JP7531157B2 - Material Handling System - Google Patents

Description

This disclosure relates to an item transport system.

A parts transport device capable of managing parts appropriately has been proposed (see Patent Document 1). This parts transport device includes a cart having a mounting section on which a tray for supporting parts is mounted and wheels capable of contacting a running surface, and an automated guided vehicle that is connected to the cart via a connecting mechanism so as to be movable relative to the cart and runs on the running surface. The cart enters a passage space provided in an elevator device having a lifting member capable of supporting the tray, and transports the tray between the lifting member and the cart.

JP 2019-91770 A

However, in conventional component mounting systems with component transport devices, attempts have been made to automate the transfer of items using automated guided vehicles, but this requires the installation of a large-scale elevator device, which is complex and expensive. Furthermore, no practical technology has been disclosed for transferring items between manufacturing equipment and automated guided vehicles. For example, if a joint is provided to connect the manufacturing equipment and the automated guided vehicle to each other, the variation in height between the two devices becomes an issue.

The present disclosure was devised in consideration of the above-mentioned conventional situation, and aims to provide an article transport system in which the joints can absorb the height variations between the devices using a simple mechanism.

The present disclosure provides an item transport system that includes at least one manufacturing facility installed on a factory floor, and an item transport device that moves across the factory floor to transport items used in the manufacturing facility, and that uses a docking device consisting of a docking base of the manufacturing facility and a docking section of the item transport device to dock the item transport device to the manufacturing facility and transfer items between the item transport device and the manufacturing facility, the docking device including a guide section that guides the item transport device, which approaches the manufacturing facility from a first direction, while adjusting its position in a second direction that is perpendicular to the first direction in a horizontal plane, a buffer section that absorbs impacts during docking by using the repulsive force of a cushion member to push the item transport device in a direction away from the manufacturing facility, a docking holding section that prevents the docked item transport device from moving away from the manufacturing facility by the repulsive force of the cushion member, and a connector connecting section that aligns and connects the other connector of the item transport device and one connector of the manufacturing facility as the item transport device approaches the manufacturing facility.

According to this disclosure, the joints can absorb the variation in height between the devices using a simple mechanism.

FIG. 1 is a plan view of a factory floor in which a component mounting system according to a first embodiment is installed. FIG. 2 is an overall configuration diagram of the component mounting system shown in FIG. 1. FIG. 3 is a schematic diagram showing a cross-sectional structure of the component mounting system shown in FIG. A perspective view of a pallet with trays placed on it. FIG. 5 is an exploded perspective view of the pallet shown in FIG. A perspective view of a magazine containing pallets A perspective view of the magazine from diagonally below FIG. 3 is a perspective view of the tray part stock device shown in FIG. A schematic diagram of the inside of the tray parts stock device, seen from the aisle side A plan view showing the layout of the tray component stock device and the tray component supply device. Block diagram of tray parts stock device An explanatory diagram of the pallet transport section's operation just before the pallet is pulled out from the pallet stock section An explanatory diagram of the pallet transport section after the pallet has been removed from the pallet stock section An explanatory diagram of the operation of the pallet conveyor when the pull-out device rotates clockwise An explanatory diagram of the operation of the pallet transport unit with a pallet inserted into the tray component supply device. FIG. 2 is a plan view of the slide table device in which the slide table is stored; Perspective view of the slide table FIG. 2 is a plan view of the slide table device with the slide table advanced; Front view of the slide table device seen from the aisle side Conceptual diagram of a reciprocating mechanism using an air cylinder as the reciprocating drive source Conceptual diagram of a movement mechanism using a motor as the movement drive source Conceptual diagram showing the variable stroke structure of the forward/backward mechanism FIG. 1 is a perspective view of a magazine positioned and placed on a slide table; An explanatory diagram of the positioning operation of the slide table, mainly using the X alignment guide. An explanatory diagram of the positioning operation mainly by the Y alignment guide on the slide table FIG. 1 is an overall configuration diagram of an article transport system including an article transport device according to a second embodiment. FIG. 1 is a perspective view of an article transport device; Side cross-sectional view of the article transport device 28B-B cross-sectional view of FIG. A perspective view of the docking base Perspective view of the docking section FIG. 2 is a plan view of a docking unit provided in the article transport device; 32 - C-C cross section Conceptual diagram of the buffer section and docking support section before docking Illustration of horizontal positioning operation by docking Illustration of vertical positioning by docking Conceptual diagram of the docking support unit after docking Perspective view of magazine storage rack FIG. 1 is an explanatory diagram showing support areas of a first support table and a second support table; FIG. 11 is a plan view showing a state in which the slide table is advanced into the magazine storage rack. A perspective view of the holding table FIG. 13 is an enlarged perspective view of a main portion showing a second alignment portion provided on the magazine and a second alignment guide provided on the holding table; A perspective view of the magazine storage rack FIG. 44 is an enlarged plan view of a main part for explaining the operation of the slide lock part shown in FIG. Block diagram showing a control system of an article transport device A flow chart showing the procedure until the power supply for the drive is turned on after docking. FIG. 13 is an explanatory diagram showing the positional relationship between the article transport device and the tray part stock device after docking. Diagram of magazine storage rack positioning height Diagram of magazine delivery operation Flowchart showing the positioning height setting process Illustrative diagram of the detection principle of the reference height sign 11 is a flowchart of a magazine delivery operation showing a procedure for loading a magazine onto a first magazine holding table. FIG. 11 is an explanatory diagram of a carrying-out operation from the tray parts stock device by the processing of the first carrying-in section; FIG. 13 is an explanatory diagram of a loading operation onto a first magazine holding table by a process of the first loading section; FIG. 13 is an explanatory diagram of a loading operation onto a first magazine holding table by a process of the first loading section; 11 is a flowchart of a magazine delivery operation showing a procedure for loading a magazine onto a second magazine holding table. 11 is a flowchart of a magazine delivery operation showing a procedure for unloading a magazine from a second magazine holding table. FIG. 13 is an explanatory diagram of a removal operation from the second magazine holding table by the processing of the second removal unit; FIG. 13 is an explanatory diagram of a removal operation from the second magazine holding table by the processing of the second removal unit; FIG. 11 is an explanatory diagram of a loading operation into a tray parts stock device by processing of the second unloading unit; 11 is a flowchart of a magazine delivery operation showing a procedure for unloading a magazine from a first magazine holding table.

Below, with reference to the drawings as appropriate, a detailed description will be given of the embodiments specifically disclosing the tray component stock device, component mounting system, item transport device, and item transport system according to the present disclosure. However, more detailed description than necessary may be omitted. For example, detailed description of already well-known matters and duplicate description of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

(Embodiment 1)
First, the first embodiment will be described.

Figure 1 is a plan view of a factory floor in which a component mounting system 11 according to embodiment 1 is installed. In the following figures with directional arrows, the X-axis indicates the left-right direction of the component mounting device 13, the Y-axis indicates the front-rear direction of the component mounting device 13, and the Z-axis indicates the up-down direction of the component mounting device 13. The X-axis and Y-axis are orthogonal and contained in a horizontal plane. The Z-axis is contained in a vertical plane that is orthogonal to the horizontal plane.

As shown in FIG. 1, a number of component mounting devices 13 are arranged closely together on the factory floor along an aisle 15 with an aisle width W1. Each component mounting device 13 is provided with a number of parallel board transport conveyors 19, with the X-axis direction being the transport direction of the board 17, extending between the multiple component mounting devices 13. A stick feeder 21, a tray component supply device 23, or a tape component supply device 25, etc. are integrally connected to the component mounting device 13.

The multiple component mounting devices 13 installed side by side make up a mounting line 27 on the factory floor. In particular, on factory floors with high production volumes, the multiple mounting lines 27 are installed in parallel on either side of an aisle 15 that runs along the X-axis and passes in front of and behind the component mounting devices 13. Of the multiple component mounting devices 13 installed side by side, the component mounting device 13 in which the tray component stock device 29 is integrally connected to the tray component supply device 23 makes up the component mounting system 11.

In the component mounting system 11, the longitudinal direction of the tray component stock device 29 is installed along the aisle 15, so the reduction rate of the effective aisle width W2 between adjacent mounting lines 27 is kept to a minimum.

Figure 2 is an overall configuration diagram of the component mounting system 11 shown in Figure 1. The component mounting system 11 according to the first embodiment includes a component mounting device 13 that picks up components 33 (see Figure 4) stored in a tray 31 (see Figure 4) using a mounting head 35 (see Figure 3) that is a component mounting unit and mounts them on a board 17, a tray component supply device 23 that supplies the tray 31 to a position where it can be picked up by the mounting head 35, and a tray component stock device 29 that replenishes the tray component supply device 23 with trays 31.

The component mounting device 13 has a component mounting device main body 37. The tray component supply device 23 and tape component supply device 25 are connected to the passage side surface of the component mounting device main body 37. The tray component stock device 29 is integrally connected to the component mounting device main body 37 via the tray component supply device 23.

The tray parts stock device 29, which is an example of a parts stock device, has a magazine 41 that allows a pallet 39 (see FIG. 4) on which a tray 31 containing parts 33 (see FIG. 4) is placed to be inserted and removed along a first axis (e.g., the X-axis). The tray parts stock device 29 has a pallet stock section 43 that serves as a stocker. The pallet stock section 43 allows the magazine 41 to be inserted and removed along a second axis (e.g., the Y-axis) that intersects with the X-axis in a plane along a horizontal plane. The tray parts stock device 29 has a pallet transport section 45. The pallet transport section 45 transports the pallet 39 along the X-axis from the magazine 41 stored in the pallet stock section 43. The pallet 39 transported by the pallet transport section 45 from the pallet stock section 43 is supplied to the tray parts supply device 23. In addition, the pallet transport section 45 transports pallets 39 from the tray component supply device 23 that have consumed components 33 (i.e., all components 33 on the pallet 39 have been used to mount on the board 17) to the pallet stock section 43 for collection.

Figure 3 is a conceptual diagram showing the cross-sectional structure of the component mounting system 11 shown in Figure 2. The component mounting device main body 37 is provided with a board transport section 49 on the upper surface of a base 47, the board transport section 49 having a board transport conveyor 19 for transporting the board 17 in a direction along the X-axis (board transport direction). The board transport section 49 transports the board 17 on which components are to be mounted, and positions and holds it at the working position of the component mounting device main body 37. A tray component supply device 23 is arranged on the aisle side of the base 47.

The tray component supply device 23 has a replacement pallet storage section 51. The replacement pallet storage section 51 holds a plurality of magazines 41 arranged in a vertical direction (along the Z-axis). In the tray component supply device 23, a pallet changer 53 is provided between the replacement pallet storage section 51 and the base 47. The pallet changer 53 raises and lowers a changer lifting table 55 by a pallet changer lifting section 57 (see FIG. 11). The tray component supply device 23 operates the pallet changer 53 to move the pallet 39 between the replacement pallet storage section 51 and the component removal position. The tray component supply device 23 supplies the components 33 to the mounting head 35 by moving the pallet 39, which holds the tray 31 on which the components 33 (see FIG. 4) are stored in a lattice arrangement, to the component removal position.

The mounting head 35 is a multiple head equipped with multiple unit transfer heads, and a suction nozzle is attached to the lower end of each unit transfer head in a replaceable manner. The mounting head 35 is attached so that it can move freely in the X and Y directions by an XY table 59 in the direction along the Y axis, which is made up of a linear drive mechanism or the like. The mounting head 35 can be moved freely between the component removal position and the component mounting position on the board transport section 49 by the XY table 59.

The tray parts stock device 29 has a pallet stock section 43 and a pallet transport section 45. The pallet stock section 43 stores multiple magazines 41 at a predetermined interval in the vertical direction (along the Z axis). Any pallet 39 can be inserted or removed in the direction along the X axis from each magazine 41 stored in the vertical direction (along the Z axis) by the pallet transport section 45. The pallet 39 pulled out from the pallet stock section 43 by the pallet transport section 45 is moved to the tray parts supply device 23 by the pallet transport section 45. The pallet transport section 45 also allows the pallet 39 to move in the opposite direction.

Figure 4 is a perspective view of a pallet 39 on which a tray 31 is placed. Figure 5 is an exploded perspective view of the pallet 39 shown in Figure 4.

The pallet 39 will now be described. The pallet 39 has a pallet body 61 formed in the shape of a rectangular plate in a plan view. The pallet 39 has a pair of parallel long sides, one of which is a first long side 63 and the other is a second long side 65. In the first embodiment, the first long side 63 forms the front of the pallet, and the second long side 65 forms the rear of the pallet. The pallet 39 is transported with either the first long side 63 or the second long side 65 at the leading end in the transport direction.

At least the portion of the pallet 39, including the top surface, is made of a magnetic material. A tray 31 made of a non-magnetic material such as resin is placed on the top surface of the pallet 39. A plurality of parts 33 are aligned on the tray 31. The tray 31 is held in a predetermined position on the pallet 39 by a positioning device 67. The pallet 39 on which the tray 31 is placed constitutes a part storage body 69. Note that the part storage body 69 may be a pallet 39 on which parts are placed and stored. Also, the external shape of the tray 31 may be the same as that of the pallet 39, and the tray 31 itself may be used as the part storage body 69.

Two tray positioning pieces 71 are fixed to the top surface of the pallet 39, parallel to the first long side 63 and one of the short sides adjacent to the first long side 63, at right angles. The two tray positioning pieces 71 are arranged in an orthogonal direction to form an inside corner. The tray 31 is positioned relative to the pallet 39 by pressing two side surfaces against the tray positioning piece 71 so that one corner coincides with the inside corner of the pallet 39.

The tray 31 on the pallet thus positioned is fixed to the pallet 39 by pressing a positioning device 67 against the surface opposite to the surface pressed against the tray positioning piece 71. The positioning device 67 has, for example, a magnet. The positioning device 67 is strongly fixed to the upper surface of the pallet 39 made of a magnetic material by magnetic force. This restricts the movement of the tray 31 on the pallet 39 and fixes it in place. At this time, the positioning device 67 has two lever portions 73 on both ends (see Figure 5), and each lever portion 73 is positioned above the upper surface of the pallet 39. The positioning device 67 can be easily removed from the pallet 39 by pressing these lever portions 73 toward the upper surface of the pallet 39 using the principle of leverage.

The pallet 39 is also provided with a first engagement portion 75 on the first long side 63 and a second engagement portion 77 on the second long side 65. The first engagement portion 75 and the second engagement portion 77 are arranged so that the open sides of the engagement claws, which are U-shaped in plan view, face each other. The first engagement portion 75 has a larger gap between the engagement claws than the second engagement portion 77. In the first embodiment, the first engagement portion 75 engages with the changer engagement rod 79 (see FIG. 10) of the pallet changer 53, and the second engagement portion 77 engages with the handler engagement rod 81, which is the towing portion of the pallet transport unit 45 shown in FIG. 10.

Figure 6 is an oblique view of the magazine 41 containing the pallet 39. Figure 7 is an oblique view of the magazine 41 seen from diagonally below.

The magazine 41 will now be described. The upper ends of a pair of parallel side plates 83 are connected by a top plate 85, and the lower ends of the pair of parallel side plates 83 are connected by a bottom plate 87 (see FIG. 7), forming an inner storage space in the shape of a square cylinder with insertion and removal openings 89 on both sides. The magazine 41 is stored in the pallet stock section 43 with both ends along the X-axis facing the open side. In other words, the pair of side plates 83 are stored in the pallet stock section 43 with a space between them in the direction along the Y-axis.

The inner surface of each side panel 83 is provided with a rib 91 whose both ends extend across the insertion/removal opening 89. A pair of parallel short sides of the pallet 39 are inserted into the gaps between adjacent ribs 91 in the vertical direction (along the Z-axis). This allows the magazine 41 to store multiple pallets 39 in multiple stages in the vertical direction (along the Z-axis) in the inner storage space (see above), and allows them to be inserted and removed through the insertion/removal opening 89.

As shown in FIG. 6, a pair of X alignment rollers 93 are provided on the lower side on the outside of each side plate 83. Each of the pair of X alignment rollers 93 is rotatable around a rotation center perpendicular to the side plate 83. A Y alignment section 95 is provided on the inside of the pair of side plates 83, on the lower side close to the insertion/removal openings 89 at both ends. A tapered surface 97 is formed on the Y alignment section 95, and the tapered surface 97 is formed by a slope that thins the side plate 83 downward.

As shown in FIG. 7, four Y alignment rollers 99 are provided on the underside of the bottom plate 87. Each Y alignment roller 99 is supported rotatably around a center of rotation perpendicular to a mounting piece 101 that hangs down perpendicularly from the underside of the bottom plate 87 to the side plate 83. The above-mentioned X alignment rollers 93 and Y alignment rollers 99 constitute a first alignment group 103.

A pair of parallel opening lower edges at the insertion/removal opening 89 at both ends of the bottom plate 87 form the X alignment portion 105. The Y alignment portion 95 having the tapered surface 97 described above and the X alignment portion 105 form a second alignment group 107.

Figure 8 is a perspective view of the tray parts stock device 29 shown in Figure 2. The pallet stock section 43 has a housing (e.g., cover 109) that forms an internal space that allows the magazine 41 to be stored. This cover 109 has an opening (e.g., magazine replacement window 111) that allows the magazine 41 to be inserted and removed along the second axis (Y axis). The lower part of the magazine replacement window 111 of the pallet stock section 43 becomes the stock base section 113. This stock base section 113 is provided with a docking base 115. The docking base 115 becomes a connection part when, for example, a self-propelled magazine transport device (not shown) is used. The docking base 115 is provided with one connector 117, and is electrically connected to the tray parts stock device control section 119 (see Figure 11). In addition, an operation section 121 such as a touch panel electrically connected to the tray parts stock device control section 119 (see Figure 11) is provided on the outer surface of the aisle side of the pallet transport section 45. Note that this operation unit 121 may be omitted from the configuration of the tray part stock device 29.

In the tray parts stock device 29, a slide table device 123 is arranged in the internal space of the cover 109. The slide table device 123 can move (i.e., insert and remove) the magazine 41 between the internal space of the cover 109 and the outside of the cover 109 by placing the magazine 41 on it and passing through the magazine exchange window 111 along the second axis (Y axis).

Figure 9 is a schematic diagram of the inside of the tray parts stock device 29 as seen from the aisle side. The tray parts stock device 29 has multiple (e.g., four) fixed shelves 125 spaced apart in the vertical direction (direction along the Z direction). Of these, for example, the slide table device 123 is fixed to the fixed shelf 125 on the second tier from the bottom. That is, in the pallet stock section 43, of the magazines 41 stored in four tiers vertically, the magazine 41 on the second tier from the bottom is placed on the slide table device 123. In the first embodiment, an example is described in which the slide table device 123 is installed on the second tier from the bottom, but the slide table device 123 may be installed on any tier in the vertical direction. Also, in the first embodiment, an example is described in which the slide table device 123 is installed only on the second tier from the bottom, but the slide table device 123 may be installed on multiple tiers.

The slide table device 123 can manually drive the slide table 127 (see FIG. 17) on which the magazine 41 is placed to move forward and backward. The slide table device 123 may also be configured to include a forward and backward drive unit 129 so that the slide table 127 on which the magazine 41 is placed automatically protrudes outside the cover 109. In this case, the forward and backward drive unit 129 includes, for example, an air cylinder 131 (see FIG. 18) which is the forward and backward drive source, and a valve that supplies operating air to the air cylinder 131.

The pallet transport section 45 provided in the tray parts stock device 29 includes a pallet handler 133 that moves the pallet 39 between the pallet stock section 43 and the tray parts supply device 23. The pallet transport section 45 includes a pallet handler lift section 135 that moves up and down (along the Z direction). The pallet handler lift section 135 is erected on the stock base section 113 and has a height approximately equal to that of the pallet stock section 43. The pallet handler lift section 135 is provided with an erect stocker feed screw (not shown). This stocker feed screw is rotated by a handler lift motor (not shown). A lift base nut section (not shown) is screwed into the stocker feed screw.

The lifting base 137 is fixed to the lifting base nut part. The pull-out device 141 is rotatably supported on the upper surface of the lifting base 137 via a handler shaft 139 along the Z axis. A handler motor 145, whose output shaft is along the Z axis, is fixed to the standing base part 143 of the lifting base 137. A belt 147 is stretched between the output shaft of the handler motor 145 and the handler shaft 139. The handler motor 145, the belt 147, and the handler shaft 139 constitute a turning mechanism 149 (see FIG. 10). When the handler motor 145 of the turning mechanism 149 is driven, a rotational force is transmitted to the handler shaft 139, and the pull-out device 141 is rotated around the handler shaft 139. The pull-out device 141 has a handler engagement rod 81 and a pair of parallel pallet guides 151.

The pallet handler 133 moves up and down along the pallet stock unit 43, for example, by driving a handler lift motor (not shown) by the pallet transport control unit 153 (see FIG. 11). At this time, the pallet handler 133 can position the pull-out device 141 at the height position of the pallet 39 corresponding to the storage address by specifying a storage address assigned to the pallet storage unit of the pallet stock unit 43. A tray parts stock device control unit 119 for controlling these operations is provided below the pallet transport unit 45.

Figure 10 is a plan view showing the layout of the tray component stock device 29 and the tray component supply device 23. The pallet stock section 43 and the pallet transport section 45 are aligned along the passage 15 (see Figure 1). That is, the tray component stock device 29 is installed with its long side aligned along the passage 15. The pallet transport section 45 of the tray component stock device 29 is connected to the component mounting device 13 in the direction along the Y axis via the tray component supply device 23. As a result, the component mounting system 11 is installed in an L-shaped space in plan view, with the pallet stock section 43 and the pallet transport section 45 aligned on the long side along the X axis, and the pallet stock section 43 and the pallet transport section 45 connected to the tray component supply device 23 in the direction intersecting the X axis.

Therefore, the component mounting system 11 according to embodiment 1 includes a component mounting device 13 that removes components 33 stored in a tray 31 using a component mounting unit (e.g., a mounting head 35) and mounts them on a board 17, a tray component supply device 23 that supplies the tray 31 to a position where it can be removed by the component mounting unit (e.g., the mounting head 35), and a tray component stock device 29 that replenishes the tray component supply device 23 with trays 31. The tray parts stock device 29 is configured to include a pallet stock section 43 capable of storing a magazine 41 in the internal space of the cover 109, the magazine 41 allowing the pallet 39 carrying the tray 31 storing the parts 33 to be inserted and removed along a first axis (e.g., the X-axis), a parts storage transport section (e.g., the pallet transport section 45) that transports the pallet 39 between the pallet stock section 43 and the parts supply device (e.g., the tray parts supply device 23), and a slide table device 123 that carries the magazine 41 and moves the magazine 41 between the inside and outside of the cover 109 along a second axis (e.g., the Y-axis) that intersects with the first axis in a plane along a horizontal plane, and has a slide table 127 that can protrude from the inside to the outside of the cover 109.

In addition, in the tray part stock device 29, the slide table device 123 may further include a forward/backward drive unit 129 that causes the slide table 127 to protrude outside the cover 109.

Next, we will explain the configuration of the control system of the tray part stock device 29 in embodiment 1.

Figure 11 is a block diagram of the tray parts stock device 29. The tray parts stock device 29 includes a pallet transport section 45, a slide table device 123, an operation section 121, one connector 117, and a tray parts stock device control section 119. An external power supply unit 155 is connected to the one connector 117 via a power supply cable 157. An external power source 159 is connected to the power supply unit 155 via the power supply cable 157. The power supply unit 155 is also directly connected to the tray parts stock device control section 119 via a signal line 161.

The tray parts stock device control unit 119 includes a pallet transport control unit 153, a slide table control unit 163, and a memory unit 165.

When the pallet transport control unit 153 receives a request instruction for parts 33 from the component mounting device 13, it refers to the parts stock information stored in the memory unit 165 and sends an instruction to the pallet transport unit 45 to pull out the pallet 39 of the tray 31 holding the parts 33 from the pallet stock unit 43. Based on the instruction from the pallet transport control unit 153, the pallet transport unit 45 pulls out the corresponding pallet 39 from the pallet stock unit 43 and inserts the pulled out pallet 39 into the magazine 41 of the replacement pallet storage unit 51 in the tray component supply device 23, thereby completing the supply of the pallet 39 to the tray component supply device 23. If the pallet transport control unit 153 refers to the parts stock information stored in the memory unit 165 and finds that the requested parts 33 are not available or that the remaining amount is low (for example, less than a specified amount), it displays a request instruction for parts 33 to the tray component stock device 29 on the operation unit 121 and notifies that there is a part shortage or that a part shortage will occur soon.

For example, when a pull-out command is input from the operation unit 121, the slide table control unit 163 sends an instruction to the slide table device 123 to switch the port of the valve connected to the air cylinder 131 (see FIG. 18) to the pull-out operation side. The slide table device 123 switches the above-mentioned valve based on the instruction from the slide table control unit 163. This switching causes the drive shaft of the air cylinder 131 (see FIG. 18) to advance, and the slide table 127 passes through the magazine exchange window 111 and advances to the aisle side. Also, when a storage command is input from the operation unit 121, the slide table control unit 163 sends an instruction to the slide table device 123 to switch the port of the valve connected to the air cylinder 131 (see FIG. 18) to the storage operation side. The slide table device 123 switches the above-mentioned valve based on the instruction from the slide table control unit 163. This switching causes the drive shaft of the air cylinder 131 (see FIG. 18) to retract, and the slide table 127 is stored in the pallet stock unit 43. The slide table control unit 163 may drive the slide table 127 forward and backward in response to a forward and backward command from the component mounting device 13 or the magazine transport device (not shown).

The storage unit 165 is configured using a data recording device such as a flash memory, HDD (Hard Disk Drive) or SSD (Solid State Drive), and stores stock information. The storage unit 165 stores component stock information indicating the quantity of components 33 to be supplied to the component mounting device 13, the storage address (for example, a combination of the numbers of the magazine 41, pallet 39, and tray 31 on which each component 33 is placed), and whether or not the component mounting device 13 is being supplied.

Next, we will explain an example of a specific operation when transporting a pallet.

Figure 12 is an explanatory diagram of the operation of the pallet transport unit 45 immediately before pulling out the pallet 39 from the pallet stock unit 43. The pallet 39 is stored in the pallet stock unit 43 with the second engagement portion 77 positioned on the surface facing the pallet transport unit 45. To supply the pallet 39 to the tray component supply device 23, the pull-out device 141 of the pallet transport unit 45 moves in the vertical direction (direction along the Z axis), and the handler engagement rod 81 provided on the pull-out device 141 engages with the second engagement portion 77 provided on the desired pallet 39.

Figure 13 is an explanatory diagram of the operation of the pallet transport section 45 that has finished pulling out the pallet 39 from the pallet stock section 43. The pull-out device 141, which has engaged the handler engagement rod 81 with the second engagement section 77, pulls out the pallet 39 in the X direction together with the handler engagement rod 81 when the traction motor (not shown) is driven. The pallet 39 pulled out by the pull-out device 141 has both short sides supported from below by a pair of pallet guides 151.

Figure 14 is an explanatory diagram of the operation of the pallet transport section 45 in which the pull-out device 141 has rotated clockwise. Next, the pull-out device 141 supporting the pallet 39 is rotated 90 degrees clockwise by the drive of the handler motor 145. After rotating 90 degrees clockwise, the pallet 39 is positioned so that the first engagement portion 75, which is not engaged with the handler engagement rod 81, is on the side of the replacement pallet storage section 51. The pull-out device 141 is positioned so that the handler engagement rod 81 engaged with the second engagement portion 77 is on the aisle side in the direction along the Y-axis.

Figure 15 is an explanatory diagram of the operation of the pallet transport unit 45 with the pallet 39 inserted into the tray component supply device 23. The pull-out device 141 moves the handler engagement rod 81 in the Y direction. The pallet 39 is inserted into the replacement pallet storage unit 51 in the tray component supply device 23 while sliding the pallet guide 151 by the handler engagement rod 81 moving in the Y direction. When inserting the pallet 39 at a different height, the lift base 137 is lifted to the desired height by the pallet handler lift unit 135. The pull-out device 141 with the pallet 39 inserted into the tray component supply device 23 is moved up or down by the drive of the pallet handler lift unit 135, and after disengaging from the second engagement unit 77, retreats in a direction away from the tray component supply device 23. The pallet transport unit 45 returns the handler engagement rod 81 to the retreat position, completing the supply of the pallet 39 to the tray component supply device 23.

In addition, in the tray component supply device 23, to collect an empty pallet 39 after components 33 have been consumed to the pallet stock section 43, the empty pallet 39 is moved to the pallet stock section 43 by performing the above-mentioned operation procedure in reverse.

Next, we will further explain the slide table device 123.

Figure 16 is a plan view of the slide table device 123 in which the slide table 127 is stored. The tray parts stock device 29 has a pallet stock section 43 and a slide table device 123. The pallet stock section 43 can store a magazine 41, which allows a pallet 39 on which a tray 31 storing parts 33 is placed to be inserted and removed along a first axis (e.g., X-axis), in the internal space of the cover 109. The slide table device 123 has a slide table 127. The slide table 127 places the magazine 41 on it and moves the magazine 41 between the inside and outside of the cover 109 along a second axis (e.g., Y-axis) that intersects with the first axis in a plane along the horizontal plane. In other words, the slide table 127 can protrude from the inside to the outside of the cover 109.

The slide table device 123 supports the slide table 127 and has a slide rail 167 that expands and contracts along a second axis (e.g., the Y axis). The slide table 127 moves outside and inside the cover 109 as the slide rail 167 expands and contracts. The slide rail 167 has a fixed rail 169 (see FIG. 18), a connecting rail 171 (see FIG. 18), and a movable rail 173 (see FIG. 18).

The slide rail 167 has a fixed rail 169 fixed to the fixed shelf 125 of the pallet stock section 43 by an L-shaped bracket 175. The connecting rail 171 is connected in parallel to the fixed rail 169 and is slidable in the extension direction of the fixed rail 169. Approximately half of the total length of the connecting rail 171 can advance from the fixed rail 169 in the Y direction. When approximately half of the connecting rail 171 has advanced from the fixed rail 169, further advancement is restricted by a stopper mechanism (not shown). The movable rail 173 is connected in parallel to the connecting rail 171 and is slidable in the extension direction of the connecting rail 171. Approximately half of the total length of the movable rail 173 can advance from the connecting rail 171 in the Y direction. When approximately half of the movable rail 173 has advanced from the connecting rail 171, further advancement is restricted by a stopper mechanism (not shown).

Therefore, when the movable rail 173 advances, the slide rail 167 is supported by the fixed rail 169 and the connecting rail 171, which advances from the movable rail 173 by approximately half its total length, at approximately half the total length of the movable rail 173. This allows the movable rail 173 to be extended from the fixed rail 169 by approximately its entire length (see Figure 18). This allows the slide rail 167 to be extended to a length approximately equal to the storage space.

The slide table device 123 may have one or more slide rails 167. In the first embodiment, the slide table device 123 has two slide rails 167 that extend along the second axis (e.g., the Y axis) and are arranged in parallel with a gap in the direction along the first axis (e.g., the X axis). The two parallel slide rails 167 face each other with their movable rails 173 on the inside. A slide base 177 (see FIG. 17) with an L-shaped cross section is fixed to the inside of each movable rail 173 along the longitudinal direction of the movable rail 173. The pair of parallel slide bases 177 are connected to each other by multiple connecting plates 179. The slide base 177 and the connecting plate 179 constitute the slide table 127. The slide table 127 has a size that allows at least one magazine 41 to be placed on it.

Figure 17 is a perspective view of the slide table 127. The slide base 177 is provided with a first restricting portion that restricts the position of the magazine 41 in the first axis direction (e.g., X-axis) relative to the slide table 127, and a second restricting portion that restricts the position of the magazine 41 in the second axis direction (e.g., Y-axis) relative to the slide table 127. Each slide base 177 has an L-shaped cross section with the horizontal piece on the inside and the standing piece standing on the outside.

The first regulating portion is the X alignment guide 181. A total of four pairs of X alignment guides 181 are fixed at a distance in the extension direction of each slide base 177. The X alignment guides 181 are upright plates perpendicular to the side plates 83 (see FIG. 6) of the magazine 41, and the pair of X alignment guides 181, which are provided at opposing positions on the two slide bases 177, have inclined surfaces 183 that move away from each other as they move upward. In other words, the pair of X alignment guides 181 are inclined upward in a Y-shape when viewed from the direction along the Y axis (see FIG. 19). The above-mentioned X alignment rollers 93 (see FIG. 6) provided on the side plates 83 of the magazine 41 are fitted between the pair of X alignment guides 181 by being guided while sliding on the inclined surfaces 183.

The second regulating portion is the Y alignment guide 187 (see FIG. 25). A total of four pairs of Y alignment guides 187 are fixed inside the four X alignment guides 181, spaced apart in the extension direction of each slide base 177. The Y alignment guides 187 are upright plates perpendicular to the side plate 83 of the magazine 41, and a pair of Y alignment guides 187 are provided at opposing positions on the two slide bases 177, and are formed into a trapezoid shape with one corner of a rectangle chamfered on the X alignment guide 181 side. In other words, the pair of Y alignment guides 187 are inclined in an A-shape that flares outward when viewed from the direction along the X axis (see FIG. 25). The pair of Y alignment guides 187 are positioned relative to the slide table 127 by the aforementioned Y alignment rollers 99 provided on the underside of the bottom plate 87 of the magazine 41 on the outside of both guided by the inclined surface 185.

Figure 18 is a plan view of the slide table device 123 with the slide table 127 advanced. The tray parts stock device 29 may be provided with an advance/retract drive unit 129 on the slide table device 123. The advance/retract drive unit 129 enables the slide table 127 to automatically advance and retract between the outside of the cover 109 and the internal space.

In embodiment 1, the forward/backward drive unit 129 is disposed between the two slide rails 167 (see FIG. 18).

The forward/backward drive unit 129 has a first rack gear 189, a second rack gear 191, a pinion gear 193, and a forward/backward drive source.

The first rack gear 189 is fixed inside the cover 109 with its longitudinal direction oriented parallel to the second axis (e.g., the Y axis). More specifically, the first rack gear 189 is fixed to the fixed shelf 125. The second rack gear 191 is attached to the slide table 127 and is arranged parallel to and facing the first rack gear 189. The pinion gear 193 meshes with the first rack gear 189 and the second rack gear 191. The forward/backward drive source moves the pinion gear 193 along the second axis (e.g., the Y axis).

In the first embodiment, the forward/backward drive source is, for example, an air cylinder 131 that moves the forward/backward drive shaft forward and backward from the cylinder. A valve or the like that supplies operating air is connected to the air cylinder 131. By switching between multiple ports, the valve can drive the forward/backward drive shaft of the air cylinder 131 in the direction of moving forward or backward.

The air cylinder 131 has a slider 195 fixed to the tip of the forward/backward drive shaft. The slider 195 moves linearly while being guided by a slider rail 197 in the direction along the Y-axis fixed to the fixed shelf 125. The slider 195 supports the pinion gear 193 described above so that it can rotate freely, with the Z-axis as the center of rotation.

Figure 19 is a front view of the slide table device 123 seen from the aisle side. When viewed from the direction along the Y axis, the slide table device 123 is arranged with a pair of parallel slide rails 167 extending in the direction along the Y axis on the outside and fixed to the fixed shelf 125. A slide base 177 is fixed to the inside (i.e., the movable rail side) of each of the pair of slide rails 167. The pair of slide bases 177 constitute a slide table 127 fixed by a connecting plate 179. The air cylinder 131, which is the forward and backward drive source, is accommodated in a space surrounded by the pair of slide bases 177 and the connecting plate 179 and is fixed to the fixed shelf 125. The pinion gear 193, which is advanced and retreated by the forward and retreat drive shaft of the air cylinder 131, is sandwiched between the first rack gear 189 fixed to the fixed shelf 125 and the second rack gear 191 fixed to the slide base 177 and engages with both rack gears.

Figure 20 is a conceptual diagram of an advance/retract mechanism that uses an air cylinder 131 as the advance/retract drive source. The advance/retract drive unit 129 moves along the second axis (Y-axis) while the pinion gear 193 is rotatably supported by the slider 195. When the slide base 177 is stored inside the cover 109, the pinion gear 193 is located at the rear side of the first rack gear 189 (opposite the slide table advance side) and engages with it. At this time, the tip side of the second rack gear 191 fixed to the slide base 177 in the advance direction engages with the pinion gear 193.

In the slide table device 123, when the air cylinder 131 is driven and the pinion gear 193 moves in the forward direction by an amount A while meshing with the first rack gear 189, the second rack gear 191 meshing with the pinion gear 193 is advanced in the forward direction by an amount of movement that is twice the amount of movement of the pinion gear 193 (A + A = 2A).

Figure 21 is a conceptual diagram of a forward/backward mechanism using a motor as a forward/backward drive source. The forward/backward drive unit 129 may be configured to use a forward/backward drive motor 199 as a forward/backward drive source. In this case, the fixed shelf 125 rotatably supports a pair of sprockets 201 whose center of rotation is along the X-axis and spaced apart in the Y-axis direction. An endless chain 203 is stretched across the pair of sprockets 201. The chain 203 rotatably supports a pinion gear 193 that meshes with both the first rack gear 189 and the second rack gear 191. By driving one of the sprockets 201 by the forward/backward drive motor 199, the pinion gear 193 is moved along with the movement of the chain 203. As a result, in the same manner as in the case of movement by the air cylinder 131, the pinion gear 193 can be moved in the Y-axis direction while meshing with both rack gears. The advance/retract drive unit 129, which uses the advance/retract drive motor 199 as the advance/retract drive source, can advance/retract the slide table 127 without using air pressure equipment.

Figure 22 is a conceptual diagram showing the variable stroke structure of the advance/retract mechanism. The advance/retract drive unit 129 may also fix the large diameter pinion gear 205 and the small diameter pinion gear 207 coaxially. In this case, for example, the small diameter pinion gear 207 (peripheral length A) is meshed with the first rack gear 189, and the second rack gear 191 is meshed with the large diameter pinion gear 205 (peripheral length 2A) fixed coaxially. According to this advance/retract drive unit 129, if the movement distance of the small diameter pinion gear 207 is A, the extension distance of the second rack gear 191 is A + 2A = 3A. In this way, the advance/retract drive unit 129 can freely set the stroke expansion rate by combining multiple pinion gears 193 with different diameters (peripheral lengths). As a result, the advance/retract drive unit 129 can realize a highly versatile advance/retract mechanism that can accommodate slide table devices 123 with different drawer lengths.

Next, the positioning operation of the slide table device 123 will be explained.

Figure 23 is an oblique view of the magazine 41 positioned and placed on the slide table 127. By placing the magazine 41 on the slide table 127, the magazine 41 is positioned in the X-axis direction, the Y-axis direction, and the Z-axis direction.

Figure 24 is an explanatory diagram of the positioning operation on the slide table 127, mainly by the X alignment guide 181. In the slide table device 123, the magazine 41 is placed on the slide table 127 by moving it downward in the direction along the Z axis. This placing operation may be manual (i.e., performed by an operator) or automatic. When the magazine 41 is lowered in a direction approaching the slide table 127, the X alignment roller 93 of the magazine 41 comes into contact with a first restriction portion (e.g., the X alignment guide 181). The position of the magazine 41 in the first axial direction (e.g., the X axis direction) is positioned relative to the slide table 127 by guiding the X alignment roller 93 to the X alignment guide 181.

Figure 25 is an explanatory diagram of the positioning operation on the slide table 127, mainly by the Y alignment guide 187. In the magazine 41, the Y alignment roller 99 contacts the second regulating portion (e.g., the Y alignment guide 187) almost simultaneously with the contact between the X alignment guide 181 and the X alignment roller 93. The magazine 41 is positioned in the second axial direction (e.g., the Y axis direction) relative to the slide table 127 by the Y alignment roller 99 being guided by the inclined surface 185 of the Y alignment guide 187.

When the magazine 41 is moved to the final lowered position and placed thereon, the underside of the bottom plate 87 comes into contact with the Y alignment guides 187. The Z-axis position of the magazine 41 is positioned relative to the slide table 127 as the underside of the bottom plate 87 abuts against the four Y alignment guides 187. As a result, the magazine 41 is positioned in the X, Y and Z directions relative to the slide table 127 as soon as it has been placed on the slide table 127.

Next, we will explain the operation of the tray part stock device 29 according to embodiment 1.

The part stock device (e.g., tray part stock device 29) includes a magazine 41 that allows a part storage body 69 (e.g., a pallet 39 on which a tray 31 is placed) storing parts 33 to be inserted and removed along a first axis (e.g., the X-axis), a stocker (e.g., a pallet stock section 43) that allows the magazine 41 to be inserted and removed along a second axis (e.g., the Y-axis) that intersects with the first axis in a plane along a horizontal plane, and a part storage body transport section (e.g., a pallet transport section 45) that transports the part storage body 69 (e.g., the pallet 39) from the magazine 41 stored in the stocker along the first axis. The stocker has a housing (e.g., a cover 109) that forms an internal space that allows the magazine 41 to be stored. The housing has an opening (e.g., a magazine exchange window 111) that allows the magazine 41 to be inserted and removed along the second axis.

In the tray parts stock device 29 according to the first embodiment, the tray 31 storing the parts 33 is placed on the pallet 39. The pallet 39 is stored in the magazine 41 so that it can be inserted and removed along the first axis. The magazine 41 stores a plurality of pallets 39 in multiple levels in the vertical direction. The magazine 41 is capable of transporting a plurality of stored pallets 39 at once. A plurality of magazines 41 are stored in a stocker (e.g., the pallet stock section 43). The pallet stock section 43 stores a plurality of magazines 41 in multiple levels in the vertical direction. The pallet transport section 45 is integrally connected to the pallet stock section 43 along the first axis. The pallet transport section 45 transports the pallets 39 one by one while inserting and removing them from the magazines 41 stored in the pallet stock section 43 along the first axis.

In the tray parts stock device 29, the pallet stock section 43 and the pallet transport section 45 are integrally connected. The pallet stock section 43 and the pallet transport section 45 constitute the tray parts stock device 29. At least the pallet stock section 43 requires an installation space equivalent to one pallet. Also, the pallet transport section 45 requires an installation space equivalent to at least one pallet. Therefore, the tray parts stock device 29, which is composed of the pallet stock section 43 and the pallet transport section 45, is rectangular in plan view, requiring an installation space equivalent to at least two pallets.

In this tray parts stock device 29, the pallet stock section 43 and the pallet transport section 45 are aligned along the aisle 15. In other words, the tray parts stock device 29 is installed with the long side of the rectangle oriented along the aisle 15 in a plan view.

The tray parts stock device 29 has an opening (e.g., a magazine replacement window 111) in the housing (e.g., a cover 109) of the pallet stock section 43. The pallet stock section 43 can insert and remove the magazine 41 along the second axis (Y axis) through this magazine replacement window 111. The second axis is a direction intersecting the first axis along the passage 15. That is, as described above, the tray parts stock device 29, whose long side is installed along the passage 15, has the magazine replacement window 111 facing the side of the pallet stock section 43 facing the passage 15 among the pallet stock section 43 and the pallet transport section 45 lined up along the passage 15, and the magazine 41 can be inserted and removed from the pallet stock section 43 in the direction (front-back direction) along the second axis (Y axis) from the passage 15.

The tray parts stock device 29 allows the magazine 41 to be replaced in the direction along the Y-axis from the aisle side, making it easy to use the wide space above the aisle to replace the magazine 41. In addition, it does not interfere with access to the feeder mounted on the cart (splicing work, feeder replacement, or cart replacement). In addition, when the transport robot automatically replaces the magazine, there is no need to go around to the side (left or right) of the tray parts stock device 29.

The tray component stock device 29 also includes a slide table device 123 that is disposed in the internal space, places the magazine 41 thereon, and moves the magazine 41 between the internal space and the outside of the housing through the opening along the second axis.

In this tray parts stock device 29, the pallet stock section 43 is provided with a slide table device 123 in the internal space covered by the cover 109. The slide table device 123 is provided corresponding to the position of the magazine exchange window 111. The slide table device 123 passes through the magazine exchange window 111 along the second axis (Y axis), allowing the magazine 41 to move between the internal space of the cover 109 and the outside of the cover 109.

The pallet stock section 43 stores multiple magazines 41 in multiple vertical rows. The pallets 39 stored in each magazine 41 can be inserted and removed in the direction along the X-axis by the pallet transport section 45.

One of the multiple magazines 41 stored in multiple vertical rows is placed on the slide table device 123. This one magazine 41 can be moved inside and outside the cover 109 through the magazine exchange window 111 by the slide table device 123. In other words, the tray parts stock device 29 can only exchange this one magazine 41 placed on the slide table device 123. The slide table device 123 serves as a transfer section (i.e., an exchange section) that exchanges the magazines 41 one by one between the outside of the pallet stock section 43 and the internal space.

Pallets 39, which store parts 33 in trays 31, are successively pulled out by the pallet transport unit 45 from the magazine 41 placed on the slide table device 123. In the empty space of the magazine 41 from which the pallets 39 have been pulled out, the pallets 39 carrying the trays 31 from which the parts 33 have been consumed and which are now empty, are stored by the pallet transport unit 45. In other words, the magazines 41 filled with parts 33 placed on the slide table device 123 are successively replaced with empty pallets 39 by the pallet transport unit 45.

When all the stored pallets 39 are replaced with empty pallets 39, the magazine 41 placed on the slide table device 123 is moved to the outside of the cover 109 (onto the aisle) by the slide table device 123. When the slide table device 123 is extended, the magazine 41 with consumed parts that has been moved onto the aisle is replaced with a magazine 41 that has been replenished with parts 33 by hand or a magazine transport device.

In this tray parts stock device 29, the magazine 41 is fed out onto the aisle from the magazine replacement window 111 provided on the aisle side of the pallet stock section 43 by the slide table device 123, so that a magazine 41 weighing, for example, about 20 kg can be easily replaced.

The slide table device 123 may be manually pulled out from the aisle side. In this case, the slide table device 123 pulled out to the aisle side acts as a shelf, and the large space above the aisle becomes a working space, making it easier to perform manual replacement work.

In addition, in the tray parts stock device 29, the slide table device 123 further includes a forward/backward drive unit 129 that causes the slide table 127 on which the magazine 41 is placed to protrude outside the housing.

In this tray parts stock device 29, a forward/backward drive unit 129 is provided on the slide table device 123. When the forward/backward drive unit 129 is activated, it automatically moves the slide table 127 forward/backward between the outside of the cover 109 and the internal space through the magazine replacement window 111. This makes it easier for the tray parts stock device 29 to automate the replacement of magazines 41 when the self-propelled magazine transport device is traveling on the aisle, without the need for a large-scale elevator device or the like, and at low equipment costs.

In addition, the component mounting system 11 according to embodiment 1 includes a component mounting device 13 that removes components 33 stored in a component storage body 69 (e.g., a tray 31) using a component mounting unit (e.g., a mounting head 35) and mounts the components on a board 17, a component supply device (e.g., a tray component supply device 23) that supplies the component storage body 69 (e.g., a tray 31) to a position where it can be removed by the component mounting unit (e.g., the mounting head 35), and a component stock device (e.g., a tray component stock device 29) that replenishes trays 31 to the tray component supply device 23. The tray parts stock device 29 has a magazine 41 that allows a parts storage body 69 (e.g., a pallet 39 on which a tray 31 is placed) storing parts 33 to be inserted and removed along a first axis (e.g., the X-axis), a stocker (e.g., a pallet stock section 43) that can insert and remove the magazine 41 along a second axis (e.g., the Y-axis) that intersects with the first axis in a plane along a horizontal plane, and a parts storage body transport section (e.g., a pallet transport section 45) that transports the parts storage body 69 (e.g., the pallet 39) from the magazine 41 stored in the stocker along the first axis (e.g., the X-axis). The stocker (e.g., the pallet stock section 43) has a housing (e.g., a cover 109) that forms an internal space that allows the magazine 41 to be stored. The housing has an opening (e.g., a magazine exchange window 111) that allows the magazine 41 to be inserted and removed along the second axis (e.g., the Y-axis).

In the component mounting system 11 according to the first embodiment, the pallet transport unit 45 transports the pallet 39 between the pallet stock unit 43 and the component mounting device 13. The pallet 39 is supplied in the order of the pallet stock unit 43, the pallet transport unit 45, and the component mounting device 13, and is collected in the order of the component mounting device 13, the pallet transport unit 45, and the pallet stock unit 43. In other words, the pallet 39 is supplied from the pallet stock unit 43 via the pallet transport unit 45 to the component mounting device 13, and after the components 33 are consumed and the pallet is empty, it is collected from the component mounting device 13 to the pallet stock unit 43 via the pallet transport unit 45.

On a factory floor, multiple component mounting devices 13 are installed side-by-side in the left-right direction (along the X-axis) to form a linear mounting line 27. Furthermore, on factory floors with high production volumes, multiple mounting lines 27 may be installed in parallel, separated by an aisle 15 along the X-axis that passes in front of and behind the component mounting devices 13. In this case, the mounting lines 27 and the aisles 15 are laid out in an alternating fashion, parallel to each other.

Here, if the pallet stock section 43 and pallet transport section 45 are newly connected in a straight line to the rear of the component mounting device 13 that has been previously installed, the pallet stock section 43 and pallet transport section 45 will extend in a direction (along the Y-axis) that intersects with the extension direction of the mounting line 27 (along the X-axis).

As described above, the aisles 15 are laid out before and after the mounting line 27, so the pallet stock section 43 and pallet transport section 45 extending from the rear of the component mounting device 13 protrude into the aisles 15 to a certain extent. On the other hand, if the component mounting device 13 is expanded with installation space to accommodate this protrusion in order to ensure the aisle width during the design of the factory floor at the time of new construction, this will result in an increase in the factory floor area and a decrease in area productivity.

In the component mounting system 11, the pallet stock section 43 and the pallet transport section 45 are integrally connected to form the tray component stock device 29. The pallet stock section 43 requires an installation space equivalent to at least one pallet, and the pallet transport section 45 also requires an installation space equivalent to at least one pallet. Therefore, the tray component stock device 29, which is composed of the pallet stock section 43 and the pallet transport section 45, is rectangular in plan view, requiring an installation space equivalent to at least two pallets.

Therefore, the tray component stock device 29 has the pallet stock section 43 and the pallet transport section 45 lined up along the passage 15. That is, the tray component stock device 29 is installed with its long side oriented along the passage 15. The pallet transport section 45 of the tray component stock device 29 is connected to the component mounting device 13 in the direction along the Y axis via the tray component supply device 23. As a result, the component mounting system 11 is installed in an L-shaped space in plan view, with the pallet stock section 43 and the pallet transport section 45 on the long side lined up in the direction along the X axis, and these are connected to the tray component supply device 23 on the component mounting device side in the direction intersecting the X axis. As a result, the component mounting system 11 can set the pallet insertion/removal direction of the tray component supply device 23 to a direction perpendicular to the passage 15, and the pallet insertion/removal direction of the pallet stock section 43 to be parallel to the passage 15.

By arranging the stock positions in such an L-shape, the component mounting system 11 can position the pallet stock section 43 at a right angle, which reduces the risk of components protruding into the aisle 15 (in other words, the aisle width can be increased), compared to when the pallet stock section 43, pallet transport section 45, and tray component supply device 23 are arranged in series on a straight line that intersects with the aisle 15 between the equipment lines.

In this way, in the component mounting system 11, the pallet 39 is transferred by changing its direction between the direction along the X-axis between the pallet stock section 43 and the pallet transport section 45 (left-right direction) and the direction along the Y-axis between the pallet stock section 43 and the tray component supply device 23 (front-back direction). This makes it possible to ensure both the aisle width and area productivity.

The part stock device (e.g., tray part stock device 29) according to the first embodiment also includes a stocker (e.g., pallet stock section 43) capable of storing a magazine 41 in the internal space of a housing (e.g., cover 109), which allows a part storage body 69 (e.g., pallet 39 on which tray 31 is placed) storing parts 33 to be inserted and removed along a first axis (e.g., X-axis), and a slide table device 123 having a slide table 127 that can protrude from the inside to the outside of the housing and that places the magazine 41 thereon and moves the magazine 41 between the inside and outside of the housing along a second axis (e.g., Y-axis) that intersects with the first axis in a plane along a horizontal plane.

In the tray parts stock device 29 according to the first embodiment, the stocker (e.g., the pallet stock unit 43) is provided with a slide table device 123 in an internal space covered by a housing (e.g., a cover 109). The slide table device 123 allows the magazine 41 to move between the internal space of the cover 109 and the outside of the cover 109 along a second axis (e.g., the Y axis).

The pallet stock section 43 stores multiple magazines 41 in multiple vertical rows. The pallets 39 stored in each magazine 41 can be inserted and removed in the direction along the X-axis.

One of the multiple magazines 41 stored in multiple vertical rows is placed on the slide table device 123. This one magazine 41 can be moved inside and outside the cover 109 by the slide table device 123. In other words, the tray parts stock device 29 can only replace this one magazine 41 placed on the slide table device 123. The slide table device 123 serves as a transfer section (i.e., an exchange section) that exchanges the magazines 41 one by one between the outside of the pallet stock section 43 and the internal space.

In the internal space of the pallet stock section 43, pallets 39 with parts 33 stored in trays 31 are successively pulled out from the magazine 41 placed on the slide table 127. In the free space of the magazine 41 from which the pallet 39 has been pulled out, a pallet 39 with a tray 31 that has been emptied after the parts 33 have been consumed is stored. In other words, in the internal space of the pallet stock section 43, the magazines 41 that have been refilled with parts and placed on the slide table 127 are successively replaced with empty pallets 39.

When all the stored pallets 39 have been replaced with empty pallets 39, the magazine 41 placed on the slide table 127 is moved by the slide table device 123 to the outside of the cover 109 (onto the aisle). The magazine 41 that has been moved onto the aisle by the slide table 127 being extended is replaced by a new magazine 41 filled with parts 33, either manually or by a magazine transport device.

In this tray parts stock device 29, the magazine 41 is advanced onto the passage by the slide table device 123, so that the magazine 41, which weighs, for example, about 20 kg, can be easily replaced by hand.

The slide table device 123 may be manually pulled out from the aisle side. In this case, the slide table device 123 pulled out to the aisle side acts as a shelf, and the large space above the aisle becomes a working space, making it easier to perform manual replacement work.

In addition, in the tray component stock device 29, the slide table device 123 supports the slide table 127 and has a slide rail 167 that expands and contracts along a second axis (e.g., the Y axis). The slide table 127 moves between the outside and inside of the housing as the slide rail 167 expands and contracts.

In this tray part stock device 29, the slide table 127 is supported by slide rails 167. The slide rails 167 allow the slide table 127 to move between the internal space of the cover 109 and the outside of the cover 109. For example, a single slide rail 167 may support the slide table 127. That is, the slide table 127 may be moved forward and backward between the inside and outside of the pallet stock section 43 by a single, extendable slide rail 167. When a single slide rail 167 is used, the support structure for the slide table 127 is simplified.

In addition, in the tray component stock device 29, the slide table device 123 has two slide rails 167 that extend along a second axis (e.g., the Y axis) and are arranged in parallel with a gap in the direction along the first axis (e.g., the X axis).

In this tray parts stock device 29, the slide rail 167 is composed of two slide rails 167 that are parallel to each other and spaced apart in the direction along the X-axis. In the tray parts stock device 29, the slide table 127 is supported by two slide rails 167, which increases the load capacity of the slide table 127. In addition, since the slide table 127 is supported by two slide rails 167 that are spaced apart in a direction perpendicular to the forward and backward direction, the magazine 41 can be supported more stably than when it is supported by a single slide rail 167.

In addition, in the tray component stock device 29, the slide table 127 is provided with a first regulating portion (e.g., X alignment guide 181) that regulates the position of the magazine 41 in the first axial direction (e.g., X axis direction) relative to the slide table 127, and a second regulating portion (e.g., Y alignment guide 187) that regulates the position of the magazine 41 in the second axial direction relative to the slide table 127.

In this tray component stock device 29, a first regulating portion and a second regulating portion are provided on the slide table 127. The first regulating portion (e.g., X alignment guide 181) regulates the position of the magazine 41 in the first axis (e.g., X axis) direction relative to the slide table 127. The second regulating portion (e.g., Y alignment guide 187) regulates the position of the magazine 41 in the second axis (e.g., Y axis) direction relative to the slide table 127. The Y alignment guide 187 also serves as a magazine receiver 187 that receives the magazine 41 placed from above. The Y alignment guide 187 also functions as the magazine receiver 187, thereby regulating the position of the magazine 41 in the Z axis direction relative to the slide table 127. As a result, the magazine 41 is positioned relative to the slide table 127 in the XYZ directions.

The parts stock device (e.g., tray parts stock device 29) also includes a stocker (e.g., pallet stock section 43) capable of storing a magazine 41 in the internal space of the housing, which allows a parts storage body 69 (e.g., pallet 39 on which tray 31 is placed) storing parts 33 to be inserted and removed along a first axis (e.g., X-axis), a slide table device 123 on which the magazine 41 is placed and which moves the magazine 41 between the inside and outside of the housing along a second axis (e.g., Y-axis) that intersects with the first axis in a plane along a horizontal plane and has a slide table 127 capable of protruding from the inside of the housing to the outside, and an advance/retract drive section 129 that causes the slide table 127 to protrude to the outside of the housing.

In this tray parts stock device 29, the slide table 127 is driven by an advance/retract drive unit 129. When the advance/retract drive unit 129 is activated, it automatically moves the slide table 127 forward and backward between the outside of the cover 109 and the internal space. This makes it easier for the tray parts stock device 29 to automate the replacement of magazines 41 when the self-propelled magazine transport device is traveling on the aisle, without the need for a large-scale elevator device or the like, and at low equipment costs.

In addition, in the tray component stock device 29, the slide table device 123 supports the slide table 127 and has a slide rail 167 that expands and contracts along a second axis. The slide table 127 moves between the outside of the housing (e.g., cover 109) and the inside of the housing (e.g., cover 109) as the slide rail 167 expands and contracts.

In this tray parts stock device 29, the slide table 127 is supported by slide rails 167 in a slide table device 123 equipped with an advance/retract drive unit 129. The slide rails 167 allow the slide table 127 to move between the internal space of the cover 109 and the outside of the cover 109. For example, a single slide rail 167 may support the slide table 127. That is, the slide table 127 may be advanced and retreated between the inside and outside of the pallet stock unit 43 by a single, extendable slide rail 167. When a single slide rail 167 is used, the support structure for the slide table 127 is simplified.

In addition, in the tray component stock device 29, the slide table 127 extends along the second axis and has two slide rails 167 arranged in parallel and spaced apart in the direction along the first axis.

In this tray parts stock device 29, in a slide table device 123 equipped with a forward/backward drive unit 129, the slide rail 167 is composed of two slide rails 167 that are parallel to each other and spaced apart in the direction along the X-axis. In the tray parts stock device 29, the slide table 127 is supported by two slide rails 167, which increases the load capacity of the slide table 127. In addition, since the slide table 127 is supported by two slide rails 167 that are spaced apart in a direction perpendicular to the forward/backward direction, the magazine 41 can be supported more stably than when supported by a single slide rail 167.

In addition, in the tray component stock device 29, the forward/backward drive unit 129 is positioned between the two slide rails 167.

In this tray parts stock device 29, the slide table device 123 is equipped with two slide rails 167 that are parallel to each other and spaced apart in the direction along the X-axis. The slide table device 123 has an advance/retract drive unit 129 installed in the space between the two slide tables 127. This allows the slide table device 123 to have a compact advance/retract drive mechanism equipped with the advance/retract drive unit 129.

In the tray component stock device 29, the forward/backward drive unit 129 includes a first rack gear 189 fixed inside the housing with its longitudinal direction oriented parallel to the second axis, a second rack gear 191 mounted on the slide table 127 and arranged parallel to and facing the first rack gear 189, a pinion gear 193 meshing with the first rack gear 189 and the second rack gear 191, and a forward/backward drive source (e.g., an air cylinder 131) that moves the pinion gear 193 along the second axis.

In this tray component stock device 29, the slide table 127 is driven to move forward and backward by the forward and backward drive unit 129. The forward and backward drive unit 129 supports the pinion gear 193 so that it can rotate freely, and moves it along the second axis. The pinion gear 193 meshes with a first rack gear 189 fixed inside the cover 109. Meanwhile, the pinion gear 193 is provided by a slide rail 167 so that it can move forward and backward relative to the cover 109, and also meshes with a second rack gear 191 that is arranged parallel to and facing the first rack gear 189. In other words, the pinion gear 193 is sandwiched between the first rack gear 189 fixed inside the cover and the second rack gear 191 attached to the slide table 127 that can move forward and backward, and meshes with both of them.

The pinion gear 193 is moved along the Y axis by a forward/backward drive source (e.g., air cylinder 131) while being sandwiched between and meshing with both rack gears. When the slide table 127 is retracted inside the cover 109, the pinion gear 193 is positioned and meshed with the rear side of the first rack gear 189 (the side opposite the slide table advancement side). At this time, the tip side of the second rack gear 191 attached to the slide table 127 in the advancement direction is meshed with the pinion gear 193.

When the forward/backward drive source (e.g., air cylinder 131) is driven and the pinion gear 193 rolls in the forward direction while meshing with the first rack gear 189, the second rack gear 191 meshing with the pinion gear 193 is advanced in the forward direction by a distance twice that of the pinion gear 193.

As a result, in the tray component supply device 23, it is possible to ensure the necessary movement stroke for the slide table 127 while keeping the slide table device 123 compact in size. In this forward/backward drive unit 129, by changing the gear ratio between the pinion gear 193 and the rack gear, it is possible to change the movement stroke of the slide table 127 relative to the movement stroke of the pinion gear 193 caused by the forward/backward drive source.

In addition, in the tray component stock device 29, the slide table 127 is provided with a first regulating portion (e.g., X alignment guide 181) that regulates the position in the first axial direction relative to the magazine 41, and a second regulating portion (e.g., Y alignment guide 187) that regulates the position in the second axial direction relative to the magazine 41.

In this tray component stock device 29, the magazine 41 is moved downward in the direction along the Z axis, so that the X alignment roller 93 of the magazine 41 comes into contact with the first regulating portion (e.g., the X alignment guide 181). The magazine 41 is positioned in the first axial direction (e.g., the X axis direction) relative to the slide table 127 as the X alignment roller 93 is guided by the X alignment guide 181.

When the X alignment guide 181 and the X alignment roller 93 come into contact with each other, the Y alignment roller 99 of the magazine 41 comes into contact with a second regulating portion (e.g., the Y alignment guide 187). The Y alignment roller 99 is guided by the inclined surface 185 of the Y alignment guide 187, so that the magazine 41 is positioned in the second axial direction (e.g., the Y axis direction) relative to the slide table 127.

When the magazine 41 is moved to the final lowered position and placed thereon, the underside of the bottom plate 87 abuts against the four Y alignment guides 187. This positions the magazine 41 in the Z axis relative to the slide table 127. As a result, once the magazine 41 has been placed on the slide table 127, it is simultaneously positioned in the X, Y and Z directions relative to the slide table 127.

The component mounting system 11 according to embodiment 1 also includes a component mounting device 13 that removes components 33 stored in a component storage body 69 (e.g., a tray 31) using a component mounting unit (e.g., a mounting head 35) and mounts the components on a board 17, a component supply device (e.g., a tray component supply device 23) that supplies the component storage body 69 (e.g., a tray 31) to a position where it can be removed by the component mounting unit (e.g., the mounting head 35), and a component stock device (e.g., a tray component stock device 29) that replenishes the component storage body 69 (e.g., a tray 31) to the tray component supply device 23. The tray component stock device 29 has a stocker (e.g., pallet stock section 43) capable of storing a magazine 41 in the internal space of the housing, which allows a component storage body 69 (e.g., a pallet 39 on which a tray 31 is placed) containing components 33 to be inserted and removed along a first axis (e.g., the X-axis), a component storage body transport section (e.g., the pallet transport section 45) that transports the component storage body 69 (e.g., the pallet 39) between the stocker and the tray component supply device 23, and a slide table device 123 that has a slide table 127 that can protrude from the inside to the outside of the housing and that transports the magazine 41 between the inside and outside of the housing along a second axis (e.g., the Y-axis) that intersects with the first axis in a plane along a horizontal plane.

In the component mounting system 11 according to the first embodiment, the pallet stock unit 43 is provided with a slide table device 123 in the internal space covered by the cover 109. The slide table device 123 allows the magazine 41 to move between the internal space of the cover 109 and the outside of the cover 109 along the second axis (Y axis).

The pallet stock section 43 stores multiple magazines 41 in multiple vertical rows. The pallets 39 stored in each magazine 41 can be inserted and removed in the direction along the X-axis.

One of the multiple magazines 41 stored in multiple vertical rows is placed on the slide table device 123. This one magazine 41 can be moved inside and outside the cover 109 by the slide table device 123. In other words, the tray parts stock device 29 can only replace this one magazine 41 placed on the slide table device 123. The slide table device 123 serves as a transfer section (i.e., an exchange section) that exchanges the magazines 41 one by one between the outside of the pallet stock section 43 and the internal space.

Pallets 39, which store parts 33 in trays 31, are moved one after another from the magazine 41 placed on the slide table device 123 to the tray component supply device 23. In the free space in the magazine 41 from which the pallets 39 have been pulled out, the pallets 39 carrying the trays 31 that have been emptied after the parts 33 have been consumed are returned from the tray component supply device 23 and stored. In other words, the magazines 41 filled with parts 33 placed on the slide table device 123 are sequentially replaced with empty pallets 39.

When all the stored pallets 39 are replaced with empty pallets 39, the magazine 41 placed on the slide table device 123 is moved to the outside of the cover 109 (onto the aisle) by the slide table device 123. When the slide table device 123 is extended, the magazine 41 with consumed parts that has been moved onto the aisle is replaced with a magazine 41 that has been replenished with parts 33 by hand or a magazine transport device.

In this component mounting system 11, the magazine 41 is advanced onto the aisle from the aisle side of the pallet stock section 43 by the slide table device 123, so that the magazine 41, which weighs, for example, about 20 kg, can be easily replaced.

The slide table device 123 may be manually pulled out from the aisle side. In this case, the slide table device 123 pulled out to the aisle side acts as a shelf, and the large space above the aisle becomes a working space, making it easier to perform manual replacement work.

The component mounting system 11 also includes a component mounting device 13 that removes components 33 stored in a component storage body 69 (e.g., a tray 31) using a component mounting unit (e.g., a mounting head 35) and mounts them on a board 17, a component supply device (e.g., a tray component supply device 23) that supplies the component storage body 69 (e.g., a tray 31) to a position where it can be removed by the component mounting unit (e.g., the mounting head 35), and a component stock device (e.g., a tray component stock device 29) that replenishes the component storage body 69 (e.g., a tray 31) to the tray component supply device 23. The tray parts stock device 29 has a stocker (e.g., pallet stock section 43) capable of storing a magazine 41 in an internal space of a housing (e.g., cover 109), which allows a parts storage body 69 (e.g., pallet 39 on which tray 31 is placed) storing parts 33 to be inserted and removed along a first axis (e.g., X-axis), a parts storage body transport section (e.g., pallet transport section 45) which transports the parts storage body 69 (e.g., pallet 39) between the stocker and the tray parts supply device 23, and a slide table device 123 which has a slide table 127 that can protrude from the inside of the housing (e.g., cover 109) to the outside of the housing (e.g., cover 109) along a second axis (e.g., Y-axis) intersecting the first axis in a plane along the horizontal plane and that moves the magazine 41 between the inside of the housing (e.g., cover 109) and the outside of the housing (e.g., cover 109). The slide table device 123 includes a forward/backward drive unit 129 that causes the slide table 127 to protrude outside the housing.

In this component mounting system 11, the pallet stock unit 43 is provided with a slide table device 123 in the internal space covered by the cover 109. The slide table device 123 allows the magazine 41 to move between the internal space of the cover 109 and the outside of the cover 109 along the second axis (Y axis).

The pallet stock section 43 stores multiple magazines 41 in multiple vertical rows. The pallets 39 stored in each magazine 41 can be inserted and removed in the direction along the X-axis.

One of the multiple magazines 41 stored in multiple vertical rows is placed on the slide table device 123. This one magazine 41 can be moved inside and outside the cover 109 by the slide table device 123. In other words, the tray parts stock device 29 can only replace this one magazine 41 placed on the slide table device 123. The slide table device 123 serves as a transfer section (i.e., an exchange section) that exchanges the magazines 41 one by one between the outside of the pallet stock section 43 and the internal space.

Pallets 39, which store parts 33 in trays 31, are moved one after another from the magazine 41 placed on the slide table device 123 to the tray component supply device 23. In the free space in the magazine 41 from which the pallets 39 have been pulled out, the pallets 39 carrying the trays 31 that have been emptied after the parts 33 have been consumed are returned from the tray component supply device 23 and stored. In other words, the magazines 41 filled with parts 33 placed on the slide table device 123 are sequentially replaced with empty pallets 39.

When all the stored pallets 39 are replaced with empty pallets 39, the magazine 41 placed on the slide table device 123 is moved to the outside of the cover 109 (onto the aisle) by the slide table device 123. When the slide table device 123 is extended, the magazine 41 with consumed parts that has been moved onto the aisle is replaced with a magazine 41 that has been replenished with parts 33 by hand or a magazine transport device.

In this component mounting system 11, the magazine 41 is advanced onto the aisle from the aisle side of the pallet stock section 43 by the slide table device 123, so that the magazine 41, which weighs, for example, about 20 kg, can be easily replaced.

The slide table device 123 may be manually pulled out from the aisle side. In this case, the slide table device 123 pulled out to the aisle side acts as a shelf, and the large space above the aisle becomes a working space, making it easier to perform manual replacement work.

In this component mounting system 11, the slide table 127 is driven by an advance/retract drive unit 129. When the advance/retract drive unit 129 is activated, it automatically moves the slide table 127 forward and backward between the outside of the cover 109 and the internal space. This makes it easier for the component mounting system 11 to automate the replacement of the magazine 41 when the self-propelled magazine transport device is traveling on the aisle, without the need for a large-scale elevator device or the like, and at low equipment costs.

(Embodiment 2)
Next, a second embodiment will be described.

Figure 26 is an overall configuration diagram of an item transport system 211 equipped with an item transport device 209 according to embodiment 2. Note that in embodiment 2, the same components and parts as those shown in Figures 1 to 25 in embodiment 1 are designated by the same reference numerals, and duplicated explanations are omitted.

The item transport device 209 transports items (e.g., pallets 39 as an example of a parts storage unit 69; the same applies below) on the factory floor to be used in at least one piece of manufacturing equipment (see below) installed on the factory floor. The item transport device 209 is also called a magazine transport device.

In this specification, manufacturing equipment includes not only devices that assemble, process, treat, inspect, etc., but also ancillary equipment that stores items consumed by those components and supplies them to the devices. In this specification, the tray component supply device 23, tape component supply device 25, and tray component stock device 29 correspond to ancillary equipment.

The item transport device 209 can automatically travel along the aisles 15 on the factory floor by connecting the transport vehicle 213 to the side of the item transport device 209. In other words, the item transport device 209 is a tow type. The item transport device 209 stores a magazine 41 loaded with items (e.g., a pallet 39) at a work location (not shown) away from the tray parts stock device 29 connected to the tray parts supply device 23, and transports and docks it to a specified tray parts stock device 29, enabling the magazine 41 to be retrieved and replenished.

Figure 27 is a perspective view of the item transport device 209. The item transport device 209 has an item storage body that stores at least one item. In the second embodiment, the item storage body is a magazine 41. Hereinafter, the item storage body is also referred to as the magazine 41. Note that the part storage body 69 (see Figure 4) described in the first embodiment may be a tray 31, a pallet 39, or may be composed of a tray 31 and a pallet 39. The item transport device 209 has a base portion 217 equipped with wheels 215 for traveling on the factory floor. The item transport device 209 is covered by a rectangular parallelepiped cover 219 that is vertically long above the base portion 217.

A magazine storage rack 223, which is a storage rack having an opening 221, is housed inside the cover 219. At least one holding table for holding the magazines 41 is provided on the inner wall surface of the magazine storage rack 223. This holding table rises and falls integrally with the magazine storage rack 223 as the magazine storage rack 223 rises and falls relative to the base portion 217. The holding table is, for example, made up of a first magazine holding table 225 and a second magazine holding table 227. Note that the number of holding tables is not limited to two. The magazine storage rack 223 allows the magazines 41 to be inserted and removed from the side of the holding table as the slide table 127 of the tray parts stock device 29 advances and retreats through the opening 221.

Figure 28 is a side cross-sectional view of the item transport device 209. The item transport device 209 is equipped with a rack lifting device 229 that raises and lowers the storage rack. The rack lifting device 229 has a rack lifting motor 231, a feed screw 233, and a rack lifting nut unit 235. The rack lifting motor 231 is fixed to a frame 237 extending vertically with its drive shaft aligned along the Z axis. The feed screw 233 is coaxially connected to the drive shaft of the rack lifting motor 231 and is rotatably supported by a plurality of bearing plates 239. The rack lifting nut unit 235 is screwed into the feed screw 233, and the side of the rack lifting nut unit 235 is fixed to the rear surface of the magazine storage rack 223 (i.e., the surface opposite the opening 221).

Figure 29 is a cross-sectional view taken along line B-B of Figure 28. Therefore, when the rack lift motor 231 is driven, the feed screw 233 rotates and the rack lift nut portion 235 moves vertically, whereby the slide portion 241 fixed to the rear surface of the magazine storage rack 223 is guided by the slide guide 243 erected on the base portion 217, and the magazine storage rack 223 rises and falls. The operation of the rack lift motor 231 housed in the unit space 245 shown in Figure 28 is controlled by the magazine transport device control portion 247 housed in the base portion 217. In addition, inside the opening 221, a wireless communication unit 249 connected to the magazine transport device control portion 247 is provided at a position that does not interfere with the rise and fall of the magazine storage rack 223.

As shown in Figures 27 and 28, a reference height detection sensor 251, which is a reference height detection unit described later, is provided in the opening 221 of the magazine storage rack 223. The reference height detection unit is not limited to a single sensor, and may be, for example, a camera unit for image recognition. Also, as shown in Figure 28, a total of four slide table detection sensors 253 are provided on the inner wall surface of the magazine storage rack 223, one pair each of which sandwiches the first magazine holding table 225 and the second magazine holding table 227 from above and below.

As shown in FIG. 29, the first magazine holding table 225 and the second magazine holding table 227 are each provided with an X-alignment roller 255, a magazine receiving portion 257, and a Y-alignment member 259 (described later) at both ends along the Y-axis. Both sides of the first magazine holding table 225 and the second magazine holding table 227 are supported by opposing inner wall surfaces of the magazine storage rack 223. Note that the dashed lines in FIG. 29 indicate the outline of the magazine 41 in a plan view. The X-alignment roller 255, the magazine receiving portion 257, and the Y-alignment member 259 are each disposed at the four corners of the magazine 41. That is, four of each of the X-alignment roller 255, the magazine receiving portion 257, and the Y-alignment member 259 are disposed.

Stoppers 261 are provided between the rear wall of the magazine storage rack 223 and the first magazine holding table 225, and between the rear wall of the magazine storage rack 223 and the second magazine holding table 227. Each stopper 261 prevents the first magazine holding table 225 and the second magazine holding table 227 from retracting further into the magazine storage rack 223 than a predetermined amount. In addition, a first magazine detection sensor 263, which will be described later, is provided between the rear wall of the magazine storage rack 223 and the first magazine holding table 225. The first magazine detection sensor 263 detects the magazine 41 placed on the first magazine holding table 225. A second magazine detection sensor 265, which will be described later, is provided between the rear wall of the magazine storage rack 223 and the second magazine holding table 227. The second magazine detection sensor 265 detects the magazine 41 placed on the second magazine holding table 227.

Each of the first magazine holding table 225 and the second magazine holding table 227 is provided with a discharge contact 267 for removing static electricity that accumulates on the magazine 41.

As shown in FIG. 27, the base portion 217 further includes a docking portion 269 that docks with a docking base 115 (see FIG. 8) of the manufacturing equipment when the base portion 217 moves in a first direction (e.g., along the Y-axis) and approaches the manufacturing equipment.

Figure 30 is a perspective view of the docking base 115. Figure 31 is a perspective view of the docking section 269. The docking section 269 has at least one aligned member that moves in a first direction (direction along the Y axis) while in contact with at least one alignment member provided on the docking base 115 and approaches it to adjust the position of the base section 217 (i.e., the entire article transport device 209) in a second direction (for example, direction along the X axis) that is perpendicular to the first direction. The alignment members provided on the docking base 115 are the X guide 271 having the guide slope 425 shown in Figure 30 and the positioning pin guide member 275 having the positioning pin guide hole 273. These alignment members regulate the position in the direction along the X axis. The aligned members of the docking section 269 are the X guide roller 277 and the positioning pin 279.

In the item transport device 209, as shown in FIG. 31, these two aligned members are arranged with a gap between them in the second direction (the direction along the X-axis). Each of these aligned members individually contacts two alignment members provided on the docking base 115 with a gap between them in the second direction.

The base portion 217 further has a held member held by a docking holding portion 281 provided on the docking base 115. The docking holding portion 281 has hook insertion openings 283 spaced apart in the second direction (direction along the X-axis). The held member of the base portion 217 is a pair of hooks 285 spaced apart in the second direction (direction along the X-axis) shown in FIG. 31.

The docking section 269 has a second connector 287 for communication or power supply, which is electrically connected to a first connector 117 provided on the docking base 115. The first connector 117 is disposed at the midpoint between a pair of X-guides 271. The second connector 287 is disposed at the midpoint between a pair of X-guide rollers 277. The first connector 117 is a female connector having a female terminal housed in a female housing made of insulating resin. The second connector 287 is a male connector having a male terminal, which is electrically connected to the female terminal, housed in a male housing made of insulating resin. Note that the gender of the first connector 117 and the second connector 287 is not limited to this.

The other connector 287 can connect two circuits, a communication circuit wire and a power circuit wire. In this case, the other connector 287 can be formed with a single male housing having multiple terminal accommodating chambers that respectively accommodate male terminals to be attached to wires of different circuits. The other connector 287 can also be formed by joining a male housing for communication and a male housing for power supply that are formed separately.

The docking unit 269 has a connector position adjustment mechanism 289 that adjusts the vertical position of the other connector 287 during docking. Alternatively, the docking base 115 has a connector position adjustment mechanism 289 that adjusts the vertical position of one connector 117 during docking. In other words, the connector position adjustment mechanism 289 may be provided in either the docking unit 269 or the docking base 115. The connector position adjustment mechanism 289 is actuated by an alignment member provided on the docking partner. In the second embodiment, the connector position adjustment mechanism 289 is provided in, for example, the docking unit 269. Therefore, the alignment member that actuates the connector position adjustment mechanism 289 is provided in the docking base 115.

The connector position adjustment mechanism 289 has a lifting member 291, a pushing member 293, and a cam follower 295, as shown in FIG. 31. The alignment member that operates the connector position adjustment mechanism 289 is a plate-shaped cam 297 having an operating surface (e.g., an inclined surface Sc) as shown in FIG. 30.

In the docking section 269, the connector position adjustment mechanism 289 rises and falls together with the other connector 287. In the connector position adjustment mechanism 289, the cam follower 295 moves in the first direction (direction along the Y axis) while contacting the inclined surface Sc of the cam 297 provided on the docking base 115 of the tray component stock device 29, and the height position of the lifting member 291 is adjusted by the cam 297.

The item transport system 211 has at least one manufacturing equipment (tray parts stock device 29) installed on the factory floor, and an item transport device 209 that moves around the factory floor to transport items used in the manufacturing equipment. The item transport system 211 docks the item transport device 209 to the tray parts stock device 29 using a docking device 299 (see FIG. 35) that is composed of a docking base 115 shown in FIG. 30 of the tray parts stock device 29 and a docking section 269 shown in FIG. 31 of the item transport device 209, and transfers items between the item transport device 209 and the tray parts stock device 29. In other words, the docking device 299 can be said to be a joint that joins the item transport device 209 and the tray parts stock device 29.

Figure 32 is a plan view of the docking section 269 provided in the item transport device 209. Figure 33 is a cross-sectional view taken along line C-C of Figure 32. The docking device 299 has a guidance section 301, a buffer section 303 (see Figure 30), a docking holding section 281 (see Figure 30), and a connector connecting section 305 (see Figure 35).

The guidance section 301 is composed of an alignment member (e.g., X-guide 271) and an aligned member (e.g., X-guide arm 307, X-guide roller 277). The guidance section 301 guides the item transport device 209 approaching from a first direction (direction along the Y-axis) toward the tray parts stock device 29 while adjusting its position in a second direction (direction along the X-axis) perpendicular to the first direction in the horizontal plane. The guidance section 301 has at least one alignment member (e.g., X-guide 271) provided on the docking base 115 and at least one aligned member (e.g., X-guide arm 307, X-guide roller 277) provided on the docking section 269. The guide unit 301 moves in a first direction (direction along the Y axis) while bringing the X guide roller 277 into contact with the guide slope 425 of the X guide 271, so that the trajectory of the X guide roller 277 is corrected by the X guide 271, thereby adjusting the position of the item transport device 209 in the second direction (direction along the X axis).

That is, the part to be aligned includes a roller (e.g., X-guide roller 277) that contacts the alignment member (e.g., X-guide 271).

Figure 34 is a conceptual diagram of the buffer section 303 and the docking holding section 281 before docking. The buffer section 303 is composed of a bearing 309, a slide shaft 311, a large diameter section 313, a receiving section 315, and a cushion member (e.g., a buffer spring 317). The buffer section 303 absorbs the impact during docking by pushing the item transport device 209 in a direction away from the manufacturing equipment using the repulsive force of the buffer spring 317. This buffer section 303 is disposed on one of the docking base 115 or the docking section 269. On the other of the docking base 115 or the docking section 269, a protrusion 319 is disposed that abuts against the buffer section 303 from a first direction (direction along the Y axis) to deform the buffer spring 317. In the second embodiment, the buffer spring 317 is disposed on the docking base 115, and the protrusion 319 is disposed on the docking section 269.

The docking holding section 281 is composed of a hook holding section 321 and a buffer section 303. The docking holding section 281 prevents the item transport device 209 docked with the tray parts stock device 29 from moving away from the manufacturing equipment (e.g., the tray parts stock device 29) by the repulsive force of the buffer spring 317. This docking holding section 281 is disposed on either the docking base 115 or the docking section 269. At least one held member (e.g., hook 285) held by the docking holding section 281 is provided on the other of the docking base 115 or the docking section 269. In the second embodiment, the docking holding section 281 is disposed on the docking base 115, and the held member (e.g., hook 285) is disposed on the docking section 269.

The docking holding part 281 has a lever 323 and a holding force generating part 325 (e.g., a holding spring 327, a lever shaft 329, and a docking roller 331). The lever 323 has a docking roller 331 that abuts against a held member (e.g., a hook 285) from a third direction (e.g., a direction along the X-axis) that intersects with a first direction (e.g., a direction along the Y-axis). The holding force generating part 325 rotates the lever 323 to press the docking roller 331 against the hook 285. The hook 285 has a thick part 333 formed at a tip that protrudes toward the docking base 115. The thick part 333 is formed in a wedge shape by a front taper 335 on the tip side and a rear taper 337 on the base end side of the front taper 335. The hook 285 has a roller operating surface (i.e., rear taper 337) that displaces the docking roller 331 in a direction opposite to the third direction as the item transport device 209 moves in a first direction (e.g., along the Y axis) and approaches the tray part stock device 29, and then displaces the docking roller 331 in the third direction.

The connector coupling section 305 (see FIG. 35) is composed of the connector position adjustment mechanism 289 (e.g., the lifting member 291, the pushing member 293) and the alignment member (e.g., the cam follower 295) shown in FIG. 31 and FIG. 32. The connector coupling section 305 adjusts the position of the other connector 287 of the item transport device 209 and one connector 117 of the manufacturing equipment as the item transport device 209 approaches the manufacturing equipment (e.g., the tray parts stock device 29).

This connector coupling section 305 includes a connector position adjustment mechanism 289 arranged on one of the docking base 115 or the docking section 269, and an alignment member (e.g., cam 297) arranged on the other of the docking base 115 or the docking section 269. The connector position adjustment mechanism 289 rises and falls together with the other connector 287. The connector position adjustment mechanism 289 has a lifting member 291 that moves in a first direction (direction along the Y-axis) while in contact with the alignment member, thereby adjusting the height position by the alignment member. In the second embodiment, the connector position adjustment mechanism 289 is arranged on the docking section 269, and the alignment member is arranged on the docking base 115.

The connector coupling section 305 includes a connector pressing section 339 shown in Figures 32 and 33. The connector pressing section 339 is arranged on either the docking base 115 or the docking section 269, and presses one connector 117 arranged on either the docking base 115 or the docking section 269 against the other connector 287. In the second embodiment, the connector pressing section 339 is arranged on the docking section 269. Therefore, the connector pressing section 339 provided on the docking section 269 presses the other connector 287 provided on the docking section 269 against one connector 117 (see Figure 35) provided on the docking base 115.

The connector pressing portion 339 is provided on the lifting member 291 shown in Figures 32 and 33. The lifting member 291 is supported by the base portion 217 so that it can be raised and lowered by a lifting guide 341. The lifting member 291 is biased downward along the Z axis by a tension spring 343. The lifting member 291 is restricted from further lowering by abutting against a lowering stopper 345. A pair of guide rods 347 spaced apart in the direction along the X axis protrude from the surface of the lifting member 291 facing the docking base 115. Each guide rod 347 penetrates both longitudinal sides of the push-in member 293 formed in a rectangular plate shape.

The pushing member 293 through which the guide rod 347 passes is movable along the guide rod 347 in the direction toward and away from the lifting member 291. A connector pressing spring 349 is inserted around the guide rod 347 between the lifting member 291 and the pushing member 293. The connector pressing spring 349 biases the pushing member 293 in the direction away from the lifting member 291. The pushing member 293 is restricted from being removed from the guide rod 347 by a removal restriction portion formed at the protruding tip of the guide rod 347. In other words, the pushing member 293 is supported so that it can be pushed in the direction toward the lifting member 291 against the biasing force of the connector pressing spring 349.

As described above, one of the docking base 115 or the docking section 269 has at least one positioning pin 279 protruding in a first direction (direction along the Y axis). The other of the docking base 115 or the docking section 269 has a positioning pin guide member 275. The positioning pin guide member 275 has at least one positioning pin guide hole 273 into which the positioning pin 279 is inserted from the first direction. In the second embodiment, the positioning pin 279 is disposed in the docking section 269, and the positioning pin guide member 275 is disposed in the docking base 115. As shown in FIG. 28, the base section 217 on which the docking section 269 having the positioning pin 279 is formed has a claw section 351 on the side opposite to the positioning pin 279 to which the transport vehicle 213 that pulls the item transport device 209 is connected.

Next, we'll explain the docking operation.

Figure 35 is an explanatory diagram of the horizontal positioning operation by docking. Figure 36 is an explanatory diagram of the vertical positioning operation by docking. Docking of the docking section 269 to the docking base 115 is started after preliminary alignment of the tray parts stock device 29 and the item transport device 209 along the X-axis has been completed. In the docking operation, first, the item transport device 209 approaches the tray parts stock device 29, and the X-guide roller 277 is displaced along the X-axis following the X-guide 271. This causes the position of the item transport device 209 in the X direction to be corrected and aligned with the tray parts stock device 29.

In this state, the positioning pin 279 moves to a position where it can be inserted into the positioning pin guide hole 273, and the cam follower 295 also moves to a position where it can contact the cam 297.

When the item transport device 209 is moved in this state toward the tray parts stock device 29, the positioning pin 279 is inserted into the positioning pin guide hole 273. At this time, the item transport device 209 moves in a direction approaching the tray parts stock device 29 while the X guide roller 277 abuts against the X guide 271.

The positioning pin 279 is inserted into the positioning pin guide hole 273, and the alignment of the item transport device 209 in the direction along the X-axis is completed. The connector position adjustment mechanism 289 is also aligned in the direction along the Z-axis by the cam follower 295 climbing up the inclined surface Sc of the cam 297 and moving to the flat surface of the cam 297. In this state, the one connector 117 and the other connector 287 face each other in a position where they can be connected to each other. When the item transport device 209 is further moved in a direction approaching the tray component stock device 29, the one connector 117 and the other connector 287 start to be coupled. When the movement is continued, the connector pressing spring 349 is compressed, and the connectors are firmly coupled to each other by the repulsive force of this spring. This completes the alignment of the item transport device 209 in the XZ direction with respect to the tray component stock device 29.

After completing the alignment in the XZ directions, the item transport device 209 uses the transport vehicle 213 to push the tray part stock device 29 so that the protrusion 319 (see FIG. 34) presses the receiving portion 315 (see FIG. 34) of the buffer unit 303 (see FIG. 34). When the receiving portion 315 retracts to a predetermined position against the biasing force of the buffer spring 317 (see FIG. 34), the buffer unit 303 is restricted from retracting any further.

Figure 37 is a conceptual diagram of the docking holding section 281 after docking. After docking, the protrusion 319 of the item transport device 209 is pressed by the repulsive force of the buffer spring 317. The item transport device 209 with the protrusion 319 pressed attempts to return in a direction away from the tray part stock device 29. At that time, the rear taper 337 formed on the hook 285 of the docking holding section 281 of the item transport device 209 engages with the docking roller 331 of the holding force generating section 325. The displacement angle of the lever 323 of the docking roller 331 is regulated by the displacement angle regulating stopper 353 (see Figures 34 and 37). The holding spring 327 generates a spring force that can prevent the docking state of the item transport device 209 and the tray part stock device 29 from being released by the repulsive force. In other words, the docking holding unit 281 holds the item transport device 209 and the tray part stock device 29 in a docked state with a certain distance between them. This completes the alignment of the item transport device 209 with respect to the tray part stock device 29 in the first direction (the direction along the Y axis), and the docking operation is completed.

As shown in FIG. 26, the item transport system 211 includes at least one manufacturing device (tray part stock device 29) installed on the factory floor and at least one item transport device 209 that moves on the factory floor, and transports items between the tray part stock device 29 and the item transport device 209.

Figure 38 is a perspective view of the magazine storage rack 223. The article transport system 211 has a magazine 41, a first support table, a second support table, a first support table moving device, and a second support table lifting device.

In the item transport system 211, the items are pallets 39 holding trays 31 that store parts 33, as shown in FIG. 4. The magazine 41 stores multiple pallets 39, as shown in FIG. 6.

Figure 39 is an explanatory diagram showing the support areas of the first support table and the second support table. The first support table is provided in the tray part stock device 29. The first support table is the slide table 127 of the slide table device 123. Hereinafter, the first support table is also referred to as the slide table 127.

The slide table 127 supports from below multiple parts of the magazine 41 located within a first area F1, which is part of the area of the magazine 41 projected onto a plane.

The second support table is provided on the item transport device 209. The second support table is a first magazine holding table 225 and a second magazine holding table 227 provided on the magazine storage rack 223. Hereinafter, the second support table is also referred to as the first magazine holding table 225 or the second magazine holding table 227.

The first magazine holding table 225 and the second magazine holding table 227 support from below a number of other parts of the magazine 41 located within a second area F2, which is another part of the area of the magazine 41 projected onto a plane and does not overlap with the first area F1.

Figure 40 is a plan view showing the state in which the slide table 127 has advanced into the magazine storage rack 223. The first support table moving device is provided in the tray parts stock device 29 (see Figure 26). The first support table moving device is configured with an advance/retract drive unit 129 as its main portion. As described above, the advance/retract drive unit 129 is composed of the air cylinder 131, pinion gear 193, slider 195, first rack gear 189, and second rack gear 191. Hereinafter, the first support table moving device is also referred to as the advance/retract drive unit 129.

Here, the slide table 127 is positioned so as not to interfere with the first magazine holding table 225 and the second magazine holding table 227 even when it is slid into the magazine storage rack 223 as shown in FIG. 40.

Figure 41 is a perspective view of the holding table. Each of the first magazine holding table 225 and the second magazine holding table 227 is formed in a U-shape in a plan view with the base ends of a pair of parallel table movable plates 355 that are long in the direction along the Y axis connected to each other by a table connecting plate 357. Each of the first magazine holding table 225 and the second magazine holding table 227 moves up and down together with the magazine storage rack 223 that is raised and lowered by the rack lifting device 229. On the inside of the U-shape of the first magazine holding table 225 and the second magazine holding table 227, as shown in Figure 40, a slide table 127 that advances inside the magazine storage rack 223 is arranged.

The first magazine holding table 225 and the second magazine holding table 227 can move up and down without interfering with the slide table 127 arranged inside the U-shape. Therefore, the inside of the U-shape of the first magazine holding table 225 and the second magazine holding table 227 becomes the slide table passing space 359. The slide table 127 only advances horizontally and stops. Therefore, when the magazine storage rack 223 rises and falls, the stopped slide table 127 passes relatively to the first magazine holding table 225 and the second magazine holding table 225 which move up and down. In other words, the slide table 127 and the first magazine holding table 225 and the second magazine holding table 227 can pass each other in the vertical direction so as to support the magazine 41 without interference.

As shown in FIG. 39, the forward/backward drive unit 129 (see FIG. 40) moves the slide table 127 supporting the magazine 41 toward an empty first magazine holding table 225 or second magazine holding table 227 on which the magazine 41 is not placed, thereby positioning the second region F2 of the magazine 41 "above" the first magazine holding table 225 or second magazine holding table 227. Alternatively, the forward/backward drive unit 129 moves the empty slide table 127 toward the first magazine holding table 225 or second magazine holding table 227, thereby positioning the slide table 127 "below" the second region F2 of the magazine 41 supported by the first magazine holding table 225 or second magazine holding table 227.

The second support table lifting device is provided in the article transport device 209. Hereinafter, the second support table lifting device is also referred to as the rack lifting device 229 (see FIG. 28). As shown in FIG. 39, the rack lifting device 229 transfers the magazine 41 supported by the slide table 127 to the first magazine holding table 225 or the second magazine holding table 227 by moving the first magazine holding table 225 or the second magazine holding table 227 from a position lower than the slide table 127 to a position higher than the slide table 127.

Alternatively, the magazine 41 supported by the first magazine holding table 225 or the second magazine holding table 227 is transferred to the slide table 127 by moving the first magazine holding table 225 or the second magazine holding table 227 from a position higher than the slide table 127 to a position lower than the slide table 127.

The magazine 41 has a plurality of first alignment sections in the first region F1. The first alignment sections are the above-mentioned first alignment group 103 shown in FIG. 39. The first alignment group 103 has four X alignment rollers 93 and four Y alignment rollers 99 as shown in FIG. 7.

Figure 42 is an enlarged perspective view of the main parts showing the second alignment section provided on the magazine 41 and the second alignment guide 361 provided on the first magazine holding table 225 and the second magazine holding table 227.

The magazine 41 also has multiple second alignment sections in the second region F2. The second alignment sections are the second alignment group 107 described above. As shown in Figures 7 and 42, the second alignment group 107 has four Y alignment sections 95 and two X alignment sections 105.

The slide table 127 has a number of first alignment guides 363 shown in FIG. 39 that contact the first alignment groups 103 to adjust the position of the magazine 41 relative to the slide table 127. The first alignment guides 363 have the four X alignment guides 181 and four Y alignment guides 187 shown in FIG. 17 and described above.

The first magazine holding table 225 or the second magazine holding table 227 has a plurality of second alignment guides 361 shown in FIG. 41 that contact the plurality of second alignment groups 107 to adjust the position of the magazine 41 relative to the first magazine holding table 225 or the second magazine holding table 227. As shown in FIG. 42, the second alignment guide 361 has an X alignment roller 255 and a Y alignment member 259.

At least one of the multiple first alignment guides 363 shown in FIG. 39 adjusts the position of the magazine 41 relative to the slide table 127 in a horizontal first direction (direction along the X-axis), and at least another adjusts the position of the magazine 41 relative to the slide table 127 in a second direction (direction along the Y-axis) that is perpendicular to the first direction in the horizontal plane.

At least one of the multiple second alignment guides 361 adjusts the position of the magazine 41 relative to the first magazine holding table 225 and the second magazine holding table 227 in a horizontal third direction (e.g., a direction along the X-axis), and at least another adjusts the position of the magazine 41 relative to the first magazine holding table 225 and the second magazine holding table 227 in a fourth direction (e.g., a direction along the Y-axis) that is perpendicular to the third direction in the horizontal plane.

Figure 43 is a perspective view seen through the magazine storage rack 223. In the article transport device 209 used in the article transport system 211, the holding tables (e.g., the first magazine holding table 225 and the second magazine holding table 227) are mounted so as to be slidable laterally (e.g., along the Y-axis) relative to the storage rack. Each of the first magazine holding table 225 and the second magazine holding table 227 can be pulled out from the magazine storage rack 223 by a pair of table slide rails 365 fixed to opposing inner walls of the magazine storage rack 223. The storage rack (e.g., the magazine storage rack 223) is provided with a slide lock section 367 for preventing the holding tables from sliding.

Figure 44 is an enlarged plan view of the main part explaining the operation of the slide lock section 367 shown in Figure 43. On the inner wall near the opening 221 of the magazine storage rack 223, a lever support 369 protrudes vertically from the inner wall in correspondence with each holding table. The lever support 369 rotatably supports the center of a table lock lever 371 so that it can swing freely. The swing end of the table lock lever 371 facing the opening 221 serves as a lock operation section 373. The table lock lever 371 rotatably supports a lock roller 375, which can rotate about a rotation center axis in a direction along the Z axis, on the swing end opposite the lock operation section 373.

The table lock lever 371 is biased in a rotational direction (counterclockwise in FIG. 44) in which the lock roller 375 approaches the holding table by a lever biasing spring 377 sandwiched between the table lock lever 371 and the magazine storage rack 223. The table lock lever 371 biased in the counterclockwise direction by the lever biasing spring 377 abuts against a restricting pin 379 provided on the lever support 369, thereby restricting further counterclockwise rotation.

When the table lock lever 371 is in a rotational position where it abuts against the restricting pin 379, the lock roller 375 abuts against the pull-out direction tip 381 of the table movable plate 355. The holding table, with the lock roller 375 abutting against the pull-out direction tip 381, is in a locked state where pull-out is restricted. When the lock operation part 373 of the table lock lever 371 is rotated in a rotational direction (for example, clockwise direction in FIG. 44) away from the inner wall of the magazine storage rack 223, the lock roller 375 disengages from the pull-out direction tip 381 of the table movable plate 355. As a result, the slide lock part 367 allows the lock roller 375 to roll on the outer surface of the table movable plate 355, allowing the table movable plate 355 (i.e., the holding table) to be pulled out.

In this way, the item transport device 209 can manually unlock the slide lock section 367. The holding table becomes freely slidable when the slide lock section 367 is released. This allows the storage rack to easily pull out the holding table at the collection/supply location and for an operator to manually collect and replenish the magazines 41. Of course, the item transport device 209 may also be configured to automatically collect and replenish the magazines 41 by a collection/replenishment device installed at the collection/supply location, etc.

Next, we will explain the control system of the item transport device 209.

Figure 45 is a block diagram showing the control system of the item transport device 209. The item transport device 209 is equipped with a magazine transport device control unit 247. The magazine transport device control unit 247 is connected to a reference height detection unit (e.g., reference height detection sensor 251), four slide table detection sensors 253, a first magazine detection sensor 263, a second magazine detection sensor 265, a wireless communication unit 249, the other connector 287, a power supply unit 383, a motor driver 385 for the rack lifting device 229, and a rack lifting motor 231 and an encoder 387 connected to the motor driver 385.

The other connector 287 is connected to the magazine transport device control unit 247 via a communication line 389. The power supply unit 383 is connected to the other connector 287 and the motor driver 385 via a power supply cable 391.

A battery 393 is connected to the magazine transport device control unit 247. The battery 393 supplies power to the magazine transport device control unit 247 and the wireless communication unit 249. The battery 393 is charged when the connector is connected.

The magazine transport device control unit 247 has a power receiving control unit 395, a reference height setting unit 397, a positioning height calculation unit 399, a first input unit 401, a first output unit 403, a second input unit 405, a second output unit 407, and a transport device memory unit 409. The transport device memory unit 409 has an elevation difference memory unit 411, a Z0 memory unit 413, and a positioning height memory unit 415.

The power receiving control unit 395 performs the power supply process after the tray component stock device 29 and the component mounting device 13 are docked, and the shutdown process before undocking.

The reference height setting unit 397 detects the reference height Lv0 shown in FIG. 48 described below, and executes a process to set the positioning height (e.g., Z coordinate).

The positioning height calculation unit 399 calculates the positioning heights (e.g., Z coordinates) of the first level Lv1, the second level Lv2, the third level Lv3, and the fourth level Lv4 shown in FIG. 48 described below.

The first loading unit 401 executes a process of loading the magazine 41 onto the first magazine holding table 225. The first unloading unit 403 executes a process of unloading the magazine 41 from the first magazine holding table 225. The second loading unit 405 executes a process of loading the magazine 41 onto the second magazine holding table 227. The second unloading unit 407 executes a process of unloading the magazine 41 from the second magazine holding table 227.

The elevation difference memory unit 411 stores the elevation differences (e.g., design values) of the first level Lv1 to the fourth level Lv4 relative to the reference height Lv0.

The Z0 memory unit 413 acquires the positioning height (e.g., Z coordinate) of the rack lifting device 229 at the reference height Lv0 using the reference height setting unit 397.

The positioning height memory unit 415 stores the positioning heights (e.g., Z coordinates) of the first level Lv1 to the fourth level Lv4 calculated by the positioning height calculation unit 399.

Figure 46 is a flow chart showing the procedure until the driving power supply is turned ON after docking. When the docking unit 269 of the item transport device 209 is docked to the docking base 115, the driving power supply is turned ON. That is, when the docking base 115 and the docking unit 269 are docked, the magazine transport device control unit 247 determines whether or not docking has occurred (Ast1). When docking is detected, the magazine transport device control unit 247 checks the docking status using a self-diagnosis function (Ast2).

The magazine transport device control unit 247 judges whether the docking state is normal or abnormal (Ast3). If the docking state is abnormal, the magazine transport device control unit 247 reports the abnormality (Ast4) and ends the process without turning on the power source for driving. If the docking state is normal, the magazine transport device control unit 247 sends a command requesting power for driving to the tray parts stock device 29 (Ast5). The magazine transport device control unit 247 judges whether power is being received from the tray parts stock device 29 (Ast6). If the reception of power is confirmed, the magazine transport device control unit 247 turns on the power source for driving (Ast7) and ends the process.

Figure 47 is an explanatory diagram showing the positional relationship between the item transport device 209 and the tray parts stock device 29 after docking. The item transport device 209 includes a position detection unit (e.g., the encoder 387), a reference height detection unit (e.g., the reference height detection sensor 251), and a control unit (e.g., the magazine transport device control unit 247).

The encoder 387 detects the height position of the magazine storage rack 223. The reference height detection sensor 251 rises and falls together with the magazine storage rack 223 to detect a reference point (e.g., hole 419 of the reference height sign 417) provided on the tray part stock device 29. The magazine transport device control unit 247 operates the rack lifting device 229 while the base unit 217 is docked to the docking base 115 of the tray part stock device 29 by the docking unit 269, and detects the reference point (e.g., hole 419) with the reference height detection unit (e.g., reference height detection sensor 251). When the reference height detection sensor 251 detects the hole 419, the magazine transport device control unit 247 sets the position obtained by the encoder 387 as the reference height, and operates the rack lifting device 229 based on the reference height to perform the transfer operation of the magazine 41 between the holding table and the manufacturing equipment.

The transfer operation between the item transport device 209 and the tray parts stock device 29 involves transferring the magazine 41 between the holding table and the slide table 127 that protrudes into the internal space of the magazine storage rack 223.

The magazine transport device control unit 247 determines the positioning height to position the holding table at a first level Lv1 lower than the slide table 127 and at a second level Lv2 higher than the slide table 127 based on the reference height.

When transferring the magazine 41 from the slide table 127 to the holding table, the magazine transport device control unit 247 moves the magazine storage rack 223 from the first level Lv1 to the second level Lv2 using the rack lifting device 229.

When transferring from the holding table to the slide table 127, the magazine transport device control unit 247 moves the magazine storage rack 223 from the second level Lv2 to the first level Lv1 using the rack lifting device 229.

The magazine transport device control unit 247 has a reference height setting unit 397, a positioning height calculation unit 399, and a delivery operation execution unit (e.g., a first input unit 401, a first output unit 403). The reference height setting unit 397 operates the rack lifting device 229 while the base unit 217 is docked to the manufacturing equipment by the docking unit 269, and detects a reference point with the reference height detection sensor 251. The reference height setting unit 397 sets the position obtained by the encoder 387 when the reference height detection sensor 251 detects the reference point as the reference height.

The positioning height calculation unit 399 calculates multiple positioning heights of the magazine storage rack 223 for transferring the magazine 41 between the tray part stock device 29 and the magazine storage rack 223 based on the reference height.

The transfer operation execution unit (e.g., the first loading unit 401, the first unloading unit 403) controls the rack lifting device 229 based on multiple positioning heights to perform the transfer operation.

The positioning height calculation unit 399 calculates a positioning height that positions at least the holding table at a first level Lv1 lower than the slide table 127 and a second level Lv2 higher than the slide table 127.

The delivery operation execution unit includes a first loading unit 401 and a first unloading unit 403. The first loading unit 401 uses the rack lifting device 229 to move the magazine storage rack 223 from the first level Lv1 to the second level Lv2 and delivers the magazine 41 from the slide table 127 to the holding table. The first unloading unit 403 uses the rack lifting device 229 to move the storage rack from the second level to the first level and delivers the magazine 41 from the holding table to the slide table 127.

Figure 48 is an explanatory diagram of the positioning height of the magazine storage rack 223. The reference height detection sensor 251 sets the position obtained from the rack lifting device 229 when it detects the reference height mark 417 (e.g., hole 419) of the tray component stock device 29 as the reference height Lv0, and stores the positioning height (e.g., Z coordinate) Zo of the rack lifting device 229 at that time.

The height difference between the positioning height (e.g., Z coordinate) Zo and each of the first level Lv1 to fourth level Lv4 is stored in advance as setting data (e.g., h1 to h4) in the transport device storage unit 409. Therefore, the positioning height calculation unit 399 calculates the positioning height (e.g., Z coordinate) of each of the first level Lv1 to fourth level Lv4 using the positioning height Z0 corresponding to the reference height Lv0 and the setting data (e.g., h1 to h4), and stores each of Z1 to Z4 (see FIG. 48).

Figure 49 is an explanatory diagram of the magazine delivery operation. In the process of setting the reference height by the reference height setting unit 397, after docking is completed, the rack lifting device 229 raises and lowers the magazine storage rack 223, and the reference height detection sensor 251 detects the reference height indicator 417 (hole 419) of the tray component stock device 29.

Figure 50 is a flowchart showing the positioning height setting process. In the positioning height setting process, first, the magazine storage rack 223 moves to the search operation start height (Bst1). Then, a search for the reference height is started (Bst2).

Figure 51 is an explanatory diagram of the detection principle of the reference height marker 417. The reference height detection sensor 251 provided on the magazine storage rack 223 has a light emitting unit 421 and a light receiving unit 423. On the other hand, the reference height marker 417 is provided on the pallet stock unit 43 facing the trajectory along which the reference height detection sensor 251 moves as the magazine storage rack 223 rises and falls. The reference height marker 417 has a hole 419 arranged at the reference height position. As the magazine storage rack 223 falls, the reference height detection sensor 251 irradiates the pallet stock unit 43 with light from the light emitting unit 421. The reference height detection sensor 251 reflects the light emitted from the light emitting unit 421 to the pallet stock unit 43 and receives it with the light receiving unit 423. This operation is performed continuously as the magazine storage rack 223 rises and falls, thereby searching for the reference height marker 417.

When light from the light-emitting unit 421 is irradiated onto the hole 419 of the reference height sign 417, the light-receiving unit 423 of the reference height detection sensor 251 no longer detects the reflected light from the pallet stock unit 43. The reference height detection sensor 251 uses this to detect the reference height Lv0.

As shown in Figure 50, when the reference height Lv0 is detected (Bst3), the reference height setting unit 397 stores the positioning height (e.g., Z coordinate) Z0 in the transport device memory unit 409 (Bst4). The positioning height calculation unit 399 calculates each of the positioning heights (e.g., Z coordinate) first level Lv1 to fourth level Lv4 based on the setting data (e.g., h1 to h4) and this positioning height (e.g., Z coordinate) Z0 (Bst5), and the processing by the positioning height calculation unit 399 ends.

Next, we will explain the magazine loading operation from the manufacturing equipment to the item transport device 209 and the magazine unloading operation from the item transport device 209 to the manufacturing equipment.

The magazine loading operation from the manufacturing equipment to the item transport device 209 is an operation for recovering the magazine 41 that has been emptied after items have been consumed. The magazine unloading operation from the item transport device 209 to the manufacturing equipment is an operation for supplying the magazine 41 that contains items.

(Loading onto the first magazine holding table)
52 is a flow chart of the magazine delivery operation showing the procedure for loading onto the first magazine holding table 225. In the magazine unloading operation from the tray parts stock device 29 (for example, processing of the first loading section 401), first, the magazine storage rack 223 is moved to the first level Lv1 by the rack lifting device 229 (Cst1). If Lv0=Lv1, this operation is unnecessary.

The first magazine detection sensor 263 confirms that there is no magazine 41 on the first magazine holding table 225 (Cst2), and if there is no magazine, it sends permission to advance the slide table 127 to the tray parts stock device 29 (Cst3). If there is a magazine 41, it notifies the operator and ends the process (Cst4).

Figure 53 is an explanatory diagram of the removal operation from the tray parts stock device 29 by processing of the first loading section 401. The slide table device 123 is driven to advance the slide table 127 holding the magazine 41 above the first magazine holding table 225 (the state shown in Figure 53).

Figure 54 is an explanatory diagram of the loading operation onto the first magazine holding table 225 by the processing of the first loading section 401. When a notification is received that the slide rail 167 has advanced completely (Cst5), the rack lifting device 229 moves the magazine storage rack 223 to the second level Lv2, and the first magazine holding table 225 to a position higher than the slide table 127 (Cst6). As the first magazine holding table 225 and the slide table 127 pass each other vertically, the magazine 41 is transferred from the slide table 127 to the first magazine holding table 225 (the state of Figure 54).

Here, the first level Lv1 is a height position lower than the height position at which the slide table 127 is located, and is a height at which the magazine 41 held and moved by the slide table 127 does not interfere with the holding table. The second level Lv2 is a height position higher than the height position at which the slide table 127 is located, and is a height at which the slide table 127 can slide without interfering with the magazine 41 held on the holding table. The operation of transferring the magazine 41 from the slide table 127 to the holding table involves the holding table rising from the first level Lv1 to the second level Lv2. The operation of transferring the magazine 41 from the holding table to the slide table 127 involves the reverse movement.

Figure 55 is an explanatory diagram of the loading operation to the first magazine holding table 225 by the processing of the first loading unit 401. The magazine transport device control unit 247 transmits a storage permission for the slide table 127 to the tray parts stock device 29 (Cst7). The magazine transport device control unit 247 judges whether or not there is a storage completion notification for the slide table 127 from the tray parts stock device 29 (Cst8). If there is a storage completion notification for the slide table 127, the magazine transport device control unit 247 detects the presence or absence of the slide table 127 with the slide table detection sensor 253 (Cst9). If there is no slide table 127 in the magazine storage rack 223, the magazine transport device control unit 247 ends the processing. If there is a slide table 127 in the magazine storage rack 223, the magazine transport device control unit 247 notifies the operator and ends the work. This completes the magazine unloading operation from the tray parts stock device 29 to the first magazine holding table 225.

(Loading into the second magazine holding table)
56 is a flowchart of the magazine delivery operation showing the procedure for loading onto the second magazine holding table 227. In the magazine unloading operation from the tray parts stock device 29 (the processing of the second loading section 405), first, the magazine storage rack 223 is moved to the third level Lv3 by the rack lifting device 229 (Dst1).

The second magazine detection sensor 265 confirms that there is no magazine 41 on the second magazine holding table 227 (Dst2), and if there is no magazine, it sends permission to advance the slide table 127 to the tray parts stock device 29 (Dst3). If there is a magazine 41, it notifies the operator and ends the process (Dst4).

The slide table device 123 is driven to advance the slide table 127 holding the magazine 41 above the second magazine holding table 227.

When notification is received that the slide rail 167 has completed its advancement (Dst5), the rack lifting device 229 moves the magazine storage rack 223 to the fourth level Lv4, and the second magazine holding table 227 to a position higher than the slide table 127 (Dst6). As the second magazine holding table 227 and the slide table 127 pass each other vertically, the magazine 41 is transferred from the slide table 127 to the second magazine holding table 227.

Here, the third level Lv3 is a height position lower than the height position at which the slide table 127 is located, and is a height at which the magazine 41 held and moved by the slide table 127 does not interfere with the holding table. The fourth level Lv4 is a height position higher than the height position at which the slide table 127 is located, and is a height at which the slide table 127 can slide without interfering with the magazine 41 held on the holding table. The operation of transferring the magazine 41 from the slide table 127 to the holding table involves the holding table rising from the third level Lv3 to the fourth level Lv4. The operation of transferring the magazine 41 from the holding table to the slide table 127 involves the reverse movement.

The magazine transport device control unit 247 transmits a storage permission for the slide table 127 to the tray parts stock device 29 (Dst7). The magazine transport device control unit 247 judges whether or not there is a storage completion notification for the slide table 127 from the tray parts stock device 29 (Dst8). If there is a storage completion notification for the slide table 127, the magazine transport device control unit 247 detects the presence or absence of the slide table 127 with the slide table detection sensor 253 (Dst9). If there is no slide table 127 in the magazine storage rack 223, the magazine transport device control unit 247 ends the process. If there is a slide table 127 in the magazine storage rack 223, the magazine transport device control unit 247 notifies the operator and ends the work. This completes the magazine discharge operation from the tray parts stock device 29 to the second magazine holding table 227.

(Removal from the second magazine holding table)
57 is a flowchart of the magazine delivery operation showing the procedure for unloading from the second magazine holding table 227. In the unloading operation from the second magazine holding table 227 (the processing of the second unloading unit 407), first, the rack lifting device 229 moves the magazine storage rack 223 to the fourth level Lv4 (Est1).

The second magazine detection sensor 265 confirms that the magazine 41 is present on the second magazine holding table 227 (Est2), and if present, transmits permission to advance to the slide table to the tray parts stock device 29 (Est3). If not present, the operator is notified and the process ends (Est4).

Figure 58 is an explanatory diagram of the ejection operation from the second magazine holding table 227 by the processing of the second ejection section 407. The slide table device 123 is driven to advance the slide table 127 below the second magazine holding table 227 holding the magazine 41 (the state of Figure 58).

Figure 59 is an explanatory diagram of the unloading operation to the tray parts stock device 29 by the processing of the second unloading section 407. When a notification is received that the slide rail 167 has advanced completely (Cst5), the rack lifting device 229 moves the magazine storage rack 223 to the third level Lv3, and moves the second magazine holding table 227 to a position lower than the slide table 127 (Est6). As the second magazine holding table 227 and the slide table 127 pass each other vertically, the magazine 41 is transferred from the second magazine holding table 227 to the slide table 127 (the state of Figure 59).

Here, the fourth level Lv4 is a height position higher than the height position at which the slide table 127 is located, and is a height at which the magazine 41 held and moved by the slide table 127 does not interfere with the holding table. The third level Lv3 is a height position lower than the height position at which the slide table 127 is located, and is a height at which the slide table 127 can slide without interfering with the magazine 41 held on the holding table. The operation of transferring the magazine 41 from the holding table to the slide table 127 involves the holding table descending from the fourth level Lv4 to the third level Lv3. The operation of transferring the magazine 41 from the slide table 127 to the holding table involves the reverse movement.

Figure 60 is an explanatory diagram of the loading operation to the tray parts stock device 29 by the processing of the second unloading unit 407. The magazine transport device control unit 247 transmits a storage permission for the slide table 127 to the tray parts stock device 29 (Est7). The magazine transport device control unit 247 judges whether or not there is a storage completion notification for the slide table 127 from the tray parts stock device 29 (Est8). If there is a storage completion notification for the slide table 127, the magazine transport device control unit 247 detects the presence or absence of the slide table 127 with the slide table detection sensor 253 (Est9). If there is no slide table 127 in the magazine storage rack 223, the magazine transport device control unit 247 ends the processing. If there is a slide table 127 in the magazine storage rack 223, the magazine transport device control unit 247 notifies the operator and ends the work. This completes the magazine unloading operation from the second magazine holding table 227 to the tray parts stock device 29.

(Removal from the first magazine holding table)
61 is a flowchart of the magazine delivery operation showing the procedure for unloading from the first magazine holding table 225. In the unloading operation from the first magazine holding table 225 (e.g., processing of the first unloading unit 403), first, the magazine storage rack 223 is moved to the second level Lv2 by the rack lifting device 229 (Fst1).

The first magazine detection sensor 263 confirms that the magazine 41 is present on the first magazine holding table 225 (Fst2), and if present, transmits permission to advance to the slide table to the tray parts stock device 29 (Fst3). If not present, the operator is notified and the process ends (Fst4).

The slide table device 123 is driven to advance the slide table 127 below the first magazine holding table 225 which holds the magazine 41.

When notification is received that the slide rail 167 has completed its advancement (Fst5), the rack lifting device 229 moves the magazine storage rack 223 to the first level Lv1, and moves the first magazine holding table 225 to a position lower than the slide table 127 (Fst6). As the first magazine holding table 225 and the slide table 127 pass each other vertically, the magazine 41 is transferred from the first magazine holding table 225 to the slide table 127.

Here, the second level Lv2 is a height position higher than the height position at which the slide table 127 is located, and is a height at which the magazine 41 held and moved by the slide table 127 does not interfere with the holding table. The first level Lv1 is a height position lower than the height position at which the slide table 127 is located, and is a height at which the slide table 127 can slide without interfering with the magazine 41 held on the holding table. The operation of transferring the magazine 41 from the holding table to the slide table 127 involves the holding table descending from the second level Lv2 to the first level Lv1. The operation of transferring the magazine 41 from the slide table 127 to the holding table involves the reverse movement.

The magazine transport device control unit 247 transmits a storage permission for the slide table 127 to the tray parts stock device 29 (Fst7). The magazine transport device control unit 247 judges whether or not there is a storage completion notification for the slide table 127 from the tray parts stock device 29 (Fst8). If there is a storage completion notification for the slide table 127, the magazine transport device control unit 247 detects the presence or absence of the slide table 127 with the slide table detection sensor 253 (Fst9). If there is no slide table 127 in the magazine storage rack 223, the magazine transport device control unit 247 ends the process. If there is a slide table 127 in the magazine storage rack 223, the magazine transport device control unit 247 notifies the operator and ends the work. This completes the magazine discharge operation from the first magazine holding table 225 to the tray parts stock device 29.

Next, the operation of the item transport device 209 and item transport system 211 according to the second embodiment will be described.

The item transport device 209 transports items on the factory floor to be used in at least one piece of manufacturing equipment installed on the factory floor, and includes an item storage body (magazine 41) that stores at least one item, a base section 217 having wheels 215 for traveling on the factory floor, a storage rack (magazine storage rack 223) that can be raised and lowered relative to the base section 217 and has at least one holding table (first magazine holding table 225, second magazine holding table 227) that holds the item storage body and has an opening 221 that allows the item storage body to be inserted and removed from the side of the holding table, and a rack lifting device 229 that raises and lowers the storage rack.

According to this item transport device 209, the item transport device 209 travels along the aisle 15 on the factory floor using wheels 215 provided on a base portion 217. The item transport device 209 is equipped with a storage rack. The storage rack has a holding table that holds the magazines 41. This storage rack has an opening 221. The magazines 41 held on the holding table of the storage rack can be inserted and removed through the opening 221.

The storage rack can be raised and lowered by the rack lifting device 229 relative to the base 217 of the item transport device 209. In the item transport device 209, the magazine 41 held on the holding table exposed from the opening 221 is moved up and down by driving the rack lifting device 229. By moving the magazine 41 for each storage rack up and down, the item transport device 209 enables the magazine 41 to be easily transferred to and from the slide table 127 from the manufacturing equipment that has entered the storage rack through the opening 221.

That is, the manufacturing equipment has a slide table 127 that only moves horizontally forward and backward on the storage rack of the item transport device 209. The item transport device 209 raises and lowers the storage rack only up and down. This allows the manufacturing equipment and item transport device 209 to realize the collection and supply of magazines 41 by each being equipped with only the minimum necessary and extremely simple mechanisms. As a result, the item transport device 209 can automatically supply and collect magazines 41 between the manufacturing equipment and the item transport device 209 using a simple mechanism.

In addition, in the item transport device 209, the base unit 217 further includes a docking unit 269 that docks with a docking base 115 of the manufacturing equipment when the base unit 217 moves in a first direction (a direction along the Y-axis) and approaches the manufacturing equipment.

According to this item transport device 209, the item transport device 209 has a docking section 269. Meanwhile, the manufacturing equipment is provided with a docking base 115. When the item transport device 209 docks with the manufacturing equipment, it approaches the manufacturing equipment in a direction along the Y axis. When the docking section 269 of the item transport device 209 approaches the manufacturing equipment and coincides with the docking base 115 of the manufacturing equipment, the docking section 269 docks with the docking base 115 and is interconnected with the manufacturing equipment. Thereafter, the item transport device 209 remains connected to the manufacturing equipment unless the docking section 269 is undocked.

In addition, in the item transport device 209, the docking section 269 has at least one aligned member (X guide roller 277, positioning pin 279) that moves in a first direction (direction along the Y axis) while contacting and approaching at least one alignment member (X guide 271, positioning pin guide hole 273) provided on the docking base 115, thereby adjusting the position of the base section 217 in a second direction (direction along the X axis) that is perpendicular to the first direction and horizontal to the first direction.

According to this item transport device 209, when the docking unit 269 approaches the docking base 115 from a direction along the Y axis, the aligned member of the docking unit 269 comes into contact with the alignment member provided on the docking base 115. When the docking unit 269 approaches the docking base 115 further, the aligned member is displaced along the alignment member, and the docking unit 269 is aligned with the docking base 115 and docked. As a result, the position of the item transport device 209 relative to the manufacturing equipment is adjusted via the docking unit 269 aligned with the docking base 115.

In addition, in the item transport device 209, two aligned members (X guide roller 277, positioning pin 279) are arranged at a distance in the second direction (direction along the X axis), and each aligned member individually contacts two alignment members (X guide 271, positioning pin guide hole 273) provided at a distance in the second direction on the docking base 115.

According to this item transport device 209, the base portion 217 of the item transport device 209 is provided with two aligned members consisting of an X guide roller 277 and a positioning pin 279. The two X guide rollers 277 and the two positioning pins 279 are positioned in two X guides 271 spaced apart in the direction along the X axis on the docking base 115 of the manufacturing equipment, and in two positioning pin guide holes 273 spaced apart in the direction along the X axis. This makes it possible to more reliably (highly accurately) adjust the position of the docking portion 269 relative to the docking base 115, compared to when there is only one aligned member and one alignment member.

In addition, in the item transport device 209, the base portion 217 further has a held member that is held by a docking holding portion 281 provided on the docking base 115.

According to this item transport device 209, a docking holding portion 281 is provided on the docking base 115 of the manufacturing equipment. The docking holding portion 281 has a hook insertion port 283, a hook holding portion 321, and a buffer portion 303. The held member provided on the docking portion 269 of the item transport device 209 has a hook 285 and a protrusion 319. When the docking portion 269 of the item transport device 209 is docked to the docking base 115 from the direction along the Y axis, the hook 285 engages with and is held by the hook holding portion 321. Meanwhile, the protrusion 319 presses the buffer portion 303, thereby receiving a reaction force from the buffer portion 303. The reaction force presses the docking portion 269 in a direction away from the docking base 115, but the docking portion 269 with the hook 285 held by the hook holding portion 321 is restricted from being released from the docking base 115. This allows the item transport device 209 to be positioned along the Y axis without rattling relative to the manufacturing equipment.

In addition, in the item transport device 209, the docking section 269 has another connector 287 for communication or power supply that is electrically connected to one connector 117 provided on the docking base 115.

According to this item transport device 209, the docking unit 269 is provided with the other connector 287. Meanwhile, the docking base 115 is provided with one connector 117. The position of the other connector 287 provided on the docking unit 269 is adjusted so that it can be coupled to the one connector 117 provided on the docking base 115 by adjusting the position of the docking unit 269 relative to the docking base 115 in the directions along the X-axis and the Y-axis.

In addition, in the item transport device 209, the docking section 269 has a connector position adjustment mechanism 289 that adjusts the vertical position of the other connector 287 during docking, or an alignment member (cam follower 295) that activates the connector position adjustment mechanism 289 provided on the docking base 115.

According to this item transport device 209, the docking unit 269 or the docking base 115 has a connector position adjustment mechanism 289. The connector position adjustment mechanism 289 adjusts the vertical position of the other connector 287 provided in the docking unit 269. In the second embodiment, the connector position adjustment mechanism 289 is provided in the docking unit 269. The docking unit 269 also includes an alignment member (cam follower 295). This allows the vertical position of the other connector 287 to be automatically adjusted relative to the one connector 117 of the docking base 115.

In addition, in the item transport device 209, the docking section 269 has a connector position adjustment mechanism 289, and the connector position adjustment mechanism 289 has a lifting member 291 that moves up and down together with the other connector 287 and moves in a first direction (direction along the Y-axis) while in contact with an alignment member (cam 297) installed in the manufacturing equipment, thereby adjusting the height position by the alignment member.

According to this item transport device 209, the connector position adjustment mechanism 289 has a lifting member 291. The height position of the lifting member 291 is adjusted by moving the cam follower 295 in a direction along the Y axis while contacting a cam 297 provided on the manufacturing equipment. In other words, since the other connector 287 is provided on the lifting member 291, when the docking section 269 is docked to the docking base 115, the direction along the Z axis (i.e., the height position) is adjusted by the cam follower 295 following the cam 297.

In addition, in the item transport device 209, the holding tables (first magazine holding table 225, second magazine holding table 227) are mounted on the storage rack (magazine storage rack 223) so as to be freely slidable in the horizontal direction (direction along the Y axis), and the storage rack is provided with a slide lock section 367 that prevents the holding tables from sliding.

According to this item transport device 209, the storage rack is equipped with a holding table that can slide freely. The sliding of the holding table is restricted by a slide lock section 367 provided on the storage rack. The slide lock section 367 can be manually unlocked. The holding table becomes slidable when the slide lock section 367 is unlocked. This allows the storage rack to easily pull out the holding table at the collection/supply location, allowing an operator to manually collect and replenish the magazines 41.

The item transport system 211 has at least one manufacturing facility (tray parts stock device 29) installed on the factory floor, and an item transport device 209 that moves around the factory floor to transport items (pallets 39) to be used in the manufacturing facility. The item transport system 211 is configured to dock the item transport device 209 to the manufacturing facility using a docking device 299 that is composed of a docking base 115 of the manufacturing facility and a docking section 269 of the item transport device 209, and transfer items between the item transport device 209 and the manufacturing facility. The docking device 299 is configured to move the item transport device 209 toward the manufacturing facility from a first direction (a direction along the Y axis). The device is equipped with a guide section 301 that guides the item transport device 209 while adjusting its position in a second direction (direction along the X-axis) that is perpendicular to the first direction in the horizontal plane, a buffer section 303 that absorbs the impact during docking by pushing the item transport device 209 in a direction away from the manufacturing equipment using the repulsive force of a cushion member (buffer spring 317), a docking holding section 281 that prevents the docked item transport device 209 from moving away from the manufacturing equipment using the repulsive force of the cushion member, and a connector connecting section 305 that aligns and connects the other connector 287 of the item transport device 209 to one connector 117 of the manufacturing equipment as the item transport device 209 approaches the manufacturing equipment.

According to this item transport system 211, the manufacturing equipment includes a docking base 115. The item transport device 209 includes a docking section 269. The docking base 115 and the docking section 269 constitute a docking device 299 that connects the item transport device 209 to the manufacturing equipment. Therefore, the docking device 299 can also be considered a connection between the manufacturing equipment and the item transport device 209.

The docking unit 269 has a guidance unit 301. The guidance unit 301 guides the docking while adjusting the position in the direction along the X-axis of the item transport device 209 approaching the manufacturing equipment from the direction along the Y-axis. The docking device 299 also has a docking holding unit 281 that prevents the item transport device 209, which has docked in the direction along the Y-axis, from moving away from the manufacturing equipment by the repulsive force of the cushion member. In other words, after docking, the positions of the docking base 115 and the docking unit 269 are adjusted in the horizontal plane by the guidance unit 301 and the docking holding unit 281.

In addition, the docking device 299 includes a connector coupling section 305. As the item transport device 209 approaches the manufacturing equipment, the connector coupling section 305 adjusts the relative positions of the other connector 287 of the item transport device 209 and one connector 117 of the manufacturing equipment and couples them together. That is, the docking device 299 adjusts the position in the horizontal plane, and after the position adjustment in the horizontal plane is completed, adjusts the position of the one connector 117 and the other connector 287 in a direction in which the connector coupling section 305 intersects the horizontal plane (direction along the Z axis), and couples them together. This allows the docking device 299 (joint) to absorb the height variation between the manufacturing equipment and the item transport device 209 using a simple mechanism in the item transport system 211.

In addition, in the item transport system 211, the guidance unit 301 has at least one alignment member (e.g., X guide 271, positioning pin guide hole 273) provided on the docking base 115 and at least one aligned part (e.g., X guide roller 277, positioning pin 279) provided on the docking unit 269. The guidance unit 301 corrects the trajectory of the aligned part by the alignment member by moving the aligned part in a first direction (direction along the Y axis) while contacting the alignment member. This adjusts the position of the item transport device 209 in the second direction (direction along the X axis).

According to this item transport system 211, the guidance unit 301 includes an alignment member and an aligned member. When the docking unit 269 approaches the docking base 115 from a direction along the Y axis, the aligned member of the docking unit 269 comes into contact with the alignment member provided on the docking base 115. When the docking unit 269 approaches the docking base 115 further, the aligned member is displaced along the alignment member, and the docking unit 269 is aligned with the docking base 115 and docked. As a result, the item transport device 209 is aligned with the manufacturing equipment via the docking unit 269 aligned with the docking base 115 and connected.

In addition, in the item conveying system 211, the aligned portion (e.g., X-guide roller 277, positioning pin 279) includes a roller (e.g., X-guide roller 277) that contacts the alignment member (e.g., X-guide 271, positioning pin guide hole 273).

According to this item transport system 211, the member to be aligned of the docking section 269 has an X-guide roller 277. The X-guide roller 277 rolls in contact with an X-guide 271 provided on the docking base 115. A guide slope 425 (see FIG. 30) is formed on the X-guide 271. The X-guide roller 277 comes into contact with the X-guide 271 as the docking section 269 approaches the docking base 115, and then rolls on the guide slope 425, displacing the docking section 269 due to the reaction force from the guide slope 425. As a result, the trajectory of the X-guide roller 277 is corrected by the X-guide 271, and the position of the item transport device 209 in the second direction (the direction along the X-axis) is adjusted.

In addition, in the item transport system 211, the buffer section 303 is disposed on either the docking base 115 or the docking section 269, and has a protrusion 319 on the other side that abuts against the buffer section 303 from a first direction to deform the cushion member.

According to this item transport system 211, the buffer unit 303 is disposed on either the docking base 115 or the docking unit 269, and the protrusion 319 is disposed on the other. In the second embodiment, the buffer unit 303 is disposed on the docking base 115, and the protrusion 319 is disposed on the docking unit 269. When the docking unit 269 approaches, the protrusion 319 collides with the buffer unit 303. The buffer unit 303 displaces in the opposite direction (-Y direction) to the approaching direction of the protrusion 319 (direction along the Y axis), and absorbs the impact when the protrusion 319 collides with it. After being displaced in the opposite direction to the approaching direction of the protrusion 319, the buffer unit 303 pushes back the protrusion 319 by elastic repulsion force.

In addition, in the item transport system 211, the docking holding section 281 is arranged on either the docking base 115 or the docking section 269, and at least one held member (hook 285) held by the docking holding section 281 is arranged on the other.

According to this item transport system 211, the docking holding section 281 is disposed on either the docking base 115 or the docking section 269, and the held member is disposed on the other. In the second embodiment, the docking holding section 281 is disposed on the docking base 115, and the held member is disposed on the docking section 269. When the docking section 269 of the item transport device 209 is docked to the docking base 115 from the direction along the Y axis, the held member is held by the docking section 269. The above-mentioned protrusion 319 presses the buffer section 303, thereby receiving a reaction force from the buffer section 303. The reaction force presses the docking section 269 in a direction away from the docking base 115, but the docking section 269 with the held member held by the docking holding section 281 is restricted from being released from the docking base 115. This allows the item transport device 209 to be adjusted in position along the Y axis without rattling relative to the manufacturing equipment.

In addition, in the item transport system 211, the docking holding unit 281 includes a lever 323 having a docking roller 331 that contacts the held member (e.g., hook 285) from a third direction intersecting the first direction (direction along the Y axis), and a holding force generating unit 325 that rotates the lever 323 to press the docking roller 331 against the held member, and the held member has a roller operating surface (e.g., rear taper 337) that displaces the docking roller 331 in a direction opposite to the third direction as the item transport device 209 moves in the first direction and approaches the manufacturing equipment, and then displaces it in the third direction.

According to this item transport system 211, when the item transport device 209 approaches the manufacturing equipment, the docking roller 331 provided on the manufacturing equipment abuts against the hook 285 of the item transport device 209 from the third direction. The docking roller 331 is supported by the lever 323. The lever 323 presses the docking roller 331 against the lever 323 by the holding force generating unit 325. When the hook 285 abuts against the docking roller 331, it displaces the docking roller 331 in the direction opposite to the third direction. When the hook 285 further approaches the manufacturing equipment, the docking roller 331 displaced in the direction opposite to the third direction reaches the roller operating surface (e.g., rear taper 337) of the hook 285, and is displaced again in the third direction by the biasing force of the holding force generating unit 325.

In addition, in the item transport system 211, the connector connection section 305 includes a connector position adjustment mechanism 289 arranged on one of the docking base 115 or the docking section 269, and an alignment member arranged on the other, and the connector position adjustment mechanism 289 has a lifting member 291 that rises and falls together with the other connector 287 and moves in a first direction (direction along the Y-axis) while in contact with the alignment member (cam follower 295), thereby adjusting the height position by the alignment member.

According to this item transport system 211, the connector position adjustment mechanism 289 has a lifting member 291. The lifting member 291 moves in the vertical direction as the connector position adjustment mechanism 289 moves in a direction along the Y axis and comes into contact with the alignment member. In other words, the other connector 287 provided on the lifting member 291 also moves in the vertical direction. In the second embodiment, the connector position adjustment mechanism 289 and the alignment member are provided on the docking unit 269. As a result, the other connector 287 moves in the vertical direction together with the lifting member 291 as the docking unit 269 approaches the docking base 115, and the vertical position of the other connector 287 is automatically adjusted relative to one of the connectors 117 of the docking base 115.

In addition, in the item transport system 211, the connector connection section 305 includes a connector pressing section 339 that is arranged on either the docking base 115 or the docking section 269 and presses one connector 117 arranged on one side against the other connector 287.

According to this article conveying system 211, the connector coupling section 305 has a connector pressing section 339. The connector pressing section 339 is arranged on either the docking base 115 or the docking section 269, and presses one connector 117 arranged on either the docking base 115 or the docking section 269 against the other connector 287. In the second embodiment, the connector pressing section 339 is arranged on the docking section 269. Therefore, the connector pressing section 339 provided on the docking section 269 presses the other connector 287 provided on the docking section 269 against one connector 117 (see FIG. 35) provided on the docking base 115. The one connector 117 and the other connector 287 are biased in the coupling direction, so that the terminals are kept in stable contact with each other.

In addition, in the item transport system 211, at least one positioning pin 279 protruding in a first direction (direction along the Y-axis) is provided on one of the docking base 115 or the docking section 269, and a positioning pin guide member 275 having at least one positioning pin guide hole 273 into which the positioning pin 279 is inserted from the first direction is provided on the other.

According to this item transport system 211, one of the docking base 115 or the docking section 269 has a positioning pin 279, and the other of the docking base 115 or the docking section 269 has a positioning pin guide member 275. In the second embodiment, the positioning pin 279 is disposed in the docking section 269, and the positioning pin guide member 275 is disposed in the docking base 115. The positioning pin guide member 275 has at least one positioning pin guide hole 273 into which the positioning pin 279 is inserted from a first direction. The docking section 269 is adjusted in position in the direction along the X-axis relative to the docking base 115 by inserting the positioning pin 279 into the positioning pin guide hole 273.

The item transport system 211 includes at least one manufacturing facility installed on the factory floor and at least one item transport device 209 that moves on the factory floor, and transports items (e.g., pallets 39) between the manufacturing facility (e.g., tray parts stock device 29) and the item transport device 209. The item transport system 211 includes an item storage body (e.g., magazine 41) capable of storing at least one item, a first support table (e.g., slide table 127) that is provided in the manufacturing facility and supports from below a plurality of parts of the item storage body located in a first area that is a part of the area projected onto the item storage body, a second support table (e.g., first magazine holding table 225, second magazine holding table 227) that is provided in the item transport device 209 and supports from below a plurality of other parts of the item storage body located in a second area that is another part of the area projected onto the planar surface and does not overlap with the first area, and a second support table (e.g., first magazine holding table 225, second magazine holding table 227) that ... the item storage body by moving the first support table that supports the item storage body toward an empty second support table. a first support table moving device (advance/retreat drive unit 129) that positions the second region of the item storage body supported on the second support table above the second support table, or moves an empty first support table toward the second support table to position the first support table below the second region of the item storage body supported on the second support table; and a rack lifting device 229 that transfers the item storage body supported on the first support table to the second support table by moving the second support table from a position lower to a position higher than the first support table, or transfers the item storage body supported on the second support table to the first support table by moving the second support table from a position higher to a position lower than the first support table.

According to this item transport system 211, the manufacturing equipment has a first support table that moves back and forth within a horizontal plane. The item transport device 209 has a second support table that moves up and down in a direction perpendicular to the horizontal plane. The first support table and the second support table are arranged within one planar projection area with the first support table advanced into the item transport device. The first support table arranged within one planar projection area is located within the first area. The second support table arranged within one planar projection area is located within a second area that does not overlap with the first area.

In other words, when the first support table is inserted into the article transport device, the rack lifting device 229 is driven to allow the second support table to move vertically relative to the first support table. More specifically, the second support table is formed in a U-shape having a slide table passing space 359. The second support table allows the first support table to pass (pass by) through this slide table passing space 359 from above and below.

The item transport system 211 uses the rack lifting device 229 to raise and lower the second support table, and passes the first support table through the slide table passing space 359 of the second support table, making it possible to transfer the magazine 41 placed on the first support table to the second support table. Also, it becomes possible to transfer the magazine 41 placed on the second support table to the first support table.

As a result, the manufacturing equipment need only include the minimum necessary forward/backward drive unit 129 for moving the slide table 127 forward and backward in a horizontal plane. The item transport device 209 also need only include the minimum necessary rack lifting device 229 for raising and lowering the first support table. In addition, since the item transport system 211 is provided with the rack lifting device 229 in the item transport device 209, the weight of the load (e.g., magazine 41) does not move in a horizontal plane. As a result, the item transport device 209 can run with the small-area base unit 217 while preventing tipping, compared to using a robot arm or crane that moves the load in a horizontal plane. In other words, the item transport device 209 can be made more compact.

As a result, the item transport system 211 allows the transfer of magazines 41 between the manufacturing equipment and the unmanned transport vehicle (e.g., item transport device 209) using a simple mechanism. In addition, the item transport system 211 only needs to be equipped with the rack lifting device 229 as a transfer mechanism, making it possible to significantly reduce the size of the system compared to systems that use expensive and complex devices such as robot arms and cranes.

In addition, in the item transport system 211, the item storage body (e.g., magazine 41) has a plurality of first alignment sections (e.g., first alignment group 103) in the first region F1 and a plurality of second alignment sections (e.g., second alignment group 107) in the second region F2, the first support table (e.g., slide table 127) has a plurality of first alignment guides 363 that contact the plurality of first alignment sections to adjust the position of the item storage body relative to the first support table, and the second support table (e.g., first magazine holding table 225, second magazine holding table 227) has a plurality of second alignment guides 361 that contact the plurality of second alignment sections to adjust the position of the item storage body relative to the second support table.

According to this item transport system 211, the slide table 127 has a plurality of first alignment guides 363. The plurality of first alignment guides 363 contact the plurality of first alignment portions to adjust the position of the magazine 41 relative to the slide table 127. The second support table has a plurality of second alignment guides 361. The second alignment guides 361 contact the plurality of second alignment portions to adjust the position of the magazine 41 relative to the second support table. As a result, the position of the magazine 41 is automatically adjusted and placed on the slide table 127, and the position of the magazine 41 is automatically adjusted and placed on the second support table.

In addition, in the item transport system 211, at least one of the multiple first alignment guides 363 adjusts the position of the item storage body in a horizontal first direction (direction along the X-axis), at least one other adjusts the position of the item storage body in a second direction (direction along the Y-axis) perpendicular to the first direction in the horizontal plane, at least one of the multiple second alignment guides 361 adjusts the position of the item storage body in a horizontal third direction, and at least one other adjusts the position of the item storage body in a fourth direction perpendicular to the third direction in the horizontal plane.

According to this item transport system 211, the first alignment guide 363 has four X alignment guides 181 and four Y alignment guides 187 as shown in FIG. 17. At least one of the first alignment guides 363 (X alignment guide 181) adjusts the position of the magazine 41 relative to the slide table 127 in a horizontal first direction (direction along the X axis). At least the other of the first alignment guides 363 (Y alignment guide 187) adjusts the position of the magazine 41 relative to the slide table 127 in a second direction (direction along the Y axis) that is perpendicular to the first direction in the horizontal plane.

As shown in FIG. 42, the second alignment guide 361 has an X alignment roller 255 and a Y alignment member 259. At least one of the multiple second alignment guides 361 (X alignment roller 93) adjusts the position of the magazine 41 relative to the first magazine holding table 225 and the second magazine holding table 227 in a horizontal third direction (e.g., a direction along the X axis). At least another of the multiple second alignment guides 361 (Y alignment member 259) adjusts the position of the magazine 41 relative to the first magazine holding table 225 and the second magazine holding table 227 in a fourth direction (e.g., a direction along the Y axis) that is perpendicular to the third direction in the horizontal plane.

In addition, in the item transport system 211, the items are pallets 39 holding trays 31 containing parts 33, and the item storage body is a magazine 41 that stores multiple pallets 39.

According to this item transport system 211, the items are pallets 39 holding trays 31 that store a plurality of components 33 (e.g., circuit board mounted components, etc.). The item storage body is a magazine 41 that stores a plurality of pallets 39. Thus, a large number of components 33 are stored in the magazine 41. The item transport system 211 delivers and receives this large number of items in magazine units. In other words, the item transport system 211 enables the supply of items in magazine units while also enabling the collection of magazines 41.

In addition, in the item transport system 211, the item transport device 209 includes a base portion 217 having wheels 215 for traveling on the factory floor, and the base portion 217 further includes a docking portion 269 that docks with a docking base 115 of the manufacturing equipment when the base portion 217 moves in a first direction and approaches the manufacturing equipment.

According to this item transport system 211, the item transport device 209 is equipped with a docking unit 269. The docking unit 269 is capable of docking with a docking base 115 of the manufacturing equipment. As a result, in the item transport system 211, the item transport device 209 equipped with the rack lifting device 229 and the manufacturing equipment equipped with the slide table 127 are positioned with high precision by the docking device 299, so that the magazine 41 can be transferred between the manufacturing equipment and the automated guided vehicle (item transport device 209) using a simple mechanism.

The item transport device 209 transports items (pallets 39) used in at least one manufacturing facility (tray parts stock device 29) installed on the factory floor on the factory floor, and includes a base section 217 having wheels 215 for traveling on the factory floor, a docking section 269 for docking the base section 217 with the manufacturing facility, a storage rack (magazine storage rack 223) that can be raised and lowered relative to the base section 217 and has at least one holding table (first magazine holding table 225, second magazine holding table 227) for holding an item storage body (magazine 41), a rack lifting device 229 for lifting and lowering the storage rack, and a storage rack. The system is equipped with a position detection unit (encoder 387) that detects the height position of the rack, a reference height detection unit (reference height detection sensor 251) that rises and falls together with the storage rack to detect a reference point (hole 419 of reference height sign 417) provided on the manufacturing equipment, and a control unit (magazine transport device control unit 247) that operates the rack lifting device 229 while the base unit 217 is docked to the manufacturing equipment by the docking unit 269 to detect the reference point with the reference height detection unit, sets the position obtained by the position detection unit when the reference height detection unit detects the reference point as the reference height, and operates the rack lifting device 229 based on the reference height to perform the transfer of the item storage between the holding table and the manufacturing equipment.

According to this item transport device 209, the base unit 217 is docked to the manufacturing equipment by the docking unit 269. The wheels 215 on the base unit 217 allow the item transport device 209 to travel freely along the aisles 15 on the factory floor. After traveling along the factory floor and arriving at the manufacturing equipment, the item transport device 209 is docked by the docking unit 269 and is connected integrally to the manufacturing equipment.

The item transport device 209 is equipped with a storage rack that holds the magazine 41 on a holding table. The storage rack can be raised and lowered by driving the rack lifting device 229 while the magazine 41 is held on the holding table. The item transport device 209 has a position detection unit that detects the height position of the storage rack that is raised and lowered. The item transport device 209 also has a reference height setting unit 397 that detects a reference point provided in the manufacturing equipment.

The item transport device 209 includes a control unit that operates the rack lifting device 229 and detects a reference point with a reference height detection unit when the base unit 217 is docked to the manufacturing equipment by the docking unit 269. When the reference height detection unit detects the reference point, the control unit sets the position obtained by the position detection unit as the reference height. The control unit operates the rack lifting device 229 to a predetermined height (first level Lv1 to fourth level Lv4) based on the reference height, and performs the transfer of item storage objects between the holding table and the manufacturing equipment.

As a result, the item transport device 209 can first align the manufacturing equipment and the item transport device 209 in a horizontal plane using the docking unit 269, which are not necessarily located on the same plane, and then determine the relative position in the height direction with respect to the manufacturing equipment as the reference height. As a result, it is possible to adjust the transfer height of the magazine 41 between the manufacturing equipment and the automated guided vehicle (item transport device 209) using a simple mechanism.

In addition, in the item transport device 209, the manufacturing equipment has a slide table 127 that holds the item storage body and moves horizontally, and the transfer operation is the operation of transferring the item storage body between the holding table and the slide table 127 that protrudes into the internal space of the storage rack, and the control unit (magazine transport device control unit 247) determines the positioning height for positioning the holding table at a first level Lv1 lower than the slide table 127 and a second level Lv2 higher than the slide table 127 based on the reference height, and when transferring the item storage body from the slide table 127 to the holding table, the rack lifting device 229 moves the storage rack from the first level to the second level, and when transferring from the holding table to the slide table 127, the rack lifting device 229 moves the storage rack from the second level to the first level.

According to this item transport device 209, the manufacturing equipment includes a slide table 127 that holds the magazine 41. The slide table 127 can move forward and backward into the internal space of a storage rack provided in the item transport device 209. The magazine 41 is transferred between the slide table 127 that protrudes into this internal space and the holding table of the storage rack. The transfer from the slide table 127 to the holding table can be performed by moving the storage rack from the first level to the second level. The transfer from the holding table to the slide table 127 can be performed by moving the storage rack from the second level to the first level. The height of the holding table (for example, the first level Lv1, the second level Lv2) set during these transfers is determined by the control unit.

The item transport device 209 is an item transport device that transports items (e.g., pallet 39) used in at least one manufacturing equipment (e.g., tray part stock device 29) installed on the factory floor on a factory floor, and includes an item storage body (e.g., magazine 41) that stores at least one item, a base section 217 having wheels 215 for traveling on the factory floor, a docking section 269 for docking the base section 217 to the manufacturing equipment, a storage rack (e.g., magazine storage rack 223) that can be raised and lowered relative to the base section 217 and has at least one holding table (e.g., first magazine holding table 225, second magazine holding table 227) that holds the item storage body, a rack lifting device 229 that lifts and lowers the storage rack, a position detection section (e.g., encoder 387) that detects the height position of the storage rack, and a rack lifting device 229 that lifts and lowers the storage rack. The control unit includes a reference height detection unit (e.g., reference height detection sensor 251) that detects a reference point provided in the manufacturing equipment, and a control unit (e.g., magazine transport device control unit 247) that is connected to the position detection unit and the reference height detection unit and controls the rack lifting device 229. The control unit includes a reference height setting unit 397 that operates the rack lifting device 229 while the base unit 217 is docked to the manufacturing equipment by the docking unit 269 to detect a reference point with the reference height detection unit, and sets the position obtained by the position detection unit when the reference height detection unit detects the reference point as the reference height, a positioning height calculation unit 399 that calculates multiple positioning heights of the storage rack for transferring the item storage body between the manufacturing equipment based on the reference height, and a transfer operation execution unit (e.g., first entrance unit 401, first exit unit 403) that controls the rack lifting device 229 based on the multiple positioning heights to perform the transfer operation.

According to this item transport device 209, the base unit 217 is docked to the manufacturing equipment by the docking unit 269. The wheels 215 on the base unit 217 allow the item transport device 209 to travel freely along the aisles 15 on the factory floor. After traveling along the factory floor and arriving at the manufacturing equipment, the item transport device 209 is docked by the docking unit 269 and is connected integrally to the manufacturing equipment.

The item transport device 209 includes a storage rack that holds the magazine 41 on a holding table. The storage rack can be raised and lowered by driving the rack lifting device 229 while the magazine 41 is held on the holding table. The item transport device 209 includes a position detection unit that detects the height position of the storage rack that is raised and lowered. The item transport device 209 also includes a reference height setting unit 397 that detects a reference point provided on the manufacturing equipment. In the item transport device 209, based on the reference height set by the reference height setting unit 397, the positioning height calculation unit 399 calculates multiple positioning heights (e.g., first level Lv1 to fourth level Lv4) of the storage rack for transferring the item storage body to and from the manufacturing equipment. In the item transport device 209, the rack lifting device 229 is controlled by the transfer operation execution unit, and the transfer operation of the magazine 41 is performed at the multiple positioning heights.

As a result, the item transport device 209 can first align the manufacturing equipment and the item transport device 209 in a horizontal plane using the docking section 269, which are not necessarily located on the same plane, and then determine the relative position in the height direction with respect to the manufacturing equipment as the reference height. As a result, it is possible to adjust the transfer height of the magazine 41 between the manufacturing equipment and the unmanned transport vehicle (e.g., the item transport device 209) using a simple mechanism.

In addition, in the item transport device 209, the manufacturing equipment has a slide table 127 that holds the item storage body and moves horizontally, and the transfer operation is an operation of transferring the item storage body between the holding table and the slide table 127 that protrudes into the internal space of the storage rack, and the positioning height calculation unit 399 determines a positioning height that positions at least the holding table at a first level (e.g., first level Lv1) lower than the slide table 127 and a second level (e.g., second level Lv2) higher than the slide table 127, and the transfer operation execution unit includes a loading unit (e.g., first loading unit 401) that moves the storage rack from the first level to the second level by the rack lifting device 229 to transfer the item storage body from the slide table 127 to the holding table, and an unloading unit (e.g., first unloading unit 403) that moves the storage rack from the second level to the first level by the rack lifting device 229 to transfer the item storage body from the holding table to the slide table 127.

According to this item transport device 209, the manufacturing equipment includes a slide table 127 that holds the magazine 41. The slide table 127 can move forward and backward into the internal space of a storage rack provided in the item transport device 209. The magazine 41 is transferred between the slide table 127 that protrudes into this internal space and the holding table of the storage rack. The magazine 41 can be transferred from the slide table 127 to the holding table by moving the storage rack from the first level to the second level. The magazine 41 can be transferred from the holding table to the slide table 127 by moving the storage rack from the second level to the first level. The height of the holding table (for example, the first level Lv1 and the second level Lv2) set at the time of these transfers is determined by the control unit. Depending on this set height of the holding table, the loading unit executes a process of loading the magazine 41 into the holding table, and the unloading unit executes a process of unloading the magazine 41 from the holding table.

As a result, the item transport device 209 allows the slide table 127, which has entered the internal space of the magazine storage rack 223, to pass (pass) the holding table of the magazine storage rack 223 from above and below, enabling the transfer of the magazine 41 between the slide table 127 and the holding table using a simple mechanism.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, amendments, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components in the various embodiments described above may be combined in any manner as long as they do not deviate from the spirit of the invention.

This disclosure is useful as an item transport device that can automatically replenish and retrieve component containers between manufacturing equipment using a simple mechanism.

29 Tray parts stock device (manufacturing equipment)
39 Pallet (item)
41 Magazine (item storage unit)
115 Docking base 117 One connector 209 Article transport device 215 Wheels 217 Base portion 223 Magazine storage rack (storage rack)
225 First magazine holding table (holding table)
227 Second magazine holding table (holding table)
229 Rack lifting device 269 Docking section 271 X guide (alignment member)
273 Positioning pin guide hole (alignment member)
277 X guide roller (member to be aligned)
279 Positioning pin (member to be aligned)
281 Docking holding portion 285 Hook (held member)
287: other connector 289: connector position adjustment mechanism 291: lifting member 295: cam follower (alignment member)
307 X guide arm (member to be aligned)
367 Slide lock part

Claims (9)

An article transport system comprising at least one manufacturing facility installed on a factory floor, and an article transport device that moves around the factory floor to transport articles used in the manufacturing facility, wherein the article transport device is docked to the manufacturing facility by a docking device that is composed of a docking base of the manufacturing facility and a docking section of the article transport device, and articles are delivered between the article transport device and the manufacturing facility,
The docking device comprises:
a guide unit that guides the article transport device approaching the manufacturing facility from a first direction while adjusting a position of the article transport device in a second direction perpendicular to the first direction within a horizontal plane;
a buffer unit that absorbs an impact caused when the article transport device is docked by using a repulsive force of a cushion member to push the article transport device in a direction away from the manufacturing facility;
a docking holding section that prevents the docked article transport device from moving away from the manufacturing equipment by a repulsive force of the cushion member;
a connector coupling section that aligns and couples the other connector of the article transport device and the one connector of the manufacturing equipment as the article transport device approaches the manufacturing equipment,
Goods transport system. the guiding portion has at least one alignment member provided on the docking base and at least one aligned portion provided on the docking portion,
the guiding unit moves the alignment target portion in the first direction while contacting the alignment member, thereby correcting a trajectory of the alignment target portion with the alignment member, and adjusting a position of the article transport device in the second direction.
The article transport system of claim 1 . The alignment target portion includes a roller that contacts the alignment member.
The article transport system according to claim 2 . the buffer portion is disposed on one of the docking base and the docking portion, and has a protrusion portion on the other of the docking base and the protrusion portion contacts the buffer portion from the first direction to deform the cushion member;
The article transport system of claim 1 . The docking holding portion is disposed on one of the docking base and the docking portion, and at least one held member to be held by the docking holding portion is disposed on the other of the docking base and the docking portion.
The article transport system of claim 1 . the docking holding unit includes a lever having a docking roller that contacts the held member from a third direction intersecting with the first direction, and a holding force generating unit that rotates the lever to press the docking roller against the held member,
the held member has a roller operating surface that displaces the docking roller in a direction opposite to the third direction and then displaces the docking roller in the third direction as the article transport device moves in the first direction and approaches the manufacturing facility,
6. An article transport system according to claim 5. the connector coupling portion includes a connector position adjustment mechanism disposed on one of the docking base and the docking portion, and an alignment member disposed on the other of the docking base and the docking portion;
the connector position adjustment mechanism has a lifting member that moves up and down together with the other connector and moves in the first direction while in contact with the alignment member, so that a height position of the lifting member is adjusted by the alignment member;
The article transport system of claim 1 . the connector coupling portion includes a connector pressing portion disposed on one of the docking base and the docking portion and pressing one connector disposed on the one of the docking base and the docking portion against the other connector;
The article transport system of claim 1 . At least one positioning pin protruding in the first direction is provided on one of the docking base and the docking section, and a positioning pin guide member having at least one positioning pin guide hole into which the positioning pin is inserted from the first direction is provided on the other of the docking base and the docking section.
The article transport system of claim 1 .

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