Mobile body, conveying device, and component mounting system

Abstract

The present invention aims at suppressing reduction in movement stability. A mobile body (1) is provided with a main body (10), at least one drive wheel (2), a plurality of auxiliary wheels (3), a support body (4), and a guide support portion (5). The at least one drive wheel (2) is provided to the main body (10). The plurality of auxiliary wheels (3) is provided to the support body (4). The guide support portion (5) supports the support body (4) with respect to the main body (10) in a state in which the support body (4) is movable along a prescribed movement direction (DR1). The support body (4) is installed to the main body (10) in a state in which the support body (4) is movable along the movement direction (DR1).

Description

Technical Field

[0001] The present invention relates to a movable body, a conveying device, and a component mounting system. More specifically, the present invention relates to a movable body, a conveying device, and a component mounting system that travel on a moving surface. Background Art

[0002] Document 1 (Japanese Patent Publication No. 2020-15403) discloses a transport vehicle that moves while supporting cargo such as a logistics cart. The transport vehicle has a base having two drive wheels arranged at a predetermined interval, and two driven wheels arranged parallel to the direction in which the drive wheels are arranged, at a narrower interval than the drive wheels. Summary of the Invention

[0003] Problems to be solved by the invention

[0004] The transport vehicle (mobile body) of Document 1 utilizes two driving wheels and two driven wheels to contact the moving surface. If the driven wheels climb onto the undulations of the moving surface, the driving wheels may leave the moving surface. If the contact between the driving wheels and the contact surface is broken, the driving force or braking force generated by the driving wheels may be reduced, and the transport vehicle's motion stability may be reduced.

[0005] An object of the present invention is to provide a movable body, a conveying device, and a component mounting system capable of suppressing a decrease in motion stability.

[0006] Solutions to Problems

[0007] A mobile body according to one embodiment of the present invention includes a main body, at least one drive wheel, a plurality of auxiliary wheels, a support body, and a guide support portion. The at least one drive wheel is provided on the main body. The plurality of auxiliary wheels are provided on the support body. The guide support portion supports the support body relative to the main body so that it can move along a predetermined movement direction. The support body is attached to the main body so that it can move along the movement direction.

[0008] A conveying device according to one aspect of the present invention uses the movable body, and the main body includes a holding portion that holds an object to be conveyed.

[0009] A component mounting system according to one embodiment of the present invention includes at least one component mounting machine for mounting components on a substrate. The component mounting machine includes a feeder carriage for feeding the components and a mounting body including a mounting head for mounting the components on the substrate. The feeder carriage is the transported object that is transported by the transport device to the mounting body.

[0010] Effects of the Invention

[0011] According to the present invention, it is possible to suppress a decrease in motion stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic perspective view of a conveying device using a movable body according to one embodiment of the present invention.

[0013] Figure 2 It is a schematic side view of the conveying device in a state where the conveying object is being conveyed.

[0014] Figure 3 It is a schematic top view of the conveying device in a state where the conveying object is being conveyed.

[0015] Figure 4 It is a schematic side view illustrating the traveling state of the conveying device.

[0016] Figure 5 This is a schematic block diagram of the entire system including the conveying device.

[0017] Figure 6 This is a schematic side view of a conveying device using a movable body according to Modification 1 of one embodiment of the present invention.

[0018] Figure 7 This is a schematic side view of a conveying device using a movable body according to Modification 2 of one embodiment of the present invention.

[0019] Figure 8 This is a schematic perspective view of a conveying device using a movable body according to Modification 3 of one embodiment of the present invention.

[0020] Figure 9 It is an explanatory diagram of the driving state of the conveying device.

[0021] Figure 10 1 is a top view schematically showing the conveying device and the component mounting system.

[0022] Description of reference numerals:

[0023] 1 Mobile object

[0024] 2 drive wheels

[0025] 3 training wheels

[0026] 4 Support body

[0027] 5. Guide support part

[0028] 6 Elastomer

[0029] 7 Shock absorbers

[0030] 10 Main Body

[0031] 18. Maintaining part

[0032] 80 component mounting machine

[0033] 81 feeder trolley

[0034] 82 mounting body

[0035] 181 connecting portion

[0036] A1 conveyed article

[0037] B1 moving surface

[0038] DR1 moving direction

[0039] VL1 normal line

[0040] W1 component mounting system

[0041] X1 conveying device DETAILED DESCRIPTION

[0042] (Embodiment)

[0043] (1) SUMMARY

[0044] The drawings described in the following embodiments are schematic drawings, and the size and thickness of each constituent element in each drawing do not necessarily reflect the actual size ratio.

[0045] The mobile body 1 is provided with a main body 10, at least one drive wheel 2, a plurality of auxiliary wheels 3, a support body 4, and a guide support portion 5. The at least one drive wheel 2 is provided to the main body 10. The plurality of auxiliary wheels 3 is provided to the support body 4. The guide support portion 5 supports the support body 4 with respect to the main body 10 in a state in which the support body 4 is movable along a prescribed moving direction DR1. The support body 4 is installed to the main body 10 in a state in which the support body 4 is movable along the moving direction DR1.

[0046] The mobile body 1 of the present embodiment comes into contact with the moving surface B1 and travels on the moving surface B1 using the at least one drive wheel 2 and the plurality of auxiliary wheels 3. In a case in which the auxiliary wheels 3 climb over the undulations of the moving surface B1, the support body 4 provided with the auxiliary wheels 3 is moved with respect to the main body 10 along the moving direction DR1, and the undulations of the moving surface B1 are absorbed, and the drive wheel 2 comes into contact with the moving surface B1. Therefore, even in a case in which there are undulations in the moving surface B1, it is easy to maintain the state of contact of the drive wheel 2 with the moving surface B1, and the driving force or braking force generated by the drive wheel 2 is difficult to reduce, and thus it is possible to suppress a decrease in the motion stability of the mobile body 1.

[0047] Hereinafter, the mobile body 1 of the present embodiment is assumed to be a mobile body 1 that is used in a component mounting system W1. Figure 2 and Figure 3The case where the conveyance device X1 that conveys the conveyed article A1 is illustrated will be described. The conveyed article A1 has wheels A11, and is configured to be able to travel on the moving surface B1 with the wheels A11 together with the conveyance device X1.

[0048] The conveyance device X1 is introduced into facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals, for example. The moving surface B1 is a surface on which the conveyance device X1 moves, and in the case where the conveyance device X1 moves within a facility, a floor surface or the like of the facility becomes the moving surface B1, and in the case where the conveyance device X1 moves outdoors, a ground surface or the like becomes the moving surface B1. Hereinafter, the case where the conveyance device X1 is used in a factory in which a component mounting system W1 (refer to Figure 10 ) is installed will be described. The component mounting system W1 is described in "(2.3) Component Mounting System".

[0049] (2) Details

[0050] Hereinafter, the conveyance device X1 in which the mobile body 1 of the present embodiment is used, and the component mounting system W1 (refer to Figure 10 ) that includes the conveyance device X1 will be described in detail with reference to the drawings.

[0051] (2.1) Overall Configuration

[0052] The conveyance device X1 of the present embodiment is configured to be able to communicate with the upper system 100 (refer to Figure 5 ), for example. "Communication" in the present application means that information is accepted directly using a suitable communication method such as wired communication or wireless communication, or indirectly via a network NT1 or a repeater R1 or the like. In the present embodiment, the upper system 100 and the conveyance device X1 are able to communicate with each other in both directions, and are able to perform both information transmission from the upper system 100 to the conveyance device X1 and information transmission from the conveyance device X1 to the upper system 100.

[0053] The upper system 100 is a system for collectively controlling one or a plurality of conveyance devices X1, and is realized by a server device, for example. The upper system 100 indirectly controls a plurality of conveyance devices X1 by respectively issuing instructions to the plurality of conveyance devices X1. Specifically, when the upper system 100 issues a conveyance instruction of a conveyed article A1 to the conveyance device X1, the conveyance device X1 autonomously performs an operation of moving the conveyed article A1 to a target position, upon receiving the conveyance instruction.

[0054] In this embodiment, the host system 100 is primarily structured as a computer system having one or more processors and memory. Therefore, the functions of the host system 100 are realized by executing programs stored in the memory by one or more processors. The programs may be pre-recorded in the memory, provided via telecommunication lines such as the Internet, or provided by recording them on a non-temporary recording medium such as a memory card. It should be noted that in this embodiment, the host system 100 is not a required structure and may be omitted as appropriate. The conveying device X1 may also autonomously perform conveying operations on the conveyed object A1 based on conveying instructions input directly or via an operating terminal.

[0055] (2.2) Moving body

[0056] Next, the movable body 1 used as the conveying device X1 will be described.

[0057] Mobile object 1 Figure 2 and Figure 3 The vehicle is shown to be unmanned for transporting the conveyed object A1.

[0058] As described above, the mobile body 1 includes a main body 10, at least one driving wheel 2, a plurality of auxiliary wheels 3, a support body 4, and a guide support portion 5. It should be noted that the mobile body 1 of this embodiment includes a pair of driving wheels 2 and two pairs of auxiliary wheels 3. Figure 5 As shown, the mobile object 1 of the present embodiment further includes a drive wheel unit 20 that drives the drive wheel 2 , a control device 11 , a power supply 12 , a communication unit 13 , and a detection unit 14 .

[0059] The moving body 1 has a plurality of (a pair in this embodiment) driving wheels 2 arranged in the left-right direction of the moving body 1. The "left-right direction" mentioned in the present invention is the longitudinal direction of the moving body 1 and is Figure 1 and Figure 3 The X-axis direction in the vertical direction is the normal direction of the moving surface B1, and is Figure 1 The front-back direction of the moving body 1 is a direction perpendicular to the left-right direction and the up-down direction, that is, the short side direction of the moving body 1, and is Figure 1 and Figure 3 The Y-axis direction in .

[0060] The moving body 1 of this embodiment is used as a conveying device X1. In the conveying device X1 using the moving body 1, the main body 10 includes a holding portion 18 (see Figure 2 and Figure 3 In the present embodiment, the holding portion 18 includes a coupling portion 181 that holds the conveyed object A1 by coupling with the conveyed object A1.

[0061] When the mobile body 1 transports the conveyed object A1, a connecting portion 181 for connecting the conveyed object A1 is provided on one surface of the mobile body 1 in the front-to-back direction. The mobile body 1 moves together with the conveyed object A1 connected to the mobile body 1 using the connecting portion 181. The connecting portion 181 is connected to the conveyed object A1 in a manner that allows for attachment and detachment, for example, by gripping at least a portion of the conveyed object A1 traveling on the moving surface B1 using a hook or a fitting. The connecting portion 181 connects the main body 10 and the conveyed object A1 in a manner that allows for attachment and detachment, for example, in a state having freedom in the up-down direction. Here, the connection of the conveyed object A1 to the connecting portion 181 can be performed automatically by the mobile body 1 or other devices, or can be performed manually. In addition, the shape of the connecting portion 181 and the number of connecting portions 181 provided by the mobile body 1 (transport device X1) can be appropriately changed. It should be noted that in this embodiment, the movable body 1 includes the connecting portion 181 as the holding portion 18 for holding the conveyed object A1, but the holding portion is not limited to the connecting portion 181. The movable body 1 may also include an electromagnet as the holding portion, and hold the conveyed object A1 by attracting the conveyed object A1 using the magnetic force generated by the electromagnet.

[0062] Here, when the mobile body 1 moves in the front-to-back direction, the direction in which the mobile body 1 moves forward (travel direction) is referred to as the front, and the opposite direction is referred to as the rear. When the mobile body 1 transports an object A1, there are a driving mode in which the mobile body 1 becomes the front end and pulls the object A1, and a driving mode in which the object A1 becomes the front end and the mobile body 1 pushes the object A1. Generally, the driving state of the driving mode of pulling the object A1 is more stable than the driving mode of pushing the object A1 from the rear side, so the mobile body 1 usually moves by pulling the object A1. When the mobile body 1 moves by pulling the object A1, the positive direction of the Y-axis direction is the front side, and the positive direction of the X-axis direction is the right side. However, these directions are examples and do not limit the direction of the mobile body 1 when in use. In addition, the arrows indicating the directions in the drawings are merely marked for illustration purposes and do not have entities.

[0063] The main body 10 of the mobile body 1 is as follows Figure 1 As shown by the two-dot chain line in the figure, the main body 10 is formed into a rectangular parallelepiped. A plurality of drive wheels 2 and a plurality of auxiliary wheels 3 are arranged at the bottom of the main body 10. In this embodiment, the pair of drive wheels 2 are arranged so as to be aligned in the left-right direction relative to the main body 10. A pair of auxiliary wheels 3 are arranged so as to be aligned in the left-right direction relative to the main body 10, respectively, on the front and rear sides of the pair of drive wheels 2.

[0064] In the present embodiment, the pair of drive wheels 2 includes a left drive wheel 2L located on the left side of the main body 10 and a right drive wheel 2R located on the right side of the main body 10. In the present embodiment, the mobile body 1 travels on the travel surface Bl using the two drive wheels 2 and the four auxiliary wheels 3 provided to the main body 10. However, when the mobile body 1 is provided with only two drive wheels 2 and one auxiliary wheel 3 and travels on the travel surface Bl using only the three wheels, it can not be possible to maintain a state in which all of the three wheels are in contact with the travel surface Bl due to a change in the position of the center of gravity caused by acceleration or deceleration. Therefore, when the mobile body 1 is configured in a manner in which two drive wheels 2 and a plurality of auxiliary wheels 3 are provided to the main body 1 and at least three wheels are in contact with the travel surface Bl, it can be possible for one of the two drive wheels 2 and the two auxiliary wheels 3 to be in contact with the travel surface Bl due to undulations in the travel surface Bl. In this case, since one of the two drive wheels 2 is lifted from the travel surface Bl, the driving force or braking force generated by the drive wheel 2 can decrease. In contrast, in the present embodiment, the support body 4 provided with a plurality of (two pairs in the illustrated example) auxiliary wheels 3 is provided to the main body 10 in a state in which it is movable in the travel direction DR1 relative to the main body 10. Thus, when any one of the four auxiliary wheels 3 climbs an undulation in the travel surface Bl, the support body 4 is moved upward, and thus the one auxiliary wheel 3 and the two drive wheels 2 that climbed the undulation come into contact with the travel surface Bl. Therefore, since the state in which the two drive wheels 2 are in contact with the travel surface Bl is maintained, it is possible to suppress a decrease in the driving force or braking force generated by the two drive wheels 2, and it is possible to suppress a decrease in the stability of the movement of the mobile body 1. Note that the number of drive wheels 2 is not limited to two, and can be one or more than three. That is, at least one drive wheel 2 is provided to the main body 10, and the mobile body 1 is configured to travel on the travel surface Bl using the at least one drive wheel 2.

[0065] In the present embodiment, the left drive wheel 2L and the right drive wheel 2R each function as a steering wheel. A drive mechanism that drives the left drive wheel 2L and a steering mechanism that changes the orientation of the left drive wheel 2L are integrated as a left drive wheel unit 20L. In addition, a drive mechanism that drives the right drive wheel 2R and a steering mechanism that changes the orientation of the right drive wheel 2R are integrated as a right drive wheel unit 20R. That is, the above-described drive wheel unit 20 includes the left drive wheel unit 20L and the right drive wheel unit 20R.

[0066] The left drive wheel unit 20L controls the rotation of the left drive wheel 2L and the rudder angle. The left drive wheel unit 20L is provided to the main body 10 in a state in which it is movable in the travel direction DR1 relative to the main body 10. The left drive wheel unit 20L is configured to drive the left drive wheel 2L and to change the orientation of the left drive wheel 2L. The left drive wheel unit 20L is configured to drive the left drive wheel 2L and to change the orientation of the left drive wheel 2L. Figure 1 and Figure 5The vehicle shown includes a drive motor 21L that rotates the left drive wheel 2L in the circumferential direction, and a steering motor 23L that changes the orientation (rolling direction) of the left drive wheel 2L. The steering motor 23L is mounted on the left end of a flat-plate fixing plate 24, which is disposed along the lower surface of the main body 10. The steering motor 23L changes the orientation of the left drive wheel 2L by rotating a bracket 22L, to which the drive motor 21L is fixed, within a plane parallel to the movement plane B1. Specifically, the left drive wheel unit 20L and the left drive wheel 2L supported by the left drive wheel unit 20L are fixed to the main body 10 via the fixing plate 24 and other means. The left drive wheel unit 20L receives a control command from the control device 11, whereby the steering motor 23L changes the orientation of the left drive wheel 2L in accordance with the control command, and the drive motor 21L rotates the left drive wheel 2L at the rotational torque or rotational speed indicated by the control command.

[0067] The right drive wheel unit 20R controls the rotation and steering angle of the right drive wheel 2R. Figure 1 and Figure 5 The vehicle body 10 is provided with a drive motor 21R for rotating the right drive wheel 2R in the circumferential direction, and a steering motor 23R for changing the orientation (rolling direction) of the right drive wheel 2R. The steering motor 23R is mounted on the right end portion of the fixing plate 24. The steering motor 23R changes the orientation of the right drive wheel 2R by rotating the bracket 22R to which the drive motor 21R is fixed within a plane parallel to the moving surface B1. That is, the right drive wheel unit 20R and the right drive wheel 2R supported by the right drive wheel unit 20R are fixed to the main body 10 via the fixing plate 24 and the like. Here, the right drive wheel unit 20R receives a control command from the control device 11, so that the steering motor 23R changes the orientation of the right drive wheel 2R in the direction indicated by the control command, and the drive motor 21R rotates the right drive wheel 2R at the rotational torque or rotational speed indicated by the control command.

[0068] Two shafts 25 are provided on the bottom surface of the fixing plate 24, to which the right and left drive wheel units 20R and 20L are mounted, projecting downward from the center in the left-right direction. The two shafts 25 are each formed into a round bar shape and are arranged side by side in the left-right direction. Furthermore, a protrusion 26 is provided on the bottom surface of the fixing plate 24, projecting downward from the area between the two shafts 25. One end (the upper end) of the coil spring 6 is inserted into this protrusion 26.

[0069] The control device 11 of the mobile object 1 controls the right drive wheel unit 20R to independently drive the right drive wheel 2R, and controls the left drive wheel unit 20L to independently drive the left drive wheel 2L. Specifically, since the pair of drive wheels 2 (the right drive wheel 2R and the left drive wheel 2L) are each independently steerable, the mobile object 1 can be moved in a desired direction by independently steering the pair of drive wheels 2. In this embodiment, the pair of drive wheels 2 each also serve as a steering wheel, and the number of wheels included in the mobile object 1 can be reduced compared to a case where steering wheels are provided separately from the drive wheels 2.

[0070] In this embodiment, two pairs of auxiliary wheels 3 are provided on the support body 4. The two pairs of auxiliary wheels 3 are driven wheels that change their directions in accordance with the moving direction of the moving body 1. Here, the two pairs of auxiliary wheels 3 include axles 3A (see Figure 1 ) with a free wheel capable of changing the direction of the axle 3A. Specifically, the two pairs of auxiliary wheels 3 each comprise a free wheel (so-called free caster) capable of rotating 360 degrees around an axle 3A supporting the wheel, for example, within a plane parallel to the travel plane B1. It should be noted that the free wheel used as the auxiliary wheels 3 is not limited to a free wheel capable of changing the direction of the axle 3A; a spherical caster, which serves as a wheel and is rotatable in any direction, may also be used.

[0071] The support body 4, equipped with two pairs of auxiliary wheels 3, is mounted to the main body 10 in a movable manner. The support body 4 includes a central piece 41, a rectangular plate-shaped portion whose left-right dimension is longer than its front-to-back dimension; a pair of front leg pieces 42 that protrude forward from the left-right ends of the central piece 41; and a pair of rear leg pieces 43 that protrude rearward from the left-right ends of the central piece 41. The central piece 41, the pair of front leg pieces 42, and the pair of rear leg pieces 43 form an H-shape when viewed from above. Furthermore, a pair of auxiliary wheels 3 is attached to the front portions of the pair of front leg pieces 42, and a pair of auxiliary wheels 3 is attached to the rear portions of the pair of rear leg pieces 43. Of the two pairs of auxiliary wheels 3, the pair of auxiliary wheels 3 provided on the front portions of the pair of front leg pieces 42 will sometimes be referred to as front auxiliary wheels 31, and the pair of auxiliary wheels 3 provided on the rear portions of the pair of rear leg pieces 43 will sometimes be referred to as rear auxiliary wheels 32. In the front-to-back direction, a pair of driving wheels 2 are arranged between a pair of front auxiliary wheels 31 and a pair of rear auxiliary wheels 32. In other words, one or more driving wheels 2 are arranged on each side of the support 4 and the driving wheel 2 in the direction of travel (front-to-back direction) of the main body 10. Figure 1 and Figure 2 In the example of FIG, there are two auxiliary wheels 3.

[0072] The center piece 41 of the support body 4, to which the two pairs of auxiliary wheels 3 are fixed, has two cylindrical portions 44 arranged side by side in the left-right direction, each of which receives the two shafts 25. Furthermore, a protrusion 45 is provided on the top surface of the center piece 41, projecting upward from the area between the two cylindrical portions 44. The other end (lower end) of the coil spring 6 is inserted into this protrusion 45. In this way, the two shafts 25 provided on the fixed plate 24 are inserted one by one into the two cylindrical portions 44 of the support body 4, and the coil spring 6 is mounted between the center piece 41 of the support body 4 and the fixed plate 24.

[0073] Thus, the support body 4 is mounted relative to the main body 10 in a state in which it can move along the longitudinal direction of the shaft 25. That is, the pair of shafts 25 and the pair of cylindrical portions 44 into which the pair of shafts 25 are inserted constitute the guide support portion 5 that supports (holds) the support body 4 in a state in which it can move along the predetermined moving direction DR1. The support body 4 is mounted on the main body 10 in a state in which it can move along the moving direction DR1. Here, the moving direction DR1 in which the support body 4 can move is along the normal line VL1 (refer to Figure 2 ). In other words, the moving direction DR1 in which the support body 4 can move is parallel to the normal VL1 of the moving surface B1, and the support body 4 can move in a direction perpendicular to the moving surface B1 (up and down direction). It should be noted that the parallelism of the moving direction DR1 and the normal VL1 of the moving surface B1 is not limited to the state in which the straight line parallel to the moving direction DR1 and the normal VL1 of the moving surface B1 are completely parallel, as long as the angle formed by the straight line parallel to the moving direction DR1 and the normal VL1 of the moving surface B1 converges within a specified allowable error range (a few degrees or so). In addition, the direction perpendicular to the moving surface B1 is not limited to the direction intersecting the moving surface B1 at right angles, and it can also deviate from the right angle as long as it is within an error range of a few degrees or so.

[0074] As described above, in this embodiment, the support body 4, equipped with the auxiliary wheels 3, is configured to be movable relative to the main body 10 along a predetermined movement direction DR1. Therefore, if the auxiliary wheels 3 encounter any undulations on the movement surface B1, the support body 4 can be moved upward relative to the main body 10, effectively maintaining contact between the drive wheels 2 and the movement surface B1. This minimizes the reduction in the driving force or braking force generated by the drive wheels 2, and prevents any degradation in the kinetic stability of the moving body 1.

[0075] It should be noted that in this embodiment, four auxiliary wheels 3 are provided on the support body 4, but a plurality of auxiliary wheels 3 may be provided on the support body 4, and two or three auxiliary wheels 3 may be provided on the support body 4, or more than five auxiliary wheels 3 may be provided on the support body 4.

[0076] In addition, in this embodiment, one or more (in the direction of travel of the main body 10) driving wheels 2 are arranged on each side of the support 4. Figure 1 and Figure 2 Therefore, when the main body 10 is about to fall backward during acceleration of the vehicle 1, the main body 10 can be supported by the auxiliary wheels 3 on the rear side. On the other hand, when the main body 10 is about to fall forward during deceleration of the vehicle 1, the main body 10 can be supported by the auxiliary wheels 3 on the front side. This can suppress changes in the posture of the main body 10.

[0077] In addition, between the support body 4 and the fixed plate 24, the coil spring 6 is installed in a compressed state. Therefore, the elastic force of the coil spring 6 is used to press each pair of front auxiliary wheels 31 and rear auxiliary wheels 32 installed on the support body 4 onto the moving surface B1. That is, the moving body 1 of this embodiment also has an elastic body that generates an elastic force that presses the support body 4 downward (moving surface B1). Here, "downward" is preferably the direction of gravity, and when the moving surface B1 is horizontal, it is preferably the normal direction of the moving surface B1, but there may also be a deviation within a prescribed allowable angle relative to the direction of gravity. In this embodiment, the elastic body is composed of a coil spring 6.

[0078] In the present embodiment, the elastic body is, for example, a coil spring 6 that presses the support body 4 downward with respect to the main body 10 and is capable of pressing the auxiliary wheels 3 provided to the support body 4 against the moving surface Bl. Therefore, in the case where the moving body 1 is accelerated or decelerated, the main body 10 tends to tilt to the rear or front side due to inertia, but the main body 10 is pressed upward by the elastic force Fl of the coil spring 6, and thus has an advantage that the main body 10 is less likely to tilt to the rear or front side. For example, if the main body 10 tends to tilt to the rear side when the moving body 1 is accelerated, a load corresponding to the inertial force Gl generated in the main body 10 is applied to the rear auxiliary wheel 32. At this time, if a force that tends to tilt the main body 10 to the rear side is generated, the coil spring 6 is deflected, and the support body 4 is pressed downward by the elastic force of the coil spring 6, and thus the rear auxiliary wheel 32 receives a reaction force F2 equal to the elastic force Fl of the coil spring 6 from the moving surface Bl. Here, if the height of the center of gravity Pl of the main body 10 from the moving surface Bl is Hl, the moment that tends to tilt the main body 10 to the rear side due to the inertial force Gl is (Gl x Hl). Therefore, if Gl x Hl = F2 x dl is satisfied when the distance between the center of gravity Pl and the rear auxiliary wheel 32 is dl, the moment that tends to tilt the main body 10 to the rear side due to the inertial force Gl is canceled by the reaction force corresponding to the elastic force of the coil spring 6, and thus the change in the attitude of the main body 10 is suppressed. Therefore, it is only necessary to set the spring constant of the coil spring 6 and the like in such a manner that Gl x Hl = F2 x dl is satisfied, and the change in the attitude of the main body 10 due to acceleration or deceleration of the moving body 1 can be suppressed by the elastic force of the coil spring 6. Note that the elastic body that presses the support body 4 downward with respect to the main body 10 is not limited to the coil spring 6, and can be a leaf spring or the like.

[0079] As described above, in the state where the plurality of auxiliary wheels 3 and the drive wheel 2 are all in contact with the moving surface Bl on which the moving body 1 moves, the plurality of auxiliary wheels 3 are pressed against the moving surface Bl by the elastic force of the elastic body (coil spring 6). If the moving body 1 is accelerated or decelerated, the main body 10 tends to tilt to the rear or front side due to the inertia of the main body 10, but the plurality of auxiliary wheels 3 are pressed against the moving surface Bl by the elastic force of the coil spring 6, and thus the main body 10 can be suppressed from tilting to the rear or front side. Therefore, the change in the attitude of the main body 10 when the moving body 1 is accelerated or decelerated can be suppressed, and the amplitude of the vibration applied to the conveyed article Al due to the change in the attitude of the moving body 1 can be suppressed. Therefore, the influence of the vibration applied to the conveyed article Al or the article mounted on the conveyed article Al can be suppressed.

[0080] In addition, in the present embodiment, the spring system that presses the support body 4 provided with the pair of front auxiliary wheels 31 and the pair of rear auxiliary wheels 32 downward with respect to the main body 10 is composed of one elastic body (the coil spring 6). Here, in a case where an elastic body (spring system) that presses the front auxiliary wheels 31 downward against the moving surface B1 and an elastic body (spring system) that presses the rear auxiliary wheels 32 downward against the moving surface B1 are provided respectively, the elastic forces of the two elastic bodies (spring systems) are applied to the moving surface B1. In other words, since the main body 10 is lifted from the moving surface B1 by the two spring systems, the force with which the drive wheels 2 provided to the main body 10 grip the moving surface B1 can be weakened. In contrast, in the present embodiment, since the elastic body that presses the front auxiliary wheels 31 downward against the moving surface B1 and the elastic body that presses the rear auxiliary wheels 32 downward against the moving surface B1 are composed of one elastic body (spring system), the force with which the main body 10 is lifted from the moving surface B1 is generated by only one elastic body (spring system). Therefore, the force with which the drive wheels 2 grip the moving surface B1 can be suppressed from decreasing, and the driving force or the braking force of the drive wheels 2 can be suppressed from decreasing, so that the decrease in the motion stability can be suppressed. Note that, in the present embodiment, the one spring system that presses the support body 4 provided with the plurality of auxiliary wheels 3 downward with respect to the main body 10 is composed of one coil spring 6, but the one spring system can also be composed of a plurality of elastic bodies provided in series or in parallel.

[0081] In addition, in the present embodiment, the support body 4 and the elastic body are configured such that the spring constant of the elastic body (the coil spring 6) is smaller than the spring constant of the portion (the front leg piece 42 or the rear leg piece 43) of the support body 4 in which the auxiliary wheels 3 are provided. The portion of the support body 4 in which the auxiliary wheels 3 are provided refers to the front leg piece 42 and the rear leg piece 43 that protrude to the front side and the rear side, respectively, from the central piece 41, and the spring constant of the front leg piece 42 and the rear leg piece 43 is larger than the spring constant of the coil spring 6. Since the front leg piece 42 and the rear leg piece 43 are less likely to be deflected than the coil spring 6, in a case where the auxiliary wheels 3 climb over the unevenness B2 of the moving surface B1 as shown in FIG. 6, the unevenness B2 of the moving surface B1 can be absorbed by compressing the coil spring 6. Figure 4

[0082] Next, the detection unit 14 will be described. The detection unit 14 detects the behavior of the main body 10, the surrounding situation of the main body 10, and the like. The "behavior" in the present application refers to actions, situations, and the like. That is, the behavior of the main body 10 includes the action state of the main body 10 while the main body 10 is traveling / stopping, the moving distance and the travel time of the main body 10, the speed (and the speed change) of the main body 10, the acceleration acting on the main body 10, the posture of the main body 10, and the like.

[0083] ​The detection unit 14 includes sensors such as a LiDAR (Light Detection and Ranging) 141 for detecting an object existing around the main body 10 and a magnetic sensor 142 for detecting a guide wire provided on the movement surface B1 .

[0084] The LiDAR 141 detects the presence of an object around the main body 10, detects the position of an object if one exists, and outputs the detection result to the control device 11. The control device 11 can avoid collision with the object based on information about the object detected by the LiDAR 141.

[0085] Here, it is preferred that a detection unit 14 (in this embodiment, for example, LiDAR 141) for detecting an object existing around the main body 10 is supported on the main body 10. That is, it is preferred that the LiDAR 141 is fixedly provided on the main body 10. Even in the case where there are undulations on the moving surface B1, the posture change of the main body 10 can be suppressed by the support body 4 equipped with the auxiliary wheels 3 moving relative to the main body 10 in the moving direction DR1, thereby suppressing the posture change of the LiDAR 141 provided on the main body 10 relative to the moving surface B1. Therefore, the possibility of the LiDAR 141 mistakenly detecting the moving surface B1 as an object existing around the main body 10 can be reduced. It should be noted that the detection unit 14 for detecting an object existing around the main body 10 is not limited to the LiDAR 141. As such a sensor, a sensor that detects an object using at least one of sound waves, light, and radio waves may also be used.

[0086] The guide wire provided on the movement surface B1 is formed of, for example, rubber containing a hard magnetic material such as a permanent magnet material, and is formed linearly on the surface of the movement surface B1 along the travel path of the moving body 1 .

[0087] The magnetic sensor 142 detects the guide wire provided on the movement surface B1 by magnetism. Based on the detection result of the magnetic sensor 142, the control device 11 controls the right drive wheel unit 20R and the left drive wheel unit 20L to move the vehicle 1 so that the vehicle 1 passes over the guide wire.

[0088] As described above, in this embodiment, two front auxiliary wheels 31 are arranged on the left and right sides of the front portion of the vehicle body 10, two rear auxiliary wheels 32 are arranged on the left and right sides of the rear portion of the vehicle body 10, and two drive wheels 2 are arranged on the left and right sides of the center portion of the vehicle body 10. In other words, no wheels (front auxiliary wheels 31 and rear auxiliary wheels 32) are arranged at the left-right center positions of the front and rear portions of the vehicle body 10, allowing for a magnetic sensor 142 to be positioned at each center position. Therefore, when the vehicle body 1 is moved forward or backward based on the detection results of the magnetic sensors 142 so that the left-right center position of the vehicle body 10 passes over the guide wire, the drive wheels 2 and auxiliary wheels 3 do not pass over the guide wire, thereby minimizing loss of the guide wire.

[0089] It should be noted that, on moving surface B1, it is not necessary to provide guide lines along the entire travel path of mobile body 1. Guide marks formed of magnetic material may also be provided at key locations along the travel path, allowing mobile body 1 to track the guide marks while moving. Furthermore, guide lines or guide marks provided on moving surface B1 are not limited to those that utilize magnetism to guide mobile body 1. Guide lines or guide marks (e.g., two-dimensional barcodes) that are detected by an image sensor provided on mobile body 1 may also be provided on moving surface B1. Furthermore, guide lines or guide marks may also be detected by a contact sensor provided on mobile body 1.

[0090] Alternatively, the detection unit 14 may detect the location of the transport device X1 within the specified area based on the location information of surrounding objects detected by the LiDAR 141 and electronic map information of the specified area, and output the detection result of the location to the control device 11. Alternatively, the detection unit 14 may include a receiver that receives beacon signals transmitted via radio waves from multiple transmitters, detect the current location based on the beacon signals transmitted from the multiple transmitters, and output the detection result of the current location to the control device 11. Here, the multiple transmitters are arranged at multiple locations within the specified area in which the transport device X1 moves. The detection unit 14 measures the current location of the mobile object 1 based on the locations of the multiple transmitters and the received radio wave strength of the beacon signals at the receiver. Alternatively, the detection unit 14 may detect the current location of the mobile object 1 using a global positioning system such as GPS (Global Positioning System).

[0091] The control device 11 comprises, for example, a microcomputer having one or more processors and memory. In other words, the control device 11 is implemented by a computer system having one or more processors and memory. Based on, for example, transport instructions from the host system 100 and detection results from the detection unit 14, the control device 11 outputs control commands to each drive wheel unit 20, thereby controlling the orientation and rotation of each drive wheel 2, thereby moving the vehicle 1 in the desired direction and at the desired speed.

[0092] The power source 12 is, for example, a secondary battery. The power source 12 directly or indirectly supplies power to the left and right drive wheel units 20L and 20R, the control device 11, the communication unit 13, the detection unit 14, and the like. It should be noted that the transport device X1 may also be supplied with power externally, in which case the transport device X1 may not include the power source 12.

[0093] The communication unit 13 is configured to be able to communicate with the host system 100. In this embodiment, the communication unit 13 communicates with any of a plurality of repeaters R1 installed within a predetermined area where the transport device X1 moves, using wireless communication using radio waves as a medium. Therefore, the communication unit 13 and the host system 100 communicate indirectly via at least the network NT1 and the repeaters R1.

[0094] Each repeater R1 is a device (access point) that relays communications between the communication unit 13 and the host system 100. The repeater R1 communicates with the host system 100 via the network NT1. In this embodiment, as an example, wireless communications based on standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or license-free low-power wireless (specific low-power wireless) are used for communication between the repeater R1 and the communication unit 13. Furthermore, the network NT1 is not limited to the Internet; for example, a local communication network within a specified area where the transport device X1 moves, or within an operator of that specified area, may also be used.

[0095] (2.3) Component installation system

[0096] The conveying device X1 of this embodiment is as follows Figure 10 The component mounting system W1 shown includes at least one component mounting machine 80 for mounting components on a substrate.

[0097] The component mounting machine 80 includes a feeder carriage 81 (see Figure 10 ), which supplies components; and a mounting body 82, which includes a mounting head for mounting the components on the substrate.

[0098] The feeder trolley 81 is used to supply components to the mounting body 82 of the component mounting machine 80 installed in the factory. The "component mounting machine" mentioned here is, for example, a machine that mounts components on an object such as a substrate. The mounting body 82 includes a mounting head that mounts the components on the substrate. In the present embodiment, the conveying device X1 transports the feeder trolley 81, which is the conveyed object A1, to the installation location of the mounting body 82 of the component mounting machine 80. Thus, a component mounting system W1 can be constructed. In other words, the component mounting system W1 is a system that includes at least one component mounting machine 80 that mounts components on a substrate. In addition, the feeder trolley 81 is transported to the mounting body 82 by the conveying device X1. In the present embodiment, the conveying device X1 receives instructions from the upper system 100, for example, and moves the feeder trolley 81 placed at a certain location in a specified area to a position connected to the mounting body 82. When the transport device X1 moves the feeder trolley 81 into the recess 821 provided on the side of the mounting body 82, the second connector of the feeder trolley 81 is connected to the first connector provided on the mounting body 82, thereby connecting the mounting body 82 and the feeder trolley 81 to each other. In addition, when the mounting body 82 and the feeder trolley 81 are connected to each other, components can be supplied from the feeder trolley 81 to the mounting body 82.

[0099] Here, it is preferable that the transport device X1 be connected to a portion of the feeder carriage 81 on the opposite side of the portion where the components are discharged to the mounting body 82. In this case, when the feeder carriage 81 is transported to the location where the mounting body 82 of the component mounting machine 80 is installed, the portion of the feeder carriage 81 where the components are discharged faces the mounting body 82. Therefore, when the feeder carriage 81 is transported to the location where the mounting body 82 of the component mounting machine 80 is installed, it is not necessary to change the orientation of the feeder carriage 81 so that the discharge portion faces the mounting body 82.

[0100] (3) Action

[0101] Hereinafter, an example of the operation of the transport device X1 using the mobile body 1 according to the present embodiment will be described with reference to the drawings.

[0102] The conveyance device X1 of this embodiment conveys the object A1 by moving together with the object A1 coupled to the coupling portion 181. The coupling portion 181 couples the object A1 with vertical freedom.

[0103] For the conveying device X1 of this embodiment, Figure 4As shown, when the auxiliary wheels 3 (front auxiliary wheels 31 and rear auxiliary wheels 32) reach the undulations B2 of the running surface B1, the main body 10 sinks due to its own weight, allowing the drive wheels 2 to contact the running surface B1. This maintains the drive wheels 2 and auxiliary wheels 3 in contact with the running surface B1, suppressing any reduction in the driving force or braking force of the drive wheels 2. This prevents a decrease in the stability of the vehicle 1.

[0104] (4) Modification

[0105] Modifications of the above-described embodiment are listed below. The modifications described below can be combined as appropriate and applied.

[0106] The mobile body 1 (transportation device X1) in the present invention includes a computer system. The computer system is mainly composed of a processor and a memory as hardware. The function of the mobile body 1 (transportation device X1) in the present invention is realized by executing the program recorded in the memory of the computer system by the processor. The program can be pre-recorded in the memory of the computer system, or provided through a telecommunications line, or recorded in a non-temporary recording medium such as a memory card, an optical disk, a hard disk drive, etc. that can be read by the computer system. The processor of the 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 circuits such as IC or LSI mentioned here are called differently according to the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration) or ULSI (Ultra Large Scale Integration). In addition, FPGA (Field-Programmable Gate Array) programmed after the manufacture of LSI, or a logic device that can reconstruct the connection relationship inside LSI or reconstruct the circuit division inside LSI can also be used as a processor. Multiple electronic circuits can be integrated into a single chip or distributed across multiple chips. Multiple chips can be integrated into a single device or distributed across multiple devices. The computer system described here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller also consists of one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0107] (4.1) Modification 1

[0108] like Figure 6As shown, the mobile body 1 of Modification 1 differs from the above-described embodiment in that the support body 4 is attached to the main body 10 at a position offset from the center of gravity P1 in the front-rear direction of the mobile body 1. It should be noted that in the mobile body 1 of Modification 1, the same reference numerals are used for the components common to the mobile body 1 of the above-described embodiment, and their descriptions are omitted.

[0109] In the mobile body 1 of the above embodiment, as Figure 2 As shown, the support body 4 is attached to the main body 10 in the front-rear direction of the vehicle 1 and near the center of gravity P1. Therefore, the load generated by the elastic force of the coil spring 6 can be evenly applied to the front auxiliary wheel 31 and the rear auxiliary wheel 32.

[0110] In contrast, in this embodiment, Figure 6 As shown, the support body 4 is attached to the main body 10 at a position offset from the center of gravity P1 in the front-to-back direction of the vehicle 1. As a result, the elastic force generated by the coil springs 6 can be distributed to the front auxiliary wheels 31 and the rear auxiliary wheels 32 in accordance with the distance L1 from the position where the support body 4 is supported on the main body 10 via the coil springs 6 to the front auxiliary wheels 31 and the distance L2 to the rear auxiliary wheels 32.

[0111] It should be noted that the position at which the support body 4 is attached to the main body 10 can be appropriately changed according to the shape and weight of the mobile body 1 , the movement mode of the mobile body 1 , and the like.

[0112] (4.2) Modification 2

[0113] like Figure 7 As shown, the mobile body 1 of Modification 2 differs from the above-described embodiment in that it further includes a vibration damper 7 for suppressing movement of the support body 4 relative to the main body 10. It should be noted that since the above-described embodiment is the same as the above-described embodiment except for the vibration damper 7, the same reference numerals are used for the components common to the mobile body 1 of the above-described embodiment, and their descriptions are omitted.

[0114] The shock absorber 7 is, for example, a hydraulic shock absorber with an oil-filled piston, and is installed between the main body 10 and the support body 4. Specifically, the shock absorber 7 is installed between the fixing plate 24 of the main body 10 and the support body 4. When the support body 4 moves in the movement direction DR1 relative to the main body 10, the shock absorber 7 applies a damping force to the support body 4 corresponding to the movement of the support body 4, thereby attenuating the movement of the support body 4 over time. This can suppress the effects of vibration on the conveyed object A1 being transported by the mobile body 1 or on items carried on the conveyed object A1.

[0115] It should be noted that the shock absorber 7 is not limited to a hydraulic shock absorber, and may be composed of a viscous shock absorber, a viscoelastic shock absorber, or the like.

[0116] (4.3) Modification 3

[0117] like Figure 8 and Figure 9 As shown, the mobile body 1 of Modification 3 differs from the above-described embodiment in that the pair of front auxiliary wheels 31 are attached to the support body 4A via a link mechanism 70, and the pair of rear auxiliary wheels 32 are attached to the support body 4A via a link mechanism 70. It should be noted that since the above-described embodiment is the same as the above-described embodiment except for the link mechanism 70 and the support body 4A, the same reference numerals are used for the components common to the mobile body 1 of the above-described embodiment, and their descriptions are omitted.

[0118] The support body 4A is formed into a flat plate shape whose dimension in the front-back direction is longer than that in the left-right direction. Support pieces 47 protruding upward are provided at the front end and the rear end of the support body 4A.

[0119] The link mechanism 70 includes a plate-shaped link plate 71, which is longer in the left-right direction than in the front-back direction. The left and right ends of the lower surface of the link plate 71 extend outward from the support body 4A. Auxiliary wheels 3 (the front auxiliary wheel 31 or the rear auxiliary wheel 32) are mounted on the left and right ends of the lower surface of the link plate 71. A support piece 72 is provided in the left-right center of the lower surface of the link plate 71. Furthermore, by passing a rotation shaft 73 through the hole in the support piece 72 and the hole in the support piece 47, the link plate 71 is mounted to the support body 4A in a state in which it can rotate about the rotation shaft 73.

[0120] Thus, the pair of front auxiliary wheels 31 mounted on the link plate 71 are provided on the support body 4A in a state in which they can rotate about the rotation axis 73. In addition, the pair of rear auxiliary wheels 32 mounted on the link plate 71 are provided on the support body 4A in a state in which they can rotate about the rotation axis 73. For example, Figure 8 and Figure 9 As shown, when only the right front auxiliary wheel 31 of the pair of front auxiliary wheels 31 reaches the undulation B2 of the running surface B1, the link plate 71 rotates about the rotation axis 73, allowing both front auxiliary wheels 31 supported by the link plate 71 to contact the running surface B1. Consequently, the auxiliary wheels 3 (the front auxiliary wheels 31 and the rear auxiliary wheels 32) and the drive wheels 2 can be kept in contact with the running surface B1, and a reduction in the driving force or braking force of the drive wheels 2 can be suppressed, thereby preventing a decrease in the kinetic stability of the vehicle 1.

[0121] (4.4) Other variations

[0122] In the above embodiment, the multiple auxiliary wheels 3 are fixed to the support body 4. However, elastic members may be provided between each of the multiple auxiliary wheels 3 and the support body 4. In other words, the multiple auxiliary wheels 3 may be attached to the support body 4 via elastic members (such as coil springs or leaf springs), so that vibrations applied to each of the multiple auxiliary wheels 3 can be absorbed by the elastic members.

[0123] (Summarize)

[0124] As described above, the mobile body 1 of the first embodiment includes a main body 10, at least one drive wheel 2, a plurality of auxiliary wheels 3, a support body 4, and a guide support 5. The at least one drive wheel 2 is provided on the main body 10. The plurality of auxiliary wheels 3 are provided on the support body 4. The guide support 5 supports the support body 4 relative to the main body 10 so that it can move along a predetermined movement direction DR1. The support body 4 is attached to the main body 10 so that it can move along the movement direction DR1.

[0125] According to this aspect, it is possible to suppress a decrease in motion stability.

[0126] The movable body 1 of the second embodiment is provided with an elastic body 6 in addition to the movable body 1 of the first embodiment. The elastic body 6 generates an elastic force that presses the support body 4 downward.

[0127] According to this aspect, it is possible to suppress a decrease in motion stability.

[0128] In the mobile body 1 according to the third aspect, in addition to the second aspect, the spring constant of the elastic body 6 is smaller than the spring constant of the portion of the support body 4 where the auxiliary wheel 3 is provided.

[0129] According to this aspect, it is possible to suppress a decrease in motion stability.

[0130] In the mobile body 1 of the fourth scheme, on the basis of the second or third scheme, when the multiple auxiliary wheels 3 and the driving wheels 2 are all in contact with the moving surface B1 for the movement of the mobile body 1, the multiple auxiliary wheels 3 are pressed against the moving surface B1 under the action of the elastic force generated by the elastic body 6.

[0131] According to this aspect, it is possible to suppress a decrease in motion stability.

[0132] In the mobile body 1 of the fifth embodiment, in addition to any one of the first to fourth embodiments, two driving wheels 2 are provided on the main body 10 .

[0133] According to this aspect, it is possible to suppress a decrease in motion stability.

[0134] The mobile body 1 according to the sixth aspect is configured according to any one of the first to fifth aspects, and further includes a vibration damper 7 that suppresses movement of the support body 4 relative to the main body 10 .

[0135] According to this aspect, it is possible to suppress a decrease in motion stability.

[0136] In the mobile body 1 of the seventh aspect, in addition to any one of the first to sixth aspects, one or more auxiliary wheels 3 are disposed on the support 4 on both sides of the driving wheel 2 in the traveling direction of the main body 10 .

[0137] According to this aspect, it is possible to suppress a decrease in motion stability.

[0138] In the movable body 1 according to the eighth aspect, in addition to any one of the first to seventh aspects, the movable direction DR1 in which the support body 4 can move is along the normal line VL1 of the moving surface B1 on which the movable body 1 moves.

[0139] According to this aspect, it is possible to suppress a decrease in motion stability.

[0140] The conveying device X1 of the ninth embodiment uses the movable body 1 of any one of the first to eighth embodiments, and the main body 10 includes a holding portion 18 that holds the conveyed object A1.

[0141] According to this aspect, it is possible to suppress a decrease in motion stability.

[0142] In the conveyance device X1 according to the tenth aspect, in addition to the ninth aspect, the holding portion 18 includes a coupling portion 181 that holds the conveyed object A1 by coupling to the conveyed object A1 .

[0143] According to this aspect, it is possible to suppress a decrease in motion stability.

[0144] The component mounting system W1 of the eleventh embodiment includes at least one component mounting machine 80 for mounting components on substrates. The component mounting machine 80 includes a feeder carriage 81 that supplies components and a mounting body 82 that includes a mounting head for mounting components on substrates. The feeder carriage 81 is an object A1 that is transported to the mounting body 82 by the transport device X1 of the ninth or tenth embodiment.

[0145] According to this aspect, it is possible to suppress a decrease in motion stability.

[0146] The structures of the second to eighth embodiments are not essential to the moving body 1 and can be omitted as appropriate. The structure of the tenth embodiment is not essential to the conveying device X1 and can be omitted as appropriate.

Claims

1. A mobile object, wherein: The mobile body comprises: main body; at least one driving wheel disposed on the main body; multiple training wheels; a support body on which the plurality of auxiliary wheels are mounted; and a guide support portion that supports the support body relative to the main body in a state where the support body can move along a predetermined moving direction, The support body is mounted on the main body in a state where it can move along the moving direction. The auxiliary wheels are provided in front of and behind the main body in the direction of travel relative to the at least one driving wheel. Link plates are mounted on the front and rear ends of the support body so as to be rotatable around the rotation axis. The left and right ends of the link plate are movable in the vertical direction by the link plate rotating about the rotation axis. The auxiliary wheels are respectively provided at the left and right ends of the link plate.

2. The mobile object according to claim 1, wherein The movable body further includes an elastic body that generates an elastic force that presses the supporting body downward.

3. The moving object according to claim 2, wherein: The spring constant of the elastic body is smaller than the spring constant of a portion of the support body where the auxiliary wheel is provided.

4. The moving object according to claim 2 or 3, wherein: When all of the auxiliary wheels and the driving wheels are in contact with a moving surface on which the moving body moves, the auxiliary wheels are pressed against the moving surface by the elastic force generated by the elastic body.

5. The moving object according to any one of claims 1 to 3, wherein The main body is provided with two driving wheels.

6. The mobile object according to any one of claims 1 to 3, wherein The movable body further includes a vibration damper configured to suppress movement of the support body relative to the main body.

7. The moving object according to any one of claims 1 to 3, wherein The moving direction in which the supporting body can move is along a normal line of a moving surface on which the moving body moves.

8. A conveying device, wherein: The transport device uses the movable body according to any one of claims 1 to 7. The main body includes a holding portion that holds an object to be conveyed.

9. The conveying device according to claim 8, wherein: The holding portion includes a coupling portion configured to couple with the conveyed object to thereby hold the conveyed object.

10. A component mounting system, wherein: The component mounting system includes at least one component mounting machine for mounting components on a substrate. The component mounting machine has: a feeder cart that supplies the components; and The mounting body includes a mounting head for mounting the component on the substrate. The feeder cart is the conveyed object conveyed to the installation body by the conveying device according to claim 8 or 9.

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