WO2021153031A1

WO2021153031A1 - Conveyance device, conveyance device control method, program, component mounting system, and operation system

Info

Publication number: WO2021153031A1
Application number: PCT/JP2020/046132
Authority: WO
Inventors: 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: 2020-01-31
Filing date: 2020-12-10
Publication date: 2021-08-05
Also published as: JPWO2021153031A1; DE112020006658T5; CN115039524A

Abstract

The purpose of the present invention is to enable moving a vehicle body without performing complex control processing, even when the vehicle body or a conveyed object encounters travel resistance through contact with an object. This conveyance device (1) is provided with a vehicle body (10) for conveying a conveyed object (A1), multiple drive wheels, multiple steering control wheels (2) and a steering angle control unit. The multiple drive wheels are provided on the vehicle body (10) and are vehicle wheels for driving the vehicle body (10). The multiple steering control wheels (2) are provided on the vehicle body (10) and are vehicle wheels for changing the travel direction of the vehicle body (10). The steering angle control unit controls the toe angle of the multiple steering control wheels (2) such that these are mutually different angles.

Description

Transport equipment, transport device control methods, programs, component mounting systems, and work systems

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.

When the above-mentioned automatic guided vehicle (transport device) moves, 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.

For example, when an automatic guided vehicle puts an object to be transported in a narrow space between two side walls, when the automatic guided vehicle enters the side wall at an angle and the object to be transported comes into contact with the side wall, it is between the object to be transported and the side wall. There is a possibility that running resistance such as friction generated in the automatic guided vehicle will be added to the automatic guided vehicle. Since the moving direction of the automatic guided vehicle is strongly restricted by the direction of the steering wheel, there is a possibility that the automatic guided vehicle cannot move because the object to be transported is caught on the side wall unless the control to change the direction of the steering wheel is performed. There is.

In order to put the object to be transported in a narrow space so that the object to be transported does not come into contact with the side wall, 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.

JP-A-2002-39786

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. To provide programs, component mounting systems, and working systems.

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

(Embodiment)
(1) Outline The transport device 1 according to the present embodiment transports the object to be transported A1 as shown in FIG. In the present embodiment, the object to be transported A1 has wheels A11 and is configured to be movable together with the transport device 1.

In the present embodiment, 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. Further, 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. When the transport device 1 grips and moves the transported object A1, the transport device 1 takes the lead and pulls the transported object A1, and 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. On the other hand, when the transported object A1 is put into the recess 81 as shown in FIG. 6, the transport device 1 moves by pushing the transported object A1 with the transported object A1 at the head. In the following, since 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. Further, in FIG. 1, 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. When the transport device 1 moves in the facility, the floor surface or the like of the facility becomes the moving surface B1, and when the transport device 1 moves outdoors. The ground or the like becomes the moving surface B1. Hereinafter, a case where the transport device 1 is introduced into the factory will be described.

In the present embodiment, 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. In the present embodiment, 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). In the following, 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 θL, and 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 θR. That is.

Here, when the transport device 1 moves forward, as shown in FIG. 2, 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. Further, when the transport device 1 moves forward, as shown in FIG. 3, 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. In the following description, the toe angles θL and θR 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 θL and θR 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 θL and θR of the plurality of steering wheels 2 so as to be different from each other.

In the present embodiment, since the steering angle control unit 13 controls the toe angles θL and θR 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.

(2) Details Hereinafter, the transfer device 1, the component mounting system E1 including the transfer device 1, and the work system W1 according to the present embodiment will be described in detail with reference to the drawings.

(2.1) Overall Configuration 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. In the present embodiment, 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.

In the present embodiment, the host system 5 mainly comprises a computer system having one or more processors and memories. Therefore, the function of the host system 5 is realized by executing the program recorded in the memory by one or more processors. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

(2.2) Transport device The transport device 1 is an automatic guided vehicle for transporting the object to be transported A1 as shown in FIGS. 1 to 3. In the present embodiment, 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. As a result, 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.

As shown in FIG. 1, 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. In the present embodiment, 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.

The 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. Further, 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. Further, 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. Further, 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. Of the six wheels, 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). Further, among the six wheels, 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. In the present embodiment, since 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. In the present embodiment, the steering angle control unit 13 sets the absolute value of the toe angle θL of the left steering wheel 2L and the absolute value of the toe angle θR of the right steering wheel 2R to the same value for each of the toe-in and toe-out. However, the absolute value of the toe angle θL and the absolute value of the toe angle θR may be set to different values.

Further, as shown in FIG. 4, 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.

In the present embodiment, 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. Further, 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). In the left steering wheel unit 4L, in response to a control command from the control device 11, the steering motor 42L changes the left steering wheel 2L in the direction instructed by the control command, and 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. Further, 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). In the right steering wheel unit 4R, in response to a control command from the control device 11, the steering motor 42R changes the right steering wheel 2R in the direction instructed by the control command, and 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. Further, 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.

Specifically, 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).

Further, 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. In other words, 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. When 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). 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. Here, 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. Further, 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.

In this way, 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.

By the way, in the transport device 1 of the present embodiment, 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. Here, 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. In the first mode, 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.

As shown in FIG. 2, when 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, 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 in which it becomes the largest (that is, the direction in which the traveling resistance becomes the smallest). That is, 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. In this way, when 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.

Further, as shown in FIG. 3, when the left steering wheel 2L and the right steering wheel 2R are controlled to toe out, slippage occurs in the left steering wheel 2L and the right steering wheel 2R, so that 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. That is, 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. In this way, when 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.

As described above, 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. By doing so, 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. Therefore, even if 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. Here, 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. In the present embodiment, 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.

That is, 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. In this embodiment, as an example, 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). Further, 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.

(2.3) Component Mounting System As shown in FIGS. 5 and 6, 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. In the present embodiment, 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. In other words, 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. In the present embodiment, 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. When 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. As a result, the mounting body 8 and the feeder carriage 7 are connected to each other. Then, in a state where the mounting body 8 and the feeder carriage 7 are connected to each other, it becomes possible to supply parts from the feeder carriage 7 to the mounting body 8.

When 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.

Here, it is preferable that 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. In this case, when the feeder carriage 7 is transported to the installation location of the mounting body 8 of the component mounting machine 9, the portion of the feeder carriage 7 for discharging the parts faces the mounting body 8. Therefore, when the feeder carriage 7 is transported to the installation location of the mounting body 8 of the component mounting machine 9, it is not necessary to change the orientation of the feeder carriage 7 so that the discharge portion faces the mounting body 8.

Further, the work system W1 is composed of the component mounting system E1 and the transfer device 1. In other words, 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. In other words, in the predetermined area where the vehicle body 10 moves, 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. Here, 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. In the present embodiment, 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. An inclined surface 83 etc. continuous with the 82 and the side wall 82).

That is, when the transport device 1 is moved to a position where the vehicle body 10 or the object to be transported A1 comes into contact with the structure, 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. When the toe angles of the plurality of steering wheels 2 are controlled to be toe-in or toe-out, 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. Therefore, 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.

(3) Operation Hereinafter, an example of the operation of the transfer device 1 of the present embodiment will be described with reference to FIG. 7. In the operation example shown in FIG. 7, 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.

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. In 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. 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.

Here, 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. When the following occurs, 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. For example, 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. Until the transfer device 1 moves to the first change position within the predetermined area, 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.

When the transfer device 1 reaches the first change position, the control device 11 starts the control operation in the second mode, and the toe angles θL and θR of the left steering wheel 2L and the right steering wheel 2R become, for example, toe-in. To control.

That is, the steering angle control unit 13 of the control device 11 issues a control command for switching the toe angles θL and θR 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). Here, the magnitudes of the toe angles θL and θR in the toe-in control are set to a magnitude of several degrees to a dozen degrees. Further, 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. Output to unit 4R (S2). 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. Here, 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. Further, when slip occurs in at least one of the left steering wheel 2L and the right steering wheel 2R, 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.

In this way, 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 θL and θR of the left steering wheel 2L and the right steering wheel 2R. When switched to, 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. In a state where the directions of the left steering wheel 2L and the right steering wheel 2R are switched to toe-in, 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. When 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. Here, the control device 11 only controls the toe angles θL and θR 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.

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).

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 θL and θR 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 θL and θR 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. Further, 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. Output to unit 4R (S2). When 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 θL and θR 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. When the distribution of the driving force vector 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.

On the other hand, 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). Here, the second change position is a position where the control of the toe angles θL and θR 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. Here, 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.

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 θL and θR 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 θL and θR 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. Further, 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. Output to unit 4R (S2). Here, when the steering angle control unit 13 changes the toe angles θL and θR 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.

When 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 switch the toe angles θL and θR to toe out, 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 θL and θR 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. When the transport device 1 comes closer to the mounting body 8 and the feeder carriage 7 which is the object to be transported A1 comes into contact with the side walls 82 (guide members) on both sides of the recess 81 as shown in FIG. 9, the feeder carriage 7 and the side wall 82 Since the traveling resistance due to the friction with the traveling device 1 is added to the transport device 1, 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. In the operation example shown in FIG. 9, 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. Here, the control device 11 only controls the toe angles θL and θR 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.

Further, 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).

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.

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.

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. ..

Further, when the transport device 1 takes the feeder carriage 7 in the recess 81 out of the recess 81, 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. When the transfer device 1 takes the feeder carriage 7 in the recess 81 out of the recess 81, 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.

Then, when it is determined that the entire feeder carriage 7 has come out of the recess 81 based on the detection result of the detection unit 17, 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. When the entire feeder carriage 7 goes out of the recess 81, the possibility that the feeder carriage 7 comes into contact with the side wall 82 of the recess 81 or the like is reduced, so that the control device 11 controls the left steering wheel 2L and the right steering wheel. With the directions of the wheels 2R parallel to each other, the transport device 1 can be smoothly moved toward the target position.

(4) Modified Example The above embodiment is only one of various embodiments of the present disclosure. The above-described embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. Further, 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 according to one aspect 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. In 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 2 are wheels provided on the vehicle body 10 for changing the moving direction of the vehicle body 10. The (computer) program according to one aspect is a program for causing a computer system to execute the above-mentioned control method of the transport device.

The following is a list of modified examples of the above embodiment. The modifications described below can be applied in combination as appropriate.

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. When 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). The integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Further, an FPGA (Field-Programmable Gate Array) programmed after the LSI is manufactured, or a logical device capable of reconfiguring the junction relationship inside the LSI or reconfiguring the circuit partition inside the LSI should also be adopted as a processor. Can be done. A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. The computer system referred to here includes a microprocessor having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

Further, 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.

In the above embodiment, 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). However, 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.

In the above embodiment, as shown in FIG. 10, 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.

In the modified example of FIG. 10, 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.

In the above embodiment, 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.

In the above embodiment, 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.

For example, 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. If present, the toe angles of the plurality of steering wheels 2 are controlled to toe-in or toe-out. As a result, even when the transport device 1 or the object to be transported A1 is in contact with the object, 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.

Further, 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.

(summary)
As described above, 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). , A steering angle control unit (13). 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.

According to this aspect, even when the vehicle body (10) or the object to be transported (A1) receives running resistance due to contact with an object, the vehicle body (10) can be moved without performing complicated control processing. ..

In the transport device (1) of the second aspect, in the first aspect, the vehicle body 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).

According to this aspect, 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).

In the transfer device (1) of the third aspect, in the first or second aspect, 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.

According to this aspect, the toe angles of the plurality of steering wheels (2) can be changed based on the existing position of the vehicle body (10).

In the transport device (1) of the fourth aspect, in any one of the first to third aspects, 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.

According to this aspect, 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).

In the transport device (1) of the fifth aspect, in any one of the first to fourth aspects, 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.

According to this aspect, by controlling the toe angles of the plurality of steering wheels (2), the amount of slippage of the plurality of drive wheels can be changed, and the transport device (1) has a direction in which the traveling resistance becomes smaller. Can be moved.

In the transport device (1) of the sixth aspect, in any one of the first to fifth aspects, the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2) to toe-in.

According to this aspect, by controlling the toe angles of the plurality of steering wheels (2) to toe-in, the amount of sliding of the drive wheels can be changed, and the transport device (1) has a direction in which the traveling resistance becomes smaller. Can be moved.

In the transport device (1) of the seventh aspect, in any one of the first to sixth aspects, the steering angle control unit (13) controls the toe angles of the plurality of steering wheels (2) to toe out.

According to this aspect, by controlling the toe angles of the plurality of steering wheels (2) to toe-out, the amount of sliding of the drive wheels can be changed, and the transport device (1) has a direction in which the traveling resistance becomes smaller. Can be moved.

In the transport device (1) of the eighth aspect, in any one of the first to seventh aspects, the steering angle control unit (13) individually controls the toe angles of the plurality of steering wheels (2).

According to this aspect, the amount of slippage of the drive wheels can be changed by individually controlling the toe angles of the plurality of steering wheels (2).

In the transport device (1) of the ninth aspect, in any one of the first to eighth aspects, each of the plurality of steering wheels (2) also serves as a driving wheel.

According to this aspect, 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.

According to this aspect, 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).

According to this aspect, the toe angles of the plurality of steering wheels (2) can be controlled according to the amount of sliding of the driving wheels.

In the transport device (1) of the twelfth aspect, in any one of the first to eleventh aspects, 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).

According to this aspect, the transport device (1) can be moved in a state where the contact portion (A12) is in contact with the structure (82).

In the transport device (1) of the thirteenth aspect, in any one of the first to twelfth aspects, a connecting portion (18) for connecting the transported object (A1) is provided on the side surface of the vehicle body (10). ..

According to this aspect, 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. 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). In 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 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 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.

According to this aspect, even when the vehicle body (10) or the feeder carriage (7) receives running resistance due to contact with an object, the vehicle body (10) 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).

Not limited to the above aspects, various configurations (including modifications) of the transfer device (1) according to the above embodiment 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.

1 Conveyor 2 Steering wheel 7 Feeder bogie 8 Mounting body 9 Parts mounting machine 10 Body 13 Steering angle control unit 14 Torque control unit 15 Evaluation unit 18 Connection unit 82 Structure A1 Object to be transported A12 Contact unit E1 Parts mounting system W1 Work system

Claims

The car body for transporting the object to be transported and
A plurality of drive wheels provided on the vehicle body for driving the vehicle body,
A plurality of steering wheels provided on the vehicle body for changing the moving direction of the vehicle body,
A steering angle control unit that controls the toe angles of the plurality of steering wheels so as to be different from each other is provided.
Transport device.
In a predetermined area where the vehicle body moves, a structure that guides the movement of the vehicle body and the transported object by contacting at least one of the vehicle body and the transported object is arranged.
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.
The transport device according to claim 1.
The steering angle control unit controls the toe angles of the plurality of steering wheels based on the existing position of the vehicle body.
The transport device according to claim 1 or 2.
The steering angle control unit controls the toe angles of the plurality of steering wheels based on the transport status of the object to be transported.
The transport device according to any one of claims 1 to 3.
The steering angle control unit controls the toe angles of the plurality of steering wheels to change the amount of slippage of the plurality of drive wheels.
The transport device according to any one of claims 1 to 4.
The steering angle control unit controls the toe angles of the plurality of steering wheels to toe-in.
The transport device according to any one of claims 1 to 5.
The steering angle control unit controls the toe angles of the plurality of steering wheels to toe out.
The transport device according to any one of claims 1 to 6.
The steering angle control unit individually controls the toe angles of the plurality of steering wheels.
The transport device according to any one of claims 1 to 7.
Each of the plurality of steering wheels also serves as the driving wheel.
The transport device according to any one of claims 1 to 8.
A torque control unit for controlling the output torque of the drive wheels is further provided.
The transport device according to any one of claims 1 to 9.
An evaluation unit for evaluating the amount of slippage of the drive wheels is further provided.
The steering angle control unit controls the toe angles of the plurality of steering wheels based on the evaluation results of the evaluation unit.
The transport device according to any one of claims 1 to 10.
In a predetermined area where the vehicle body moves, a structure that guides the movement of the vehicle body and the transported object by contacting at least one of the vehicle body and the transported object is arranged.
At least one of the vehicle body and the object to be transported is provided with a contact portion that comes into contact with the structure.
The transport device according to any one of claims 1 to 11.
A connecting portion for connecting the objects to be transported is provided on the side surface of the vehicle body.
The transport device according to any one of claims 1 to 12.
A drive control process provided on the vehicle body for transporting the object to be transported and driving a plurality of drive wheels for moving the vehicle body, and a drive control process.
The toe angle control step of controlling the toe angles of a plurality of steering wheels provided on the vehicle body to change the moving direction of the vehicle body so as to be different from each other is included.
Control method of the transport device.
A program for causing a computer system to execute the control method of the transport device according to claim 14.
Includes at least one component mounter that mounts components on a board
The component mounting machine is
The feeder trolley that supplies the parts and
It has a mounting body including a mounting head for mounting the component on the board.
The feeder trolley is the object to be transported to the mounting body by the transport device according to any one of claims 1 to 13.
Component mounting system.
The component mounting system according to claim 16 and the transport device according to any one of claims 1 to 13 are provided.
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.
Working system.