WO2021153031A1 - 搬送装置、搬送装置の制御方法、プログラム、部品実装システム、及び作業システム - Google Patents

搬送装置、搬送装置の制御方法、プログラム、部品実装システム、及び作業システム Download PDF

Info

Publication number
WO2021153031A1
WO2021153031A1 PCT/JP2020/046132 JP2020046132W WO2021153031A1 WO 2021153031 A1 WO2021153031 A1 WO 2021153031A1 JP 2020046132 W JP2020046132 W JP 2020046132W WO 2021153031 A1 WO2021153031 A1 WO 2021153031A1
Authority
WO
WIPO (PCT)
Prior art keywords
transport device
vehicle body
wheels
steering wheel
toe
Prior art date
Application number
PCT/JP2020/046132
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
佐藤　寛之
中村　徹
直寛 村山
水野　修
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to DE112020006658.4T priority Critical patent/DE112020006658T5/de
Priority to CN202080094782.3A priority patent/CN115039524A/zh
Priority to JP2021574507A priority patent/JPWO2021153031A1/ja
Publication of WO2021153031A1 publication Critical patent/WO2021153031A1/ja

Links

Images

Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/02—Feeding of components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/007—Emergency systems using the steering system for braking

Definitions

  • This disclosure relates to a transfer device, a transfer device control method, a program, a component mounting system, and a work system. More specifically, the present disclosure relates to a transport device for transporting an object to be transported, a control method for the transport device, a program, a component mounting system, and a work system.
  • Patent Document 1 discloses an automatic guided vehicle (transport device). This automatic guided vehicle is provided with two steering wheels (steering wheels) that are rotated by driving a traveling motor. The automatic guided vehicle moves in a desired moving direction by rotating two steering wheels with a steering motor.
  • the moving direction of the automatic guided vehicle is strongly restricted by the directions of the two steering wheels (steering wheels), so that it depends on the moving direction of the automatic guided vehicle. It is necessary to control the direction of the steering wheel.
  • the position of the side wall is measured with high accuracy, and the steering wheel is based on the measurement result and the route information of the automatic guided vehicle.
  • a complicated control process for controlling the orientation is required.
  • An object of the present disclosure is a transport device, a control method for a transport device, which can move a vehicle body without performing complicated control processing even when a vehicle body or an object to be transported receives running resistance due to contact with an object.
  • the transport device of one aspect of the present disclosure includes a vehicle body for transporting an object to be transported, a plurality of drive wheels, a plurality of steering wheels, and a steering angle control unit.
  • the plurality of drive wheels are wheels provided on the vehicle body for driving the vehicle body.
  • the plurality of steering wheels are wheels provided on the vehicle body for changing the moving direction of the vehicle body.
  • the steering angle control unit controls the toe angles of the plurality of steering wheels so as to be different from each other.
  • the control method of the transport device includes a drive control step and a toe angle control step.
  • a plurality of drive wheels are driven.
  • the plurality of drive wheels are wheels provided on the vehicle body for transporting the object to be transported and for moving the vehicle body.
  • the toe angle control step the toe angles of the plurality of steering wheels are controlled so as to be different from each other.
  • the plurality of steering wheels are wheels provided on the vehicle body for changing the moving direction of the vehicle body.
  • the program of one aspect of the present disclosure is a program for causing a computer system to execute the control method of the transfer device.
  • the component mounting system of one aspect of the present disclosure includes at least one component mounting machine for mounting components on a board.
  • the component mounting machine includes a feeder carriage for supplying the components and a mounting body including a mounting head for mounting the components on the board.
  • the feeder trolley is the object to be transported, which is transported to the mounting body by the transport device.
  • the work system of one aspect of the present disclosure includes the component mounting system and the transport device.
  • the component mounting system has a structure that guides the feeder carriage to the mounting body by contacting at least one of the vehicle body and the feeder carriage.
  • the steering angle control unit controls the toe angles of the plurality of steering wheels based on the relative positional relationship between the structure and the vehicle body.
  • FIG. 1 is a plan view schematically showing a transport device and an object to be transported according to an embodiment.
  • FIG. 2 is a plan view schematically showing a state in which the above-mentioned transport device travels in a toe-in manner.
  • FIG. 3 is a plan view schematically showing a state in which the above-mentioned transport device travels in a toe-out manner.
  • FIG. 4 is a block diagram of the transport device of the same.
  • FIG. 5 is a perspective view showing the transport device of the above and the feeder carriage which is the object to be transported.
  • FIG. 6 is a plan view schematically showing the transfer device and the component mounting system of the same.
  • FIG. 7 is a flowchart illustrating the operation of the transfer device of the same.
  • FIG. 1 is a plan view schematically showing a transport device and an object to be transported according to an embodiment.
  • FIG. 2 is a plan view schematically showing a state in which the above-mentioned transport device travels
  • FIG. 8 is a plan view illustrating an operation in which the transport device of the above moves the object to be transported.
  • FIG. 9 is a plan view illustrating an operation in which the transport device of the above moves the object to be transported.
  • FIG. 10 is a plan view illustrating an operation in which the transport device according to the modified example of one embodiment moves the object to be transported.
  • the transport device 1 transports the object to be transported A1 as shown in FIG.
  • the object to be transported A1 has wheels A11 and is configured to be movable together with the transport device 1.
  • the transport device 1 has a plurality of steering wheels 2 arranged in the left-right direction of the transport device 1, and is a device that moves on the moving surface B1 to transport the object to be transported A1.
  • the "left-right direction" referred to in the present disclosure is the longitudinal direction of the transport device 1.
  • the front-rear direction of the transport device 1 is a direction orthogonal to the left-right direction, and is a lateral direction of the transport device 1.
  • the arrow in FIG. 1 indicates the front-rear direction of the transfer device 1, and when the transfer device 1 moves in the front-rear direction, the direction in which the transfer device 1 advances is referred to as forward, and the opposite direction is referred to as rear.
  • the transport device 1 grips and moves the transported object A1
  • the transport device 1 takes the lead and pulls the transported object A1
  • the transport device 1 takes the transported object A1 as the head and pulls the transported object A1.
  • There is a traveling mode in which A1 is pushed In general, the traveling mode in which the transported object A1 is towed is more stable than the traveling mode in which the transported object A1 is pushed from the rear side. Therefore, the transport device 1 usually pushes the transported object A1. Tow and move.
  • the transport device 1 moves by pushing the transported object A1 with the transported object A1 at the head.
  • the traveling mode in which the transport device 1 pushes the transported object A1 from the rear side to move is mainly described, when the transport device 1 grips the transported object A1, the side facing the transported object A1 is set. The front side and the opposite side will be described as the rear side.
  • the arrows in FIGS. 1 to 3 and 8 to 10 are shown only for the sake of explanation and are not accompanied by an entity.
  • the wheels such as the plurality of steering wheels 2 of the transport device 1 are drawn by solid lines, but are actually hidden by the vehicle body 10 (described later) of the transport device 1.
  • the transport device 1 is installed in facilities such as factories, distribution centers (including distribution centers), offices, stores, schools, and hospitals.
  • the moving surface B1 is a surface on which the transport device 1 moves.
  • the floor surface or the like of the facility becomes the moving surface B1
  • the transport device 1 moves outdoors.
  • the ground or the like becomes the moving surface B1.
  • the plurality of steering wheels 2 include a left steering wheel 2L located on the left side of the vehicle body 10 and a right steering wheel 2R located on the right side of the vehicle body 10. That is, the transport device 1 is configured to move on the moving surface B1 by the two steering wheels 2.
  • the transport device 1 has four auxiliary wheels 3 in addition to the two steering wheels 2, but these auxiliary wheels 3 follow the moving direction of the transport device 1. It is a driven wheel whose direction changes, and is not included in the steering wheel 2 in which the transport device 1 can control the steering angle.
  • the "steering angle" of the steering wheel 2 referred to in the present disclosure refers to the front-rear direction of the conveying device 1 and the rolling direction of the wheels (steering wheel 2) (for example, steering) in a plan view of the conveying device 1 from above.
  • the angle formed by (the direction orthogonal to the axle of the facing wheel 2).
  • the angle formed by the rolling direction DL of the left steering wheel 2L and the front-rear direction D1 is referred to as a toe angle ⁇ L
  • the angle formed by the rolling direction DR of the right steering wheel 2R and the front-rear direction D1 is referred to as a toe angle ⁇ R. That is.
  • the rolling direction DL of the left steering wheel 2L and the rolling direction DR of the right steering wheel 2R are directed inward.
  • the toe-in is a state in which the steering angles of the left steering wheel 2L and the right steering wheel 2R are controlled.
  • the rolling direction DL of the left steering wheel 2L and the rolling direction DR of the right steering wheel 2R are left so as to face outward.
  • the toe-out is a state in which the steering angles of the steering wheel 2L and the right steering wheel 2R are controlled.
  • the toe angles ⁇ L and ⁇ R when the rolling directions DL and DR of the left steering wheel 2L and the right steering wheel 2R face the right side with respect to the traveling direction are defined as positive angles, and the rolling direction DL, Let the toe angles ⁇ L and ⁇ R when the DR faces the left side with respect to the traveling direction as negative angles.
  • the transport device 1 of the present embodiment includes a vehicle body 10 for transporting the object to be transported A1, a plurality of drive wheels, a plurality of steering wheels 2, and a steering angle control unit 13 (see FIG. 4). ing.
  • a plurality of drive wheels are provided on the vehicle body 10.
  • the plurality of drive wheels are wheels for driving the vehicle body 10.
  • a plurality of steering wheels 2 are provided on the vehicle body 10.
  • the plurality of steering wheels 2 are wheels for changing the moving direction of the vehicle body 10.
  • the steering angle control unit 13 controls the toe angles ⁇ L and ⁇ R of the plurality of steering wheels 2 so as to be different from each other.
  • the steering angle control unit 13 controls the toe angles ⁇ L and ⁇ R of the plurality of steering wheels 2 so as to be different from each other, slippage occurs in the plurality of steering wheels 2. Therefore, the moving direction of the transport device 1 is less likely to be constrained by the directions of the plurality of steering wheels 2. Therefore, when the transport device 1 or the object to be transported A1 comes into contact with the object and a running resistance is added to the transport device 1, the transport device is oriented in the direction in which the difference between the propulsive force of the transport device 1 and the running resistance becomes the largest. Since 1 is moved, the vehicle body 10 can be moved without performing complicated control.
  • the transport device 1 of the present embodiment is configured to be able to communicate with the host system 5.
  • the term "communicable" in the present disclosure means that information can be exchanged directly or indirectly via a network NT1 or a repeater 6 by an appropriate communication method of wired communication or wireless communication.
  • the host system 5 and the transport device 1 can communicate with each other in both directions, and information is transmitted from the host system 5 to the transport device 1 and information from the transport device 1 to the host system 5 is transmitted. Both transmissions are possible.
  • the host system 5 is a system for comprehensively controlling one or a plurality of transport devices 1, and is realized by, for example, a server device.
  • the host system 5 indirectly controls the plurality of transport devices 1 by issuing instructions to each of the plurality of transport devices 1. Specifically, when the host system 5 issues a transport instruction for the transported object A1 to the transport device 1, the transport device 1 autonomously moves the transported object A1 to the target position in response to the transport instruction. To do.
  • the host system 5 mainly comprises a computer system having one or more processors and memories. Therefore, the function of the host system 5 is realized by executing the program recorded in the memory by one or more processors.
  • the program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.
  • the transport device 1 is an automatic guided vehicle for transporting the object to be transported A1 as shown in FIGS. 1 to 3.
  • the host system 5 communicates with the transfer device 1 via the network NT1 and the repeater 6 to indirectly control the movement of the transfer device 1.
  • the transport device 1 autonomously travels on a flat moving surface B1 made of, for example, a floor surface or the like.
  • the transport device 1 can travel on the moving surface B1 in a state where the transported object A1 is connected.
  • the transport device 1 can move the object to be transported A1 placed in a certain place to another place (target position) by towing the object to be transported A1 in the transport device 1 or pushing and moving the object to be transported in the transport device 1. It is possible to transport.
  • the transport device 1 includes a vehicle body 10.
  • the vehicle body 10 is formed in a rectangular parallelepiped shape.
  • a connecting portion 18 for connecting the transported object A1 is provided on the side surface of the vehicle body 10, and the transported object A1 is connected in a state where the transported object A1 and the transport device 1 are connected by the connecting portion 18. It can be moved together with the transfer device 1.
  • the connecting portion 18 can attract a part of the object to be transported A1 by the magnetic force of, for example, an electromagnet.
  • the "side surface of the vehicle body 10" referred to here is one surface in the front-rear direction of the vehicle body 10 and one surface along the left-right direction of the vehicle body 10.
  • the connecting portion 18 is a portion to which the transported object A1 is detachably connected.
  • the connecting portion 18 is located on one surface of the vehicle body 10 in the front-rear direction, and is provided only on one side of the vehicle body 10 in the front-rear direction. That is, the transport device 1 has a connecting portion 18 for connecting the objects to be transported A1 on one surface (side surface) of the vehicle body 10 along the left-right direction.
  • the object to be transported A1 connected to the connecting portion 18 is arranged side by side with the transport device 1 in the front-rear direction (one direction) when viewed from above.
  • the connecting portion 18 of the present embodiment is, for example, an electromagnet, and is connected to the transported object A1 by attracting a ferromagnetic material included in the transported object A1 by magnetic force.
  • connection between the connecting portion 18 and the ferromagnet of the object to be transported A1 and the disconnection of this connection can be switched by controlling the current flowing through the connecting portion 18 which is an electromagnet by the control device 11.
  • the connecting portion 18 is not limited to the electromagnet.
  • the connecting portion 18 may be, for example, a magnet.
  • the connecting portion 18 may be detachably connected to the transported object A1 by hooking or fitting, or may be detachably connected to the transported object A1 by using a fixing tool such as a bolt.
  • the object to be transported A1 may be automatically connected to the connecting portion 18 by the transport device 1 or other devices, or may be performed by a person.
  • the shape of the connecting portion 18 and the number of connecting portions 18 included in the transport device 1 can be changed as appropriate.
  • the transport device 1 has a plurality of (here, six) wheels at the lower part of the vehicle body 10.
  • the wheel located on the left side of the vehicle body 10 and the wheel located on the right side of the vehicle body 10 are steering wheels 2 (left steering wheel 2L and right steering wheel 2R).
  • the four wheels located at the central portion in the left-right direction of the vehicle body 10 are all training wheels (driving wheels) 3.
  • Two of the four training wheels 3 are arranged on the front side and the rear side of the vehicle body 10.
  • each of the plurality of steering wheels 2 also serves as a driving wheel, the number of wheels included in the transport device 1 can be reduced.
  • the steering angle control unit 13 individually controls the toe angles of the plurality of steering wheels 2, and the directions of the plurality of steering wheels 2 are individually controlled to reduce the amount of slippage of the plurality of driving wheels. Can be changed.
  • the steering angle control unit 13 sets the absolute value of the toe angle ⁇ L of the left steering wheel 2L and the absolute value of the toe angle ⁇ R of the right steering wheel 2R to the same value for each of the toe-in and toe-out.
  • the absolute value of the toe angle ⁇ L and the absolute value of the toe angle ⁇ R may be set to different values.
  • the transport device 1 of the present embodiment includes a control device 11, a power supply 12, a communication unit 16, a detection unit 17, a left steering wheel unit 4L, and a right steering wheel unit. It also has 4R.
  • the left steering wheel 2L and the right steering wheel 2R also serve as driving wheels, respectively.
  • a drive mechanism for driving the left steering wheel 2L and a steering mechanism for changing the direction of the left steering wheel 2L are integrated as a left steering wheel unit 4L.
  • a drive mechanism for driving the right steering wheel 2R and a steering mechanism for changing the direction of the right steering wheel 2R are integrated as a right steering wheel unit 4R.
  • the left steering wheel unit 4L is a control unit that controls the rotation and steering angle of the left steering wheel 2L, and is the direction (rolling) of the drive motor 41L that rotates the left steering wheel 2L and the left steering wheel 2L. It is equipped with a steering motor 42L that changes the direction).
  • the steering motor 42L changes the left steering wheel 2L in the direction instructed by the control command
  • the drive motor 41L changes the left steering wheel 2L.
  • the vehicle body 10 is driven by rotating with the rotational torque instructed by the control command.
  • the left steering wheel unit 4L receives a control command from the control device 11 and controls the rotation speed of the left steering wheel 2L to be equal to or lower than the upper limit value instructed by the control device 11.
  • the right steering wheel unit 4R is a control unit that controls the rotation and steering angle of the right steering wheel 2R, and is the direction (rolling) of the drive motor 41R that rotates the right steering wheel 2R and the right steering wheel 2R. It is equipped with a steering motor 42R that changes the direction).
  • the steering motor 42R changes the right steering wheel 2R in the direction instructed by the control command
  • the drive motor 41R changes the right steering wheel 2R.
  • the vehicle body 10 is driven by rotating with the rotational torque instructed by the control command.
  • the right steering wheel unit 4R receives a control command from the control device 11 and controls the rotation speed of the right steering wheel 2R to be equal to or lower than the upper limit value instructed by the control device 11.
  • the detection unit 17 detects the behavior of the vehicle body 10, the surrounding conditions of the vehicle body 10, and the like.
  • the "behavior” as used in the present disclosure means an operation, a state, and the like. That is, the behavior of the vehicle body 10 includes the operating state of the vehicle body 10 indicating that the vehicle body 10 is running / stopped, the moving distance and traveling time of the vehicle body 10, the speed (and speed change) of the vehicle body 10, and the acceleration acting on the vehicle body 10. And the posture of the vehicle body 10.
  • the detection unit 17 includes, for example, a sensor such as LiDAR (Light Detection and Ringing), and is based on the position information of surrounding objects detected by the sensor and the electronic map information of a predetermined area.
  • the existing position of the transport device 1 in the predetermined area is detected, and the detection result of the existing position is output to the control device 11.
  • the detection unit 17 may include a receiver that receives beacon signals transmitted by radio waves from a plurality of transmitters, and may detect the current position based on the beacon signals transmitted from the plurality of transmitters.
  • the plurality of transmitters are arranged at a plurality of locations in a predetermined area where the transport device 1 moves.
  • the position specifying unit measures the current position of the carrier device 1 based on the positions of the plurality of transmitters and the received radio wave intensity of the beacon signal at the receiver. Further, the detection unit 17 may be realized by using a satellite positioning system such as GPS (Global Positioning System).
  • GPS Global Positioning System
  • the detection unit 17 includes an encoder that measures the rotation speed of each of the plurality of steering wheels 2 (left steering wheel 2L and right steering wheel 2R), and measures the rotation speed of each steering wheel 2. Output to the control device 11. Further, the detection unit 17 may include a timer for counting the traveling time of the transport device 1 and output the measurement result of the traveling time by the timer to the control device 11.
  • the control device 11 has, for example, a microcomputer having one or more processors and memories.
  • the control device 11 is realized in a computer system having one or more processors and memories.
  • a computer system has a processor and memory as hardware.
  • the processor executes the program recorded in the memory, the functions of the control device 11 (for example, the steering angle control unit 13, the torque control unit 14, the evaluation unit 15, etc.) in the present disclosure are realized.
  • the program may be pre-recorded in the memory of the computer system or may be provided through a telecommunication line. Further, the program may be provided by being recorded on a non-temporary recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by a computer system.
  • a processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI).
  • IC semiconductor integrated circuit
  • LSI large scale integrated circuit
  • a plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips.
  • the plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.
  • the torque control unit 14 controls the output torque of the drive wheels (in this embodiment, the steering wheels 2 are also used). Specifically, the torque control unit 14 outputs a control command to the left steering wheel unit 4L, and rotates the drive motor 41L to the left steering wheel unit 4L to rotate the left steering wheel 2L. Further, the torque control unit 14 outputs a control command to the right steering wheel unit 4R, and rotates the drive motor 41R to the right steering wheel unit 4R to rotate the right steering wheel 2R.
  • the torque control unit 14 controls the rotation of the left steering wheel 2L and the right steering wheel 2R so that the output torque of the drive wheels becomes a desired torque value, and the output torque even when slippage occurs.
  • the transfer device 1 can be moved while controlling the torque value to a desired value.
  • the torque control unit 14 controls the rotation of the left steering wheel 2L and the right steering wheel 2R so that the rotation speeds of the left steering wheel 2L and the right steering wheel 2R do not exceed a predetermined upper limit value. Even when slippage occurs, the rotation speed of the drive wheels (steering wheels 2) can be controlled so as not to exceed the upper limit value.
  • the steering angle control unit 13 adjusts the toe angles of the left steering wheel 2L and the right steering wheel 2R so that the toe angles of the left steering wheel 2L and the right steering wheel 2R are different from each other at least in the second mode. Control individually. Specifically, the steering angle control unit 13 outputs a control command to the left steering wheel unit 4L and rotates the steering motor 42L to change the direction of the left steering wheel 2L to a desired direction. Further, the steering angle control unit 13 outputs a control command to the right steering wheel unit 4R and rotates the steering motor 42R to change the direction of the right steering wheel 2R to a desired direction.
  • the steering angle control unit 13 and the torque control unit 14 of the control device 11 control the left steering wheel unit 4L and the right steering wheel unit 4R to control the left steering wheel 2L and the right steering wheel 2R.
  • the transport device 1 is driven by controlling the steering angle and the rotational torque.
  • the steering angle control unit 13 has two modes, a first mode and a second mode, as control modes for controlling the steering angle.
  • the first mode is a mode in which the toe angles of a plurality of steering wheels are controlled so that the toe angles of the left steering wheel 2L and the right steering wheel 2R are equal to each other.
  • the fact that the toe angles of the left steering wheel 2L and the right steering wheel 2R are equal to each other is not limited to the same toe angle, and may be deviated by about several degrees.
  • the transport device 1 moves in a direction parallel to the direction (rolling direction) of the left steering wheel 2L and the right steering wheel 2R, and the moving direction of the transport device 1 is left steering. It is strongly restrained in the direction of the facing wheel 2L and the right steering wheel 2R.
  • the second mode is a mode in which the toe angles of the left steering wheel 2L and the right steering wheel 2R are controlled so that the toe angles of the left steering wheel 2L and the right steering wheel 2R are different from each other.
  • the control states of the left steering wheel 2L and the right steering wheel 2R in the second mode are the toe-in (see FIG. 2) in which the left steering wheel 2L and the right steering wheel 2R face inward with respect to the traveling direction, and the left steering wheel 2R. It includes at least a toe-out (see FIG. 3) in which the facing wheel 2L and the right steering wheel 2R face outward with respect to the traveling direction.
  • the left steering wheel 2L and the right steering wheel 2R are controlled by the toe-in, slippage occurs in the left steering wheel 2L and the right steering wheel 2R, which are the driving wheels.
  • the moving direction of is not restricted by the rolling direction of the left steering wheel 2L or the right steering wheel 2R.
  • the vector of the driving force obtained by combining the driving force of the left steering wheel 2L and the driving force of the right steering wheel 2R is a vector within the fan-shaped range P1
  • the difference between the driving force and the traveling resistance applied to the transport device 1 is The transport device 1 moves in the direction in which it becomes the largest (that is, the direction in which the traveling resistance becomes the smallest).
  • the driving force obtained by combining the driving force of the left steering wheel 2L and the driving force of the right steering wheel 2R acts in the direction in which the difference between the driving force and the traveling resistance applied to the transport device 1 is maximized.
  • the transport device 1 moves in this direction.
  • the steering angle control unit 13 controls the toe angles of the plurality of steering wheels 2 to toe-in, slippage occurs in the plurality of steering wheels 2 (driving wheels), so that the propulsive force and traveling of the driving wheels
  • the transport device 1 can be moved in the direction in which the difference from the resistance is the largest.
  • the moving transport device 1 has a running resistance due to friction between the moving surface B1 and the steering wheel 2, and a running resistance due to friction between the vehicle body 10 or the object to be transported A1 and a structure existing in a predetermined area.
  • the total running resistance will be added.
  • the transport device 1 moves.
  • the direction is not restricted by the rolling direction of the left steering wheel 2L or the right steering wheel 2R.
  • the vector of the driving force obtained by combining the driving force of the left steering wheel 2L and the driving force of the right steering wheel 2R is a vector within the fan-shaped range P2, and the difference between the driving force and the traveling resistance applied to the transport device 1 is The transport device 1 moves in the direction of maximum increase.
  • the driving force obtained by combining the driving force of the left steering wheel 2L and the driving force of the right steering wheel 2R acts in the direction in which the difference between the driving force and the traveling resistance applied to the transport device 1 is maximized.
  • the transport device 1 moves in this direction.
  • the steering angle control unit 13 controls the toe angles of the plurality of steering wheels 2 to toe-out, slippage occurs in the plurality of steering wheels 2 (driving wheels), so that the propulsive force and traveling of the driving wheels
  • the transport device 1 can be moved in the direction in which the difference from the resistance is the largest.
  • the steering angle control unit 13 changes the amount of slippage of the steering wheels 2 which are the driving wheels by controlling the toe angles of the plurality of steering wheels 2, and the driving wheels slip.
  • the transport device 1 can be moved in the direction in which the difference between the propulsive force of the drive wheels and the traveling resistance becomes the largest. For example, when the transport device 1 puts the object to be transported A1 in the narrow space between the two side walls, even if the transport device 1 is subjected to running resistance due to the contact of the object to be transported A1 with the side wall, the transport device 1 Moves in the direction in which the difference between the propulsive force of the drive wheels and the running resistance is the largest.
  • the vehicle body 10 or the object to be transported A1 comes into contact with a structure (for example, a side wall) existing in a predetermined area and a running resistance is applied to the transfer device 1, the vehicle body 10 or the object to be transported A1 has a structure.
  • the transport device 1 can be moved in contact with an object. Therefore, even if the position of the structure existing in the predetermined area is measured with high accuracy and the control process for finely controlling the steering angle of the steering wheel 2 according to the position of the structure is not performed, a plurality of steering wheels are used. By simply controlling 2 to toe-in or toe-out, the transport device 1 can be smoothly moved while the vehicle body 10 or the object to be transported A1 is in contact with the structure.
  • the evaluation unit 15 uses, for example, the drive wheels (steering wheels 2) based on the number of rotations of the driving wheels (steering wheels 2) detected by the detection unit 17 and the moving distance obtained from the existing position of the transport device 1. Evaluate the amount of slippage.
  • the steering angle control unit 13 may further control the toe angles of the plurality of steering wheels 2 based on the evaluation result of the evaluation unit 15, for example, the toe angle so that the slip amount falls within a desired range. May be adjusted.
  • the power supply 12 is, for example, a secondary battery.
  • the power supply 12 directly or indirectly supplies electric power to the left steering wheel unit 4L, the right steering wheel unit 4R, the control device 11, the communication unit 16, the detection unit 17, and the like.
  • the transfer device 1 may be supplied with electric power from the outside, and in this case, the transfer device 1 does not have to include the power supply 12.
  • the communication unit 16 is configured to be able to communicate with the host system 5.
  • the communication unit 16 communicates with any of the plurality of repeaters 6 installed in the predetermined area where the transport device 1 moves by wireless communication using radio waves as a medium. Therefore, the communication unit 16 and the host system 5 indirectly communicate with each other via at least the network NT1 and the repeater 6.
  • each repeater 6 is a device (access point) that relays communication between the communication unit 16 and the host system 5.
  • the repeater 6 communicates with the host system 5 via the network NT1.
  • communication between the repeater 6 and the communication unit 16 does not require Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or a low-power radio that does not require a license.
  • Adopt wireless communication that complies with standards such as (Specified low power wireless).
  • the network NT1 is not limited to the Internet, and for example, a local communication network in a predetermined area where the transport device 1 moves or in an operating company in this predetermined area may be applied.
  • the transport device 1 of the present embodiment is used in a component mounting system E1 including at least one component mounting machine 9 for mounting components on a substrate.
  • the component mounting machine 9 includes a feeder carriage 7 for supplying components and a mounting body 8 including a mounting head for mounting the components on a board.
  • the feeder carriage 7 is used to supply parts to the mounting body 8 of the parts mounting machine 9 installed in the factory.
  • the "parts mounting machine” here is a machine that mounts parts on an object such as a substrate.
  • the mounting body 8 includes a mounting head for mounting components on a board.
  • the transport device 1 transports the feeder carriage 7 as the object to be transported A1 to the installation location of the mounting body 8 of the component mounting machine 9. This makes it possible to construct the component mounting system E1.
  • the component mounting system E1 is a system including at least one component mounting machine 9 for mounting components on a board. Then, the feeder carriage 7 is conveyed to the mounting body 8 by the conveying device 1.
  • the transport device 1 moves the feeder carriage 7 placed at a certain place in the predetermined area to a position connected to the mounting body 8 in response to an instruction from, for example, the host system 5.
  • the transport device 1 moves the feeder carriage 7 into the recess 81 provided on the side surface of the mounting body 8
  • the second connector of the feeder carriage 7 is connected to the first connector provided on the mounting body 8.
  • the mounting body 8 and the feeder carriage 7 are connected to each other. Then, in a state where the mounting body 8 and the feeder carriage 7 are connected to each other, it becomes possible to supply parts from the feeder carriage 7 to the mounting body 8.
  • the conveyed object A1 puts the conveyed object A1 into the recess 81 and the conveyed object A1 comes into contact with the side wall 82 of the recess 81, the conveyed object A1 keeps in contact with the side wall 82 and the conveyed device 1 Is inserted into the recess 81. Therefore, by guiding the movement of the transported object A1 by the side wall 82, the transported object A1 can be guided to a position where the second connector of the transported object A1 is connected to the first connector of the mounting body 8.
  • the transport device 1 can be connected to a portion of the feeder carriage 7 that is opposite to the portion that discharges the parts to the mounting body 8.
  • the portion of the feeder carriage 7 for discharging the parts faces the mounting body 8. Therefore, when the feeder carriage 7 is transported to the installation location of the mounting body 8 of the component mounting machine 9, it is not necessary to change the orientation of the feeder carriage 7 so that the discharge portion faces the mounting body 8.
  • the work system W1 is composed of the component mounting system E1 and the transfer device 1.
  • the work system W1 has a component mounting system E1 and a transfer device 1.
  • the component mounting system E1 has a structure that guides the feeder carriage 7 to the mounting body 8 by contacting at least one of the vehicle body 10 and the feeder carriage 7.
  • a structure that guides the movement of the vehicle body 10 and the transported object A1 by contacting at least one of the vehicle body 10 and the transported object A1 is arranged.
  • the steering angle control unit 13 controls the toe angles of the plurality of steering wheels 2 (left steering wheel 2L and right steering wheel 2R) based on the relative positional relationship between the structure and the vehicle body 10.
  • the structure may be an object such as a wall provided separately from the mounting main body 8 and guides the feeder carriage 7 to the mounting main body 8, or the feeder carriage 7 is mounted on the mounting main body 8. It may be an object provided on the mounting body 8 itself to guide (position) to a desired position.
  • the structure is the latter, and a guide portion (for example, a side wall of the recess 81) provided in the mounting body 8 itself is provided to guide the feeder carriage 7 to a predetermined position in the recess 81 of the mounting body 8.
  • the steering angle control unit 13 controls the toe angles of the plurality of steering wheels 2 to toe-in or toe-out. There is.
  • the transfer device 1 moves in the direction in which the difference between the driving force by the drive wheels and the traveling resistance is the smallest, so that the control device 11 is the transfer device.
  • the transport device 1 can be moved while the vehicle body 10 or the object to be transported A1 is guided by the structure without directly controlling the moving direction of 1.
  • the steering angle control unit 13 only controls the toe angles of the plurality of steering wheels 2 to toe-in or toe-out, and the vehicle body 10 or the vehicle to be transported does not need to perform the control process of directly controlling the moving direction of the transport device 1.
  • the transport device 1 can be moved while keeping the object A1 in contact with the structure.
  • the transport device 1 moves the feeder carriage 7, which is the object to be transported A1, from a certain place in a predetermined area to a target position (for example, a position in the recess 81 of the mounting body 8). It is an operation.
  • the control device 11 When the transfer device 1 moves from the location to the target position, the control device 11 performs the control operation in the first mode until the transfer device 1 reaches the first change position.
  • the first mode the toe angles of the left steering wheel 2L and the right steering wheel 2R are equal to each other, and the steering angle and moving speed of the transport device 1 are based on the current position and the target position of the transport device 1. It is a control mode to control.
  • the moving direction of the transport device 1 In the first mode, the moving direction of the transport device 1 is strongly constrained by the directions of the left steering wheel 2L and the right steering wheel 2R, and the left steering wheel 2L and the right steering wheel 2R are less likely to slip. Therefore, the transport device 1 moves in a state where there is less loss due to slippage as compared with the second mode.
  • the control device 11 periodically obtains the current position of the transport device 1 based on the departure position, the mileage, the travel direction, and the like of the transport device 1. Then, the control device 11 obtains the distance between the vehicle body 10 and the guide portion of the mounting body 8 based on the current position of the transport device 1, and the distance between the vehicle body 10 and the guide portion of the mounting body 8 is the first determination distance.
  • the control mode is changed from the first mode to the second mode, and the steering angles of the left steering wheel 2L and the right steering wheel 2R are controlled so as to be toe-in, for example.
  • the first change position is a position where the control mode of the transfer device 1 is changed from the first mode to the second mode.
  • the tip of the feeder carriage 7 connected to the transfer device 1 is located in the recess 81 of the mounting body 8. It is set at the position just before entering.
  • the first determination distance is set to the distance between the vehicle body 10 and the guide portion of the mounting body 8 when the transport device 1 is located at the first change position.
  • the first determination distance is between the transport device 1 and the guide portion of the mounting body 8 at the timing when the object to be transported A1 (feeder carriage 7) transported by the transport device 1 first contacts the guide portion of the mounting body 8. It is set to a distance longer than the distance.
  • the movement path of the transfer device 1 is set so that there is no object in contact with the transfer device 1 and the object to be transported A1, and the control device. 11 controls the transport device 1 in the first mode.
  • the control device 11 starts the control operation in the second mode, and the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R become, for example, toe-in. To control.
  • the steering angle control unit 13 of the control device 11 issues a control command for switching the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R to the toe-in, the left steering wheel unit 4L and the right steering wheel. Output to unit 4R.
  • the left steering wheel unit 4L and the right steering wheel unit 4R rotate the steering motor based on the control command from the steering angle control unit 13 to toe in the directions of the left steering wheel 2L and the right steering wheel 2R. (S1).
  • the magnitudes of the toe angles ⁇ L and ⁇ R in the toe-in control are set to a magnitude of several degrees to a dozen degrees.
  • the torque control unit 14 of the transport device 1 issues a control command for instructing the upper limit of the rotational speed of the left steering wheel 2L and the right steering wheel 2R and the output torque to the left steering wheel unit 4L and the right steering wheel 2R.
  • the left steering wheel unit 4L and the right steering wheel unit 4R control the drive motors 41L and 41R based on the control command from the torque control unit 14, and rotate the left steering wheel 2L and the right steering wheel 2R.
  • the torque control unit 14 outputs the left steering wheel 2L and the right steering wheel 2R so that the output torque of the left steering wheel 2L and the right steering wheel 2R becomes the torque value specified by the control command. Control torque.
  • the torque control unit 14 indicates the rotation speed of the left steering wheel 2L and the right steering wheel 2R by a control command.
  • the rotation speeds of the left steering wheel 2L and the right steering wheel 2R are controlled so as not to exceed the upper limit value.
  • the left steering wheel unit 4L and the right steering wheel unit 4R receive the control command from the steering angle control unit 13 and toe in the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R.
  • the state in which the moving direction of the transport device 1 is strongly restrained by the directions of the left steering wheel 2L and the right steering wheel 2R is released.
  • the transport device 1 is mounted while moving in the direction in which the difference between the driving force of the driving wheels and the running resistance is the largest. Approach the main body 8.
  • the transport device 1 comes closer to the mounting body 8 and the feeder trolley 7 which is the object to be transported A1 comes into contact with the guide portion (for example, the inclined surface 83) of the mounting body 8, the feeder trolley 7 and the mounting body 7 are brought into contact with each other. Since the traveling resistance due to the friction with the 8 is added to the conveying device 1, the conveying device 1 moves in the direction in which the difference between the driving force of the drive wheels and the traveling resistance becomes the largest. In the operation example shown in FIG. 8, the direction indicated by the solid arrow F1 in the fan-shaped range P1 is the direction in which the difference between the driving force and the running resistance is the largest, and the transport device 1 moves in the direction of the arrow F1. Become.
  • control device 11 only controls the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R to the toe-in, and the left steering wheel 2L is based on the result of measuring the position of the mounting body 8. It is not necessary to perform complicated control processing for controlling the steering angle of the right steering wheel 2R. Therefore, the control device 11 can reduce the possibility that the vehicle body 10 stops without performing complicated control processing, and smoothly moves the transport device 1 in a state where the feeder carriage 7 is in contact with a part of the mounting body 8. be able to.
  • the detection unit 17 While the transfer device 1 is moving, the detection unit 17 periodically detects the mileage of the transfer device 1, and the control device 11 determines the guide unit (horizontal wall) of the mounting body 8 based on the mileage of the transfer device 1. The relative positional relationship between the transfer device 1 (vehicle body 10) and the inclined surface 83) is updated. The detection unit 17 periodically detects the existing position of the transport device 1, and the control device 11 transports the guide portion (horizontal wall 82 and the inclined surface 83) of the mounting body 8 based on the existing position of the transport device 1. The relative positional relationship with the device 1 (vehicle body 10) may be updated.
  • the control device 11 determines whether or not the transfer device 1 is moving based on the detection result of the detection unit 17 (S3).
  • step S3 When it is determined in step S3 that the transport device 1 is not moving, that is, it is stopped due to contact with an obstacle (S3: No), the control device 11 separates the transport device 1 from the obstacle. Therefore, the toe angles ⁇ L and ⁇ R are changed.
  • the control device 11 returns to step S1, and the steering angle control unit 13 issues a control command for changing the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R to the left steering wheel unit 4L and the right steering wheel unit 4L. Output to the wheel unit 4R.
  • the torque control unit 14 of the transport device 1 issues a control command for instructing the upper limit of the rotational speed of the left steering wheel 2L and the right steering wheel 2R and the output torque to the left steering wheel unit 4L and the right steering wheel 2R.
  • the left steering wheel unit 4L and the right steering wheel unit 4R receive a control command from the steering angle control unit 13 and change the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R
  • the left steering wheel unit 4L and the right steering wheel unit 4R are left steering.
  • the distribution of the driving force vector obtained by combining the driving force of the facing wheel 2L and the driving force of the right steering wheel 2R changes.
  • the transport device 1 moves in the direction in which the difference between the driving force due to the driving wheels and the running resistance becomes maximum, so that the transport device 1 can be separated from the obstacle and again. Start moving.
  • step S3 when it is determined in step S3 that the transport device 1 is moving (S3: Yes), the control device 11 moves the transport device 1 to the second change position based on the mileage detected by the detection unit 17. It is determined whether or not it has been reached (S4).
  • the second change position is a position where the control of the toe angles ⁇ L and ⁇ R is switched from the toe-in to the toe-out. This is the position of the device 1.
  • the second determination distance is shorter than the first determination distance, and the transfer device 1 and the mounting body are in a state where the feeder carriage 7 connected to the transfer device 1 has entered a predetermined position in the recess 81. It is set to a distance between 8.
  • the predetermined position in the recess 81 (that is, the second determination position) is, for example, an intermediate position between the opening of the recess 81 and the innermost portion in the direction in which the feeder carriage 7 enters and exits the recess 81 (that is, the second determination position). For example, it is set at the center position of the recess 81).
  • Information about the first change position (for example, the first determination distance and the like) and information about the second change position (for example, the second determination distance and the like) are set in the control device 11, respectively.
  • step S4 When it is determined in step S4 that the transfer device 1 has arrived at the second change position (S4: Yes), the control device 11 controls the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R to toe out. ..
  • the steering angle control unit 13 shifts to the process of step S1 and issues a control command for switching the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R to the toe out of the left steering wheel unit 4L and the right steering wheel unit 4L. Output to the facing wheel unit 4R.
  • the torque control unit 14 of the transport device 1 issues a control command for instructing the upper limit of the rotational speed of the left steering wheel 2L and the right steering wheel 2R and the output torque to the left steering wheel unit 4L and the right steering wheel 2R.
  • the steering angle control unit 13 changes the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R from toe-in to toe-out, the directions of the left steering wheel 2L and the right steering wheel 2R are parallel. It is preferable to switch from toe-in to toe-out in the shortest possible time so that the state of becoming is as short as possible.
  • the moving direction of the transport device 1 is changed to the left steering wheel 2L. And the state of being strongly restrained by the direction of the right steering wheel 2R is released. In a state where the toe angles ⁇ L and ⁇ R are switched to toe-out, the transport device 1 approaches the mounting body 8 while moving in the direction in which the difference between the driving force of the driving wheels and the traveling resistance becomes the largest.
  • the transport device 1 moves in the direction in which the difference between the driving force of the drive wheels and the traveling resistance becomes the largest.
  • the direction indicated by the solid arrow F1 in the fan-shaped range P2 is the direction in which the difference between the driving force of the driving wheels and the traveling resistance is the largest, and the transport device 1 moves in the direction of the arrow F1. Will move.
  • control device 11 only controls the toe angles ⁇ L and ⁇ R of the left steering wheel 2L and the right steering wheel 2R to toe out, and the left steering wheel 2L is based on the result of measuring the position of the mounting body 8. It is not necessary to perform complicated control processing for controlling the steering angle of the right steering wheel 2R. Therefore, the control device 11 can reduce the possibility that the vehicle body 10 stops without performing complicated control processing, and smoothly moves the transport device 1 in a state where the feeder carriage 7 is in contact with a part of the mounting body 8. be able to.
  • step S4 when it is determined in step S4 that the transport device 1 has not arrived (exists) at the second change position (S4: No), the control device 11 determines the mileage of the transport device 1 detected by the detection unit 17. Based on this, it is determined whether or not the transport device 1 has arrived at the target position (S5).
  • step S5 If it is determined in step S5 that the transport device 1 has not arrived at the target position (S5: No), the control device 11 returns to step S3 and executes the processes after step S3.
  • step S5 When it is determined in step S5 that the transfer device 1 has arrived at the target position (S5: Yes), the control device 11 ends the process of controlling the toe angle and stops the transfer device 1.
  • the transport device 1 When the transport device 1 inserts the feeder carriage 7 into the recess 81 of the mounting body 8, the transport device 1 makes the directions of the plurality of steering wheels 2 parallel until it approaches the mounting body 8. Then, the transport device 1 switches the plurality of steering wheels 2 to toe-in when approaching the mounting body 8, and switches the plurality of steering wheels 2 to toe-out when the feeder carriage 7 enters the recess 81.
  • the control method is not limited to this.
  • the transport device 1 may switch the plurality of steering wheels 2 to toe-out when approaching the mounting body 8, and switch the plurality of steering wheels 2 to toe-in when the feeder carriage 7 enters the recess 81. Further, the transport device 1 may control the plurality of steering wheels 2 to toe-in or toe-out until the feeder carriage 7 enters a predetermined position in the recess 81 when approaching the mounting body 8. ..
  • the control device 11 uses the left steering wheel 2L and the right steering wheel 2R as toe-ins to move the transport device 1 to the outside of the recess 81. Move it out of the recess 81. Since the transfer device 1 moves toward the outside of the recess 81 in the toe-in state, even if the feeder carriage 7 comes into contact with the side wall 82 of the recess 81 and a running resistance is generated, the transfer device 1 is a drive wheel. It is possible to move smoothly while changing the moving direction in the direction in which the difference between the driving force and the running resistance is the largest.
  • the control device 11 sets the transfer device 1 with the left steering wheel 2L and the right steering wheel 2R as toe-outs. It may be moved out of the recess 81. Further, when the transport device 1 takes the feeder carriage 7 in the recess 81 out of the recess 81, the control device 11 initially sets the left steering wheel 2L and the right steering wheel 2R as toe-ins, and determines When the change position is reached, the toe-out may be switched, and vice versa.
  • the steering angle control unit 13 parallels the directions of the left steering wheel 2L and the right steering wheel 2R.
  • the steering angle of each steering wheel 2 is controlled in the first mode.
  • the above embodiment is only one of various embodiments of the present disclosure.
  • the above-described embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved.
  • the same function as that of the transfer device 1 may be realized by a control method of the transfer device 1, a computer program, a non-temporary recording medium on which the program is recorded, or the like.
  • the control method of the transport device 1 includes a drive control step and a toe angle control step. In the drive control process, a plurality of drive wheels are driven.
  • the plurality of drive wheels are wheels provided on the vehicle body 10 for transporting the object to be transported A1 and for moving the vehicle body 10.
  • the (computer) program is a program for causing a computer system to execute the above-mentioned control method of the transport device.
  • the transport device 1 in the present disclosure includes a computer system.
  • the main configuration of a computer system is a processor and memory as hardware.
  • the processor executes the program recorded in the memory of the computer system, the function as the transport device 1 in the present disclosure is realized.
  • the program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided.
  • a processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI).
  • IC semiconductor integrated circuit
  • LSI large scale integrated circuit
  • the integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration).
  • an FPGA Field-Programmable Gate Array
  • a plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips.
  • the plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.
  • the computer system referred to here includes a microprocessor having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.
  • the transport device 1 it is not an essential configuration for the transport device 1 that a plurality of functions of the transport device 1 are integrated in one housing, and the components of the transport device 1 are distributed and provided in the plurality of housings. You may be. Further, at least a part of the functions of the transfer device 1, for example, a part of the functions of the transfer device 1 (for example, the steering angle control unit 13 and the like) may be realized by a cloud (cloud computing) or the like.
  • a plurality of steering wheels 2 also serve as driving wheels, and the driving mechanism and the steering mechanism are integrated as a steering wheel unit (left steering wheel unit 4L and right steering wheel unit 4R).
  • the transport device 1 may be provided with a drive wheel in addition to the steering wheel 2.
  • the number of drive wheels included in the transport device 1 is not limited to two, and may be three or more. Further, although the transport device 1 includes two steering wheels 2, the number of steering wheels 2 may be three or more. More preferably, the number of driving wheels is the same as the number of steering wheels.
  • the feeder carriage 7, which is the object to be transported A1 is provided with a contact portion that contacts the outer surface of the mounting body 8 which is a structure and the side wall 82 of the recess 81. You may.
  • the contact portion has a function for reducing the contact resistance between the feeder carriage 7 and the structure, and is, for example, a roller A12 held by the feeder carriage 7 in a rotatable state. When the roller A12 comes into contact with the structure, the rotation of the roller A12 allows the transport device 1 for transporting the feeder carriage 7 (object to be transported A1) to move smoothly without stopping.
  • the contact portion is not limited to the roller A12, and may be a contact surface that has been mirror-finished so as to reduce friction with the structure, and the contact surface may be a flat surface or a curved surface.
  • the contact portion that comes into contact with the structure is provided on the feeder carriage 7 that is the object to be transported A1, but the contact portion that contacts the structure is provided on the transport device 1. It may be provided in both the transport device 1 and the object to be transported A1.
  • the transport device 1 moves the object to be transported A1 into the recess 81 of the mounting body 8, but the target position for moving the object to be transported A1 is not limited to the recess 81 of the mounting body 8. ..
  • the target position may be the space between the two side walls and can be changed as appropriate.
  • the steering angle control unit 13 controls the toe angles of the plurality of steering wheels 2 based on the relative positional relationship between the structure in the predetermined area and the vehicle body 10.
  • the steering angle control unit 13 may control the toe angles of the plurality of steering wheels 2 based on other conditions.
  • the steering angle control unit 13 may control the toe angles of the plurality of steering wheels 2 based on the existing position of the vehicle body 10.
  • the steering angle control unit 13 moves to a second area where the possibility of contact with an object is higher than that of the first area, for example, when the transport device 1 travels in a narrow passage or when passing through an area where an obstacle exists.
  • the toe angles of the plurality of steering wheels 2 are controlled to toe-in or toe-out.
  • the transport device 1 moves in the direction in which the difference between the driving force of the drive wheels and the traveling resistance is the largest, so that complicated control processing can be performed. Even if this is not done, the transport device 1 can be moved without stopping.
  • the steering angle control unit 13 may control the toe angles of the plurality of steering wheels 2 based on the transport state of the object to be transported A1.
  • the steering angle control unit 13 has a plurality of steering wheels 2 depending on the transport state of the transported object A1, for example, when the transported object A1 is connected or when the vehicle is approached to a target position for transporting the transported object A1.
  • the toe angle of may be switched to toe-in or toe-out.
  • the transport device (1) of the first aspect includes a vehicle body (10) for transporting the object to be transported (A1), a plurality of drive wheels, and a plurality of steering wheels (2).
  • the plurality of drive wheels are wheels provided on the vehicle body (10) to drive the vehicle body (10).
  • the plurality of steering wheels (2) are wheels provided on the vehicle body (10) for changing the moving direction of the vehicle body (10).
  • the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2) so as to be different from each other.
  • the vehicle body (10) or the object to be transported (A1) can be moved without performing complicated control processing. ..
  • the vehicle body in the first aspect, is brought into contact with at least one of the vehicle body (10) and the object to be transported (A1) in a predetermined area where the vehicle body (10) moves. (10) and the structure (82) that guides the movement of the object to be transported (A1) are arranged.
  • the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2) based on the relative positional relationship between the structure (82) and the vehicle body (10).
  • the toe angles of the plurality of steering wheels (2) can be controlled based on the relative positional relationship between the structure (82) and the vehicle body (10).
  • the steering angle control unit (13) has the toe of the plurality of steering wheels (2) based on the existence position of the vehicle body (10). Control the angle.
  • the toe angles of the plurality of steering wheels (2) can be changed based on the existing position of the vehicle body (10).
  • the steering angle control unit (13) has a plurality of steering wheels based on the transport status of the object to be transported (A1).
  • the toe angle of (2) is controlled.
  • the toe angles of the plurality of steering wheels (2) can be changed based on the transport status of the object to be transported (A1).
  • the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2), whereby a plurality of steering angle control units (2) are controlled. The amount of sliding of the drive wheels is changed.
  • the transport device (1) has a direction in which the traveling resistance becomes smaller. Can be moved.
  • the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2) to toe-in.
  • the transport device (1) has a direction in which the traveling resistance becomes smaller. Can be moved.
  • the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2) to toe out.
  • the transport device (1) has a direction in which the traveling resistance becomes smaller. Can be moved.
  • the steering angle control unit (13) individually controls the toe angles of the plurality of steering wheels (2).
  • the amount of slippage of the drive wheels can be changed by individually controlling the toe angles of the plurality of steering wheels (2).
  • each of the plurality of steering wheels (2) also serves as a driving wheel.
  • the number of wheels can be reduced because each of the plurality of steering wheels (2) also serves as a driving wheel.
  • the transport device (1) of the tenth aspect further includes a torque control unit (14) that controls the output torque of the drive wheels in any one of the first to ninth aspects.
  • the output torque can be controlled to a desired value.
  • the transport device (1) of the eleventh aspect further includes an evaluation unit (15) for evaluating the amount of slippage of the drive wheels in any one of the first to tenth aspects.
  • the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2) based on the evaluation result of the evaluation unit (15).
  • the toe angles of the plurality of steering wheels (2) can be controlled according to the amount of sliding of the driving wheels.
  • At least one of the vehicle body (10) and the object to be transported (A1) is placed in a predetermined area where the vehicle body (10) moves.
  • a structure (82) that guides the movement of the vehicle body (10) and the object to be transported (A1) by contact is arranged.
  • At least one of the vehicle body (10) and the object to be transported (A1) is provided with a contact portion (A12) that comes into contact with the structure (82).
  • the transport device (1) can be moved in a state where the contact portion (A12) is in contact with the structure (82).
  • a connecting portion (18) for connecting the transported object (A1) is provided on the side surface of the vehicle body (10). ..
  • the transport device (1) and the object to be transported (A1) can be moved together.
  • the control method of the transport device (1) according to the fourteenth aspect includes a drive control step and a toe angle control step.
  • a plurality of drive wheels are driven.
  • the plurality of drive wheels are wheels provided on the vehicle body (10) for transporting the object to be transported (A1) and for moving the vehicle body (10).
  • the toe angle control step the toe angles of the plurality of steering wheels (2) are controlled so as to be different from each other.
  • the plurality of steering wheels (2) are wheels provided on the vehicle body (10) for changing the moving direction of the vehicle body (10).
  • the vehicle body (10) or the object to be transported (A1) can be moved without performing complicated control processing. ..
  • the program of the fifteenth aspect is a program for causing the computer system to execute the control method of the transport device of the fourteenth aspect.
  • the vehicle body (10) or the object to be transported (A1) can be moved without performing complicated control processing. ..
  • the component mounting system (E1) of the sixteenth aspect includes at least one component mounting machine (9) for mounting components on a board.
  • the component mounting machine (9) includes a feeder carriage (7) for supplying components and a mounting body (8) including a mounting head for mounting the components on a substrate.
  • the feeder carriage (7) is an object to be transported (A1) that is transported to the mounting body (8) by the transport device (1) according to any one of the first to thirteenth modes.
  • the vehicle body (10) or the feeder carriage (7) can be moved without performing complicated control processing.
  • the work system (W1) of the seventeenth aspect has a component mounting system (E1) of the sixteenth aspect and a transfer device (1) of any one of the first to thirteenth aspects.
  • the component mounting system (E1) has a structure (82) that guides the feeder carriage (7) to the mounting body (8) by contacting at least one of the vehicle body (10) and the feeder carriage (7).
  • the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2) based on the relative positional relationship between the structure (82) and the vehicle body (10).
  • the vehicle body (10) or the feeder carriage (7) can be moved without performing complicated control processing.
  • various configurations (including modifications) of the transfer device (1) include the control method of the transfer device (1), the (computer) program, or a non-temporary recording of the program. It can be embodied in a target recording medium or the like.
  • the configurations according to the second to thirteenth aspects are not essential configurations for the transport device (1) and can be omitted as appropriate.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
PCT/JP2020/046132 2020-01-31 2020-12-10 搬送装置、搬送装置の制御方法、プログラム、部品実装システム、及び作業システム WO2021153031A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112020006658.4T DE112020006658T5 (de) 2020-01-31 2020-12-10 Träger, Verfahren zur Steuerung des Trägers, Programm, Teile-Bestückungssystem und Arbeitssystem
CN202080094782.3A CN115039524A (zh) 2020-01-31 2020-12-10 搬运装置、搬运装置的控制方法、程序、部件安装系统以及作业系统
JP2021574507A JPWO2021153031A1 (de) 2020-01-31 2020-12-10

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020015864 2020-01-31
JP2020-015864 2020-01-31

Publications (1)

Publication Number Publication Date
WO2021153031A1 true WO2021153031A1 (ja) 2021-08-05

Family

ID=77078885

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/046132 WO2021153031A1 (ja) 2020-01-31 2020-12-10 搬送装置、搬送装置の制御方法、プログラム、部品実装システム、及び作業システム

Country Status (4)

Country Link
JP (1) JPWO2021153031A1 (de)
CN (1) CN115039524A (de)
DE (1) DE112020006658T5 (de)
WO (1) WO2021153031A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024095316A1 (ja) * 2022-10-31 2024-05-10 株式会社Fuji 物品搬送装置、台車および台車と牽引装置の連結方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08202448A (ja) * 1995-01-24 1996-08-09 Shinko Electric Co Ltd 無人走行車のステアリング制御方法
WO2010147100A1 (ja) * 2009-06-19 2010-12-23 国立大学法人豊橋技術科学大学 操舵可能な駆動機構および全方向移動車
JP2012178055A (ja) * 2011-02-25 2012-09-13 Nippon Sharyo Seizo Kaisha Ltd 操舵制御装置
JP2013065342A (ja) * 2012-12-03 2013-04-11 Hitachi Industrial Equipment Systems Co Ltd 移動ロボット
WO2017130345A1 (ja) * 2016-01-28 2017-08-03 富士機械製造株式会社 ユニット交換用台車

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3853578B2 (ja) 2000-07-27 2006-12-06 住友重機械工業株式会社 無人搬送車における走行距離計測装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08202448A (ja) * 1995-01-24 1996-08-09 Shinko Electric Co Ltd 無人走行車のステアリング制御方法
WO2010147100A1 (ja) * 2009-06-19 2010-12-23 国立大学法人豊橋技術科学大学 操舵可能な駆動機構および全方向移動車
JP2012178055A (ja) * 2011-02-25 2012-09-13 Nippon Sharyo Seizo Kaisha Ltd 操舵制御装置
JP2013065342A (ja) * 2012-12-03 2013-04-11 Hitachi Industrial Equipment Systems Co Ltd 移動ロボット
WO2017130345A1 (ja) * 2016-01-28 2017-08-03 富士機械製造株式会社 ユニット交換用台車

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024095316A1 (ja) * 2022-10-31 2024-05-10 株式会社Fuji 物品搬送装置、台車および台車と牽引装置の連結方法

Also Published As

Publication number Publication date
JPWO2021153031A1 (de) 2021-08-05
DE112020006658T5 (de) 2022-12-01
CN115039524A (zh) 2022-09-09

Similar Documents

Publication Publication Date Title
CN107291076B (zh) 物品输送设备
CN108860174B (zh) 物品输送车
TWI690441B (zh) 物品搬送設備
JP6613941B2 (ja) 物品搬送設備
US7853371B2 (en) Article transport apparatus and article transport method
WO2021153031A1 (ja) 搬送装置、搬送装置の制御方法、プログラム、部品実装システム、及び作業システム
JP7410183B2 (ja) 物品搬送システム
US11623674B2 (en) Rail vehicle system, rail vehicle, and visual sensing device
JP2022085692A (ja) 移動体、搬送装置、部品実装システム及び移動体用の軸継手
JP2000122720A (ja) 無人搬送車の検品搬送方法
JP2021181295A (ja) 移動体、搬送装置、及び部品実装システム
JPH11242519A (ja) 無人搬送車の運行制御システム
WO2021235049A1 (ja) 把持構造、搬送方法、搬送装置、及び製造システム
US11635770B2 (en) Traveling vehicle system and traveling vehicle control method
JP2022027226A (ja) 搬送装置、製造システム、搬送制御方法、及びプログラム
JP7503790B2 (ja) 制御方法、プログラム、移動体システム及び部品実装システム
WO2024142800A1 (ja) 搬送制御システム、搬送システム、及び搬送制御システムの制御方法
JP2022165832A (ja) 移動体システム、移動体制御方法、及びプログラム
JP7432868B2 (ja) 移動体、搬送装置、及び部品実装システム
JP2023154361A (ja) 搬送ロボット制御システム及び搬送ロボット制御方法
JP7378062B2 (ja) 搬送方法、プログラム、搬送システム、及び部品実装システム
US20230292481A1 (en) Manufacturing system, manufacturing method, control system, and control method
CN114502455A (zh) 搬运装置、搬运方法以及部件组装系统
WO1987006551A1 (en) Flexible material transport system
JP2021060825A (ja) 移動体システム、移動体制御方法、及びプログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20917057

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021574507

Country of ref document: JP

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 20917057

Country of ref document: EP

Kind code of ref document: A1