R includes a drive motor 31R that rotates the right drive wheel 2R in the circumferential direction and a steering motor 33R that changes the direction (rolling direction) of the right drive wheel 2R. I have. The steering motor 33R is fixed to the main body 10 via the bracket 34R. The steering motor 33R changes the direction of the right drive wheel 2R by rotating the bracket 32R to which the drive motor 31R is fixed in a plane parallel to the traveling surface B1. That is, the right drive wheel unit 30R and the right drive wheel 2R supported by the right drive wheel unit 30R are fixed to the main body 10 via the bracket 34R and the like. Here, in the right drive wheel unit 30R, in response to a control command from the control device 11, the steering motor 33R changes the right drive wheel 2R in the direction instructed by the control command, and the drive motor 31R changes the right drive wheel 2R. Rotate at the rotational torque or rotational speed specified by the control command.

In the present embodiment, a support portion that rotatably supports the drive wheels 2 is fixed to the main body 10. The support portion includes, for example, brackets 34L, 34R and the like. Each of the pair of drive wheels 2 is rotatably supported by a support portion and is fixed to the main body 10 via the support portion. Therefore, for example, the main body 10 is tilted by an external force applied to the main body 10 during acceleration / deceleration. In this case, a part of the pair of drive wheels 2 (left drive wheel 2L or right drive wheel 2R) may be lifted. In the present embodiment, since the pair of training wheels 3 are supported by the main body 10 via the link mechanism 20, the pair of training wheels 3 can be grounded to the traveling surface B1 even when the main body 10 is tilted, and the pair of auxiliary wheels 3 can be grounded. Since the auxiliary wheels 3 and at least one drive wheel 2 are in contact with each other, the traveling state of the main body 10 can be stabilized.

The control device 11 of the moving body 1 controls the right drive wheel unit 30R to drive the right drive wheel 2R individually, and controls the left drive wheel unit 30L to drive the left drive wheel 2L individually. That is, since each of the pair of drive wheels 2 (right drive wheel 2R and left drive wheel 2L) can be steered individually, by steering the pair of drive wheels 2 individually, the moving body 1 can be moved in a desired direction. Can be moved. In the present embodiment, each of the pair of drive wheels 2 also serves as a steering wheel, and the number of wheels included in the moving body 1 can be reduced.

The pair of auxiliary wheels 3 are driven wheels whose direction changes according to the moving direction of the moving body 1. Here, the training wheels 3 include free wheels in which the direction of the axle 3A is variable. That is, each of the pair of training wheels 3 is, for example, a universal wheel (so-called universal caster) in which the axle 3A that rotatably supports the wheels can move 360 degrees in the entire circumferential direction in a plane parallel to the traveling surface B1. be. The free wheel used as the training wheel 3 is not limited to the free wheel in which the direction of the axle 3A is variable, and may be a ball caster in which the sphere serving as the wheel can rotate in any direction.

Here, the pair of training wheels 3 are connected via a link mechanism 20. The link mechanism 20 has a rectangular plate-shaped fixing piece 25 fixed to the main body 10 of the moving body 1, and two support pieces 23, 23 protruding upward from the front side and the rear side of the fixing piece 25. .. Further, the link mechanism 20 rotates around the rotating shaft 22 and the rotating shaft 22 whose both ends are supported by the two supporting pieces 23, 23 so as to be parallel to the lower surface (that is, the traveling surface B1) of the main body 10. A rod 21 supported by the link mechanism 20 is further provided as possible.

Further, the moving body 1 of the present embodiment is a coil as an elastic body that generates a restoring force that returns the link mechanism 20 (rod 21) to the neutral position when the link mechanism 20 (specifically, the rod 21) moves from the neutral position. A spring 24 is further provided. Between the rod 21 and the fixed piece 25, one coil spring 24 is arranged on each of the left and right sides with respect to the rotating shaft 22. When the main body 10 is tilted with respect to the traveling surface B1, the rod 21 rotates in one direction about the rotation shaft 22. Therefore, one of the coil springs 24 is compressed, so that the restoring force for returning the rod 21 to the neutral position is generated. appear. As a result, the main body 10 is less likely to tilt with respect to the traveling surface B1, and the lifting of the wheels can be suppressed. The moving body 1 of the present embodiment includes a coil spring 24 as an elastic body that generates a restoring force for returning the link mechanism 20 to the neutral position, but the elastic body is not limited to the coil spring 24 and may be a leaf spring or the like. ..

Further, the coil spring 24 may be, for example, an elastic member having a damper function in which a film of a viscous resin material is formed on the surface, and by attenuating the amplitude of expansion and contraction of the coil spring 24 over time, the rod 21 The duration of rotational movement can be shortened. That is, it is preferable that the moving body 1 further includes a damper that generates a damping force that attenuates the rotation of the link mechanism 20 (specifically, the rod 21), and by suppressing the continuous rotational movement of the rod 21. It is possible to suppress the continuous vibration of the main body 10 with respect to the traveling surface B1 and stabilize the traveling posture of the moving body 1. The damper is not limited to the coil spring 24 having a viscous resin material film formed on the surface thereof, and may be a shock absorber or the like that attenuates the rotation of the rod 21 by utilizing the viscosity of the fluid. Any mechanism that can be generated can be changed as appropriate.

In the present embodiment, the rotation shaft 22 is parallel to the traveling direction of the main body 10 (specifically, the traveling direction when the main body 10 moves in the front-rear direction). As a result, the rod 21 of the link mechanism 20 rotates in a plane orthogonal to the traveling direction of the main body 10, so that the pair of training wheels 3 supported at both ends of the rod 21 are planes orthogonal to the traveling direction of the main body 10. It is movable within. When the main body 10 moves in the front-rear direction, the pair of auxiliary wheels 3 are arranged on both sides in the left-right direction of the main body 10, so that the link mechanism 20 can be used even if the traveling surface B1 has an inclination or a step in the left-right direction. By rotating around the rotating shaft 22, the pair of training wheels 3 can be surely brought into contact with the traveling surface B1.

The detection unit 14 detects the behavior of the main body 10, the surrounding situation of the main body 10, and the like. The "behavior" as used in the present disclosure means an operation, a state, and the like. That is, the behavior of the main body 10 is the operating state of the main body 10 indicating that the main body 10 is running / stopped, the moving distance and running time of the main body 10, the speed (and speed change) of the main body 10, and the acceleration acting on the main body 10. And the posture of the main body 10.

The detection unit 14 includes sensors such as a LiDAR (Light Detection and Ranging) 141 for detecting an object existing around the main body 10 and a magnetic sensor 142 for detecting a guidance line provided on the traveling surface B1. include.

The LiDAR 141 detects the presence or absence of an object around the main body 10 and the position of the object if it exists, and outputs the detection result to the control device 11. The control device 11 can avoid a collision with the object based on the information of the object detected by the LiDAR 141.

Here, it is preferable that the detection unit 14 (for example, LiDAR 141 in this embodiment) for detecting an object existing around the main body 10 is supported by the link mechanism 20. That is, the LiDAR 141 is preferably supported by the rod 21 of the link mechanism 20, and even when the main body 10 is tilted with respect to the traveling surface B1, it is possible to prevent the LiDAR 141 from being tilted with respect to the traveling surface B1. Therefore, it is possible to reduce the possibility that the LiDAR 141 erroneously detects the traveling surface B1 as an object existing around the main body 10. The detection unit 14 for detecting an object existing around the main body 10 is not limited to LiDAR 141. This type of sensor may be a sensor that detects an object by using at least one of sound waves, light, and radio waves.

The induction line provided on the traveling surface B1 is formed of rubber or the like containing a hard magnetic material such as a permanent magnet material, and is formed on the surface of the traveling surface B1 in a line shape according to the traveling path of the moving body 1. There is.

The magnetic sensor 142 magnetically detects the induction line provided on the traveling surface B1. Based on the detection result of the magnetic sensor 142, the control device 11 controls the right drive wheel unit 30R and the left drive wheel unit 30L so as to pass over the induction line, and moves the moving body 1.

As described above, in the present embodiment, the two auxiliary wheels 3 are arranged on both the left and right sides in the front part of the main body 10, and the two drive wheels 2 are arranged on both the left and right sides in the rear part of the main body 10 (the side close to the object to be transported A1). Is located in. That is, since the wheels (driving wheels 2 and auxiliary wheels 3) are not arranged at the center positions in the left-right direction in the front portion and the rear portion of the main body 10, one magnetic sensor 142 can be arranged at each center position. .. Further, since the wheels are not arranged at the center positions in the front-rear direction on the left side portion and the right side portion of the main body 10, one magnetic sensor 142 can be arranged at each center position. Therefore, based on the detection result of the magnetic sensor 142, when the moving body 1 moves forward or backward so that the central position of the main body 10 in the left-right direction passes over the guide line, the drive wheels 2 and the auxiliary wheels 3 are on the guide line. You can prevent it from passing over. Further, when the moving body 1 moves in the left-right direction so that the central position of the main body 10 in the front-rear direction passes over the guide line based on the detection result of the magnetic sensor 142, the drive wheels 2 and the auxiliary wheels 3 move in the guide line. You can prevent it from passing over. Therefore, when the moving body 1 moves in the front-rear direction or the left-right direction, it is possible to avoid a situation in which the guide line is worn by the drive wheels 2 and the auxiliary wheels 3 passing over the guide line.

In addition, it is not essential that the guide line is provided on the entire traveling path of the moving body 1 on the traveling surface B1, and even if the guiding marker formed of the magnetic material is provided at the key point of the traveling path. Often, the moving body 1 can move while following the guidance marker. Further, the guidance line or guidance marker provided on the traveling surface B1 is not limited to the one that guides the moving body 1 by using magnetism, and the guidance line or guidance marker detected by the image sensor provided on the moving body 1. (For example, a two-dimensional bar code or the like) may be provided on the traveling surface B1. Further, the guidance line or the guidance marker may be detected by a contact type sensor provided on the moving body 1.

Further, the detection unit 14 detects the existing position of the transport device X1 in the predetermined area based on the position information of the surrounding objects detected by the LiDAR 141 and the electronic map information of the predetermined area, and determines the existing position of the existing position. The detection result may be output to the control device 11. Further, the detection unit 14 includes a receiver that receives beacon signals transmitted by radio waves from a plurality of transmitters, detects the current position based on the beacon signals transmitted from the plurality of transmitters, and detects the current position. The result may be output to the control device 11. Here, the plurality of transmitters are arranged at a plurality of locations in a predetermined area where the transport device X1 moves. The detection unit 14 measures the current position of the mobile body 1 based on the positions of the plurality of transmitters and the received radio wave intensity of the beacon signal at the receiver. Further, the detection unit 14 may detect the current position of the mobile body 1 by using a global positioning system such as GPS (Global Positioning System).

The control device 11 has, for example, a microcomputer having one or more processors and memories. In other words, the control device 11 is realized in a computer system having one or more processors and memories. The control device 11 outputs a control command to each drive wheel unit 30 based on, for example, a transfer instruction from the host system 5 and a detection result of the detection unit 14, and controls the direction and rotation of each drive wheel 2. , The moving body 1 is moved in a desired direction and at a desired speed.

The power supply 12 is, for example, a secondary battery. The power supply 12 directly or indirectly supplies electric power to the left drive wheel unit 30L, the right drive wheel unit 30R, the control device 11, the communication unit 13, the detection unit 14, and the like. The transfer device X1 may be supplied with electric power from the outside, and in this case, the transfer device X1 does not have to include the power supply 12.

The communication unit 13 is configured to be able to communicate with the host system 5. In the present embodiment, the communication unit 13 communicates with any of the plurality of repeaters 6 installed in the predetermined area where the transport device X1 moves by wireless communication using radio waves as a medium. Therefore, the communication unit 13 and the host system 5 indirectly communicate with each other via at least the network NT1 and the repeater 6.

Each repeater 6 is a device (access point) that relays communication between the communication unit 13 and the host system 5. The repeater 6 communicates with the host system 5 via the network NT1. In this embodiment, as an example, communication between the repeater 6 and the communication unit 13 does not require Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or a low-power radio that does not require a license. Adopt wireless communication that complies with standards such as (Specified low power wireless). Further, the network NT1 is not limited to the Internet, and for example, a local communication network in a predetermined area to which the transport device X1 moves or in an operating company in the predetermined area may be applied.

(2.3) Component Mounting System As shown in FIG. 7, the transport device X1 of the present embodiment is used in a component mounting system W1 including at least one component mounting machine 9 for mounting components on a substrate.

The component mounting machine 9 includes a feeder carriage 7 (see FIGS. 6 and 7) for supplying components, and a mounting body 8 including a mounting head for mounting the components on a substrate.

The feeder carriage 7 is used to supply parts to the mounting body 8 of the parts mounting machine 9 installed in the factory. The "parts mounting machine" referred to here is a machine that mounts parts on an object such as a substrate. The mounting body 8 includes a mounting head for mounting components on a board. In the present embodiment, the transport device X1 transports the feeder carriage 7 as the object to be transported A1 to the installation location of the mounting body 8 of the component mounting machine 9. This makes it possible to construct the component mounting system W1. In other words, the component mounting system W1 is a system including at least one component mounting machine 9 for mounting components on a board. Then, the feeder carriage 7 is conveyed to the mounting body 8 by the transfer device X1. In the present embodiment, the transport device X1 moves the feeder carriage 7 placed at a certain place in the predetermined area to a position connected to the mounting body 8 in response to an instruction from, for example, the host system 5. When the transport device X1 moves the feeder carriage 7 into the recess 81 provided on the side surface of the mounting body 8, the second connector of the feeder carriage 7 is connected to the first connector provided on the mounting body 8. As a result, the mounting body 8 and the feeder carriage 7 are connected to each other. Then, in a state where the mounting body 8 and the feeder trolley 7 are connected to each other, it becomes possible to supply parts from the feeder trolley 7 to the mounting body 8.

Here, it is preferable that the transport device X1 can be connected to a portion of the feeder carriage 7 on the side opposite to the portion where the parts are discharged to the mounting body 8. In this case, when the feeder carriage 7 is transported to the installation location of the mounting body 8 of the component mounting machine 9, the portion of the feeder carriage 7 for discharging the parts faces the mounting body 8. Therefore, when the feeder carriage 7 is transported to the installation location of the mounting body 8 of the component mounting machine 9, it is not necessary to change the orientation of the feeder carriage 7 so that the discharge portion faces the mounting body 8.

(3) Operation Hereinafter, an example of the operation of the transport device X1 of the present embodiment will be described with reference to the drawings.

The transport device X1 of the present embodiment carries out the work of transporting the transported object A1 by moving together with the transported object A1 connected by the gripping mechanism 18. Here, the gripping mechanism 18 connects the objects to be transported A1 with a degree of freedom in the vertical direction.

When the transport device X1 of the present embodiment does not transport the object to be transported A1 and travels independently, for example, when accelerating or decelerating while traveling on a curve, the inertia such that the main body 10 is tilted forward or backward. Force may be applied to the body 10.

In the present embodiment, since the pair of auxiliary wheels 3 are supported by the main body 10 via the link mechanism 20, when the pair of drive wheels 2 are in contact with the traveling surface B1, the main body 10 is the link mechanism 20. It is supported by the rotating shaft 22 and the pair of driving wheels 2 at three points. Here, as shown in FIG. 3, the center of gravity G1 of the moving body 1 is the positions of the pair of drive wheels 2 (specifically, the ground contact positions of the pair of drive wheels 2) P1 and P2 and the rotation shaft 22 in a plan view. The moving body 1 is designed so as to be located inside the first virtual triangle TR1 having the position P3 as the apex. That is, if the inclination of the moving body 1 is within the permissible range assumed at the time of design, the center of gravity G1 of the moving body 1 is contained inside the virtual triangle TR1, so that there is an advantage that the moving body 1 is less likely to fall. be.

Here, when the moving body 1 accelerates or decelerates while traveling, an inertial force due to acceleration or deceleration acts on the center of gravity G1 of the moving body 1. As shown in FIG. 8, when viewed from a direction (the above-mentioned left-right direction) intersecting the moving direction of the moving body 1 (for example, the direction of the arrow DR1), the moving body 1 acts on the center of gravity G1 when accelerating or decelerating. The positions of the first wheel, the second wheel, and the center of gravity G1 are set so that the combined force vector fits inside the second virtual triangle TR2 whose apex is the first wheel, the second wheel, and the center of gravity G1. There is. The first wheel is the frontmost wheel in the traveling direction among a plurality of wheels including the driving wheels 2 and the auxiliary wheels 3. In the example of FIG. 8, it is training wheels 3. The second wheel is the rearmost wheel in the traveling direction among the plurality of wheels including the drive wheel 2 and the auxiliary wheel 3, and is the drive wheel 2 in the example of FIG. Here, the vector V1 is a composite vector of a first vector that is applied to the center of gravity G1 by gravity and a second vector that is applied to the center of gravity G1 by an inertial force generated by acceleration / deceleration. Since the positions of the first wheel, the second wheel, and the center of gravity G1 are set so that this vector V1 fits inside the second virtual triangle TR2, the inertial force is applied to the moving body 1 by the acceleration / deceleration of the moving body 1. Even if it is added, there is an advantage that the moving body 1 is less likely to fall.

(4) Modified Example The above embodiment is only one of various embodiments of the present disclosure. The above-described embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved.

Hereinafter, modifications of the above embodiment will be listed. The modifications described below can be applied in combination as appropriate.

The mobile body 1 in the present disclosure includes, for example, a computer system as a component of the control device 11. The main configuration of a computer system is a processor and memory as hardware. When the processor executes the program recorded in the memory of the computer system, the function of the mobile body 1 in the present disclosure as the control device 11 is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided. A processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Further, an FPGA (Field-Programmable Gate Array) programmed after the LSI is manufactured, or a logical device capable of reconfiguring the junction relationship inside the LSI or reconfiguring the circuit partition inside the LSI should also be adopted as a processor. Can be done. A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. The computer system referred to here includes a microprocessor having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

In the above embodiment, the plurality of drive wheels 2 also serve as steering wheels, and the drive mechanism and the steering mechanism are integrated as a drive wheel unit 30 (left drive wheel unit 30L and right drive wheel unit 30R). However, the moving body 1 may be provided with steering wheels in addition to the driving wheels 2. The number of drive wheels 2 included in the moving body 1 is not limited to two, and may be one or three or more. Further, although the moving body 1 includes two training wheels 3, the number of training wheels 3 may be three or more.

In the above embodiment, the case where the moving body 1 is the transporting device X1 for transporting the object to be transported A1 has been described as an example, but the moving body 1 is not limited to the transporting device X1. The moving body 1 may be an unmanned robot that performs actions such as security, guidance, and presentation of information while moving on the traveling surface B1.

In the above embodiment, the link mechanism 20 has a rod 21 rotatably supported by the main body 10, and auxiliary wheels 3 are attached to both ends of the rod 21, but the link mechanism 20 can be changed as appropriate. Is.

For example, as shown in FIGS. 9 and 10, the link mechanism 20 may include a parallel link mechanism 20A including four links 21A, 21B, 26A, 26B and deforming so that two opposing links are parallel. ..

The parallel link mechanism 20A includes a link 21A rotatably supported by a rotating shaft 22, a link 21B arranged in parallel with the link 21A, a link 26A connecting the left ends of the links 21A and 21B, and a link 21A, Includes a link 26B that connects the right ends of the 21B. A projecting piece 27A projects to the left from the lower end of the link 26A on the left side, and the training wheels 3 are attached to the projecting piece 27A. Further, a projecting piece 27B projects to the right from the lower end of the link 26B on the right side, and the training wheels 3 are attached to the projecting piece 27B. That is, a pair of training wheels 3 (left training wheels 3L and right training wheels 3R) are supported by two opposing links 26A and 26B of the parallel link mechanism 20A, respectively. Specifically, the left auxiliary wheel 3L is supported by the protruding piece 27A protruding from the lower end of the link 26A, and the right auxiliary wheel 3R is supported by the protruding piece 27B protruding from the lower end of the link 26B.

Here, if there is a step on the traveling surface B1 as shown in FIG. 10 and the heights of the surface 201 on which the right training wheels 3R are mounted and the surface 202 on which the left training wheels 3L are mounted are different, they are parallel. The link mechanism 20A is deformed into a parallel quadrilateral shape while the two opposing links are kept parallel. At this time, since the protruding piece 27A provided with the left auxiliary wheel 3L and the protruding piece 27B provided with the right auxiliary wheel 3R are parallel to the traveling surface B1, the right auxiliary wheel 3R and the left auxiliary wheel The 3L can be reliably grounded to the traveling surface B1, and the traveling posture of the main body 10 of the moving body 1 can be stabilized.

(summary)
As described above, the moving body (1) of the first aspect is linked to the main body (10), the drive wheels (2) supported by the main body (10), and at least a pair of auxiliary wheels (3). The mechanism (20) is provided. The link mechanism (20) connects between the pair of training wheels (3), and the rotation shaft (22) along the traveling surface (B1) on which the driving wheels (2) and the pair of training wheels (3) travel. It is supported by the main body (10) in a state where it can rotate around.

In the moving body (1) of the second aspect, in the first aspect, the rotation axis (22) is parallel to the traveling direction of the main body (10).

In the moving body (1) of the third aspect, at least a pair of driving wheels (2) are provided on the main body (10) in the first or second aspect.

In the moving body (1) of the fourth aspect, in the third aspect, each of the pair of drive wheels (2) can be steered individually.

In the moving body (1) of the fifth aspect, in the third or fourth aspect, the pair of auxiliary wheels (3) and the pair of driving wheels (2) are arranged at the four corners of the virtual quadrangle (S1) in the plan view. NS. The pair of training wheels (3) are located at both ends of one side (E1) of the two opposing sides (E1, E2) of the virtual quadrangle (S1), and the pair of driving wheels (2) are the two opposing sides. It is located at both ends of the other side (E2) of (E1, E2).

In the moving body (1) of the sixth aspect, in any one of the first to fifth aspects, the support portions (34L, 34R) that rotatably support the drive wheels (2) are fixed to the main body (10). There is.

In the moving body (1) of the seventh aspect, when the link mechanism (20) moves from the neutral position in any one of the first to sixth aspects, a restoring force for returning the link mechanism (20) to the neutral position is generated. An elastic body (24) is further provided.

The moving body (1) of the eighth aspect further includes, in any one of the first to seventh aspects, a damper that generates a damping force that damps the rotation of the link mechanism (20).

In the moving body (1) of the ninth aspect, in any one of the first to eighth aspects, the training wheels (3) include free wheels in which the direction of the axle (3A) is variable.

In the moving body (1) of the tenth aspect, at least a pair of driving wheels (2) are provided on the main body (10) in any one of the first to ninth aspects. In a plan view, the center of gravity (G1) of the moving body (1) fits inside the first virtual triangle (TR1) whose vertices are the positions of the pair of drive wheels (2) and the positions of the rotation axes (22). ..

In the moving body (1) of the eleventh aspect, in any one of the first to tenth aspects, the moving body (1) accelerates / decelerates when viewed from the direction intersecting the traveling direction (DR1) of the moving body (1). The first wheel, the second wheel, and the center of gravity ( The first wheel to which the position of G1) is set is the frontmost wheel in the traveling direction (DR1) among a plurality of wheels including the driving wheels (2) and the auxiliary wheels (3). The second wheel is the rearmost wheel in the traveling direction (DR1) among the plurality of wheels including the driving wheels (2) and the auxiliary wheels (3). The second virtual triangle (TR2) is a triangle having the first wheel, the second wheel, and the center of gravity (G1) as vertices.

In the moving body (1) of the twelfth aspect, in any one of the first to eleventh aspects, the detection unit (141) for detecting an object existing around the main body (10) is the link mechanism (20). Is supported by.

In the moving body (1) of the thirteenth aspect, in any one of the first to twelfth aspects, the link mechanism (20) includes four links (21A to 21D) and two opposing links (21A to 21D). Includes a parallel link mechanism (20A) that deforms so that A pair of training wheels (3) are supported by two opposing links (21A to 21D) of the parallel link mechanism (20A).

The transport device (X1) of the fourteenth aspect is a transport device (X1) using any of the moving bodies (1) of the first to thirteenth, and the main body (10) holds the object to be transported (A1). Has a holding part.

In the transport device (1) of the fifteenth aspect, in the fourteenth aspect, the holding portion grips at least a part of the object to be transported (A1) traveling on the traveling surface (B1) (18). including.

The component mounting system (W1) of the sixteenth aspect includes at least one component mounting machine (9) for mounting components on a substrate. The component mounting machine (9) includes a feeder carriage (7) for supplying components and a mounting body (8) including a mounting head for mounting the components on a substrate. The feeder carriage (7) is an object to be transported (A1) that is transported to the mounting body (8) by the transport device (X1) of the 14th or 15th aspect.

The training wheel unit of the seventeenth aspect is the training wheel unit included in the moving body (1) having the driving wheels (2) and the pair of training wheels (3). The pair of training wheels (3) are supported by the main body (10) via the link mechanism (20). The link mechanism (20) connects between the pair of training wheels (3). The link mechanism (20) has a main body (10) that can rotate around a rotation axis (22) parallel to a traveling surface (B1) on which the driving wheels (2) and a pair of training wheels (3) travel. Supported by. It should be noted that the 17th aspect is an aspect that can be carried out by itself, and it is not essential to presuppose any of the 1st to 16th aspects.

The configuration according to the second to thirteenth aspects is not an essential configuration for the moving body (1) and can be omitted as appropriate. The configuration according to the fifteenth aspect is not an essential configuration for the transport device (X1) and can be omitted as appropriate.

1 Moving body 2 Drive wheel 3 Auxiliary wheel 3A Axle 7 Feeder trolley 8 Mounting body 9 Parts mounting machine 10 Body 18 Gripping mechanism 20 Link mechanism 20A Parallel link mechanism 21A to 21D Link 22 Rotating shaft 24 Coil spring (elastic body)
34L, 34R bracket (support part)
141 LiDAR (detector)
A1 Object to be transported B1 Traveling surface DR1 Travel direction E1, E2 Side G1 Center of gravity S1 Virtual quadrangle TR1 First virtual triangle TR2 Second virtual triangle V1 Vector W1 Parts mounting system X1 Transport device

Claims (16)

With the main body
The drive wheels supported by the main body and
With at least a pair of training wheels
A link mechanism that connects between the pair of training wheels and is supported by the main body in a state in which the drive wheels and the pair of training wheels can rotate around a rotation axis along a traveling surface is provided. ,
Mobile body. The axis of rotation is parallel to the traveling direction of the main body,
The mobile body according to claim 1. The main body is provided with at least a pair of the driving wheels.
The mobile body according to claim 1 or 2. Each of the pair of drive wheels can be steered individually.
The moving body according to claim 3. The pair of training wheels and the pair of driving wheels are arranged at the four corners of a virtual quadrangle in a plan view.
The pair of training wheels are located at both ends of one of the two opposing sides of the virtual quadrangle.
The pair of drive wheels are located at both ends of the other side of the two opposing sides.
The mobile body according to claim 3 or 4. A support portion that rotatably supports the drive wheels is fixed to the main body.
The mobile body according to any one of claims 1 to 5. Further provided is an elastic body that generates a restoring force that returns the link mechanism to the neutral position when the link mechanism moves from the neutral position.
The mobile body according to any one of claims 1 to 6. A damper that generates a damping force that attenuates the rotation of the link mechanism is further provided.
The mobile body according to any one of claims 1 to 7. The training wheels include free wheels with variable axle orientation.
The mobile body according to any one of claims 1 to 8. The main body is provided with at least a pair of the driving wheels.
In a plan view, the center of gravity of the moving body is contained inside a first virtual triangle having the positions of the pair of drive wheels and the positions of the rotation axes as vertices.
The mobile body according to any one of claims 1 to 9. When viewed from the direction intersecting the traveling direction of the moving body, the combined vector of the forces acting on the center of gravity of the moving body when the moving body accelerates or decelerates is a plurality of wheels including the driving wheels and the auxiliary wheels. Of these, the first wheel and the second wheel so as to fit inside a second virtual triangle having the frontmost first wheel, the rearmost second wheel, and the center of gravity as the apex in the traveling direction. And the position of the center of gravity is set,
The mobile body according to any one of claims 1 to 10. A detection unit for detecting an object existing around the main body is supported by the link mechanism.
The mobile body according to any one of claims 1 to 11. The link mechanism includes a parallel link mechanism including four links and deforming so that two opposing links are parallel to each other.
The pair of training wheels are supported by two opposing links of the parallel link mechanism.
The mobile body according to any one of claims 1 to 12. A transport device using the moving body according to any one of claims 1 to 13.
The main body has a holding portion for holding an object to be transported.
Transport device. The holding portion includes a gripping mechanism that grips at least a part of the object to be transported running on the traveling surface.
The transport device according to claim 14. Includes at least one component mounter that mounts components on a board
The component mounting machine is
The feeder trolley that supplies the parts and
It has a mounting body including a mounting head for mounting the component on the board.
The feeder carriage is the object to be transported to the mounting body by the transport device according to claim 14 or 15.
Component mounting system.

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