Transport system and apparatus to be transported

Abstract

This conveyance system is provided with a conveyance device and a device to be conveyed, the device to be conveyed being connected to the conveyance device, and the conveyance device being driven to convey the device to be conveyed to a predetermined location. A collision detection unit that detects that the device to be conveyed collides with an obstacle is provided to the device to be conveyed.

Description

TECHNICAL FIELD

[0001] The present application relates to a carrying system that carries a carried device using a carrying device, and a carried device in the carrying system. BACKGROUND

[0002] Conventionally, a carrying system that carries a carried device using a carrying device to move the carried device to a prescribed place is known, and as one example thereof, a carrying system is known in which a wireless communication traveling unmanned carrier carries a dolly on which a component supply device is held in a towing manner and moves the dolly to a dolly coupling position in a component mounting device (for example, refer to Patent Literature 1 described below). In such a carrying system, a collision detection sensor is provided to the carrying device, and in a case where the carrying device collides with an obstacle while traveling, the collision can be detected to recognize the presence of the obstacle (for example, refer to Patent Literature 2 described below).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2019-184877

[0006] Patent Literature 2: Japanese Patent Application Publication No. 2019-119343 SUMMARY

[0007] However, in a case where the carrying device travels with the carried device positioned at the frontmost position, even if the collision detection sensor is provided to the carrying device, there is a problem in that it can not be possible to detect the collision when the carried device collides with an obstacle.

[0008] Therefore, an object of the present application is to provide a carrying system and a carried device in which a collision can be reliably detected in a case where the carried device carried by the carrying device collides with an obstacle.

[0009] The carrying system of the present application includes a carrying device and a carried device, the carrying system links the carried device to the carrying device and carries the carried device to a prescribed place by causing the carrying device to travel, wherein a collision detection section that detects a case where the carried device collides with an obstacle is provided to the carried device.

[0010] The carried device of the present application is linked to a carrying device and is carried to a prescribed place by traveling of the carrying device, wherein the carried device includes a collision detection section that detects a case where the carried device collides with an obstacle.

[0011] According to the present invention, the collision can be reliably detected when the transported device being transported by the transport device collides with an obstacle. Attached Figure Description

[0012] Figure 1 This is a side view showing the transport system and component mounting device of Embodiment 1 of the present invention together.

[0013] Figure 2 (a) and (b) are top views showing the unmanned transport vehicle of the transport system according to Embodiment 1 of the present invention, in which the trolley is combined with the component loading device.

[0014] Figure 3 This is a perspective view of the unmanned transport vehicle connected to the trolley in the transport system constituting Embodiment 1 of the present invention.

[0015] Figure 4 (a) and (b) are top views showing the case where the unmanned transport vehicle is connected to the trolley in the transport system of Embodiment 1 of the present invention.

[0016] Figure 5 This is a top view of the unmanned transport vehicle of the transport system according to Embodiment 1 of the present invention, showing the trolley approaching the component loading device.

[0017] Figure 6 This is a top view showing the structure of the collision detection unit of the transport system of Embodiment 1 of the present invention.

[0018] Figure 7 (a) and (b) are top views of the collision detection unit of the trolley in the transport system of Embodiment 1 of the present invention.

[0019] Figure 8 (a) and (b) are top views of the collision detection unit of the trolley in the transport system of Embodiment 1 of the present invention.

[0020] Figure 9 This is a top view showing the structure of the collision detection unit of the trolley in the transport system of Embodiment 2 of the present invention.

[0021] Figure 10 (a) and (b) are top views of the collision detection unit of the trolley in the transport system of Embodiment 2 of the present invention.

[0022] Figure 11 (a) and (b) are top views of the collision detection unit of the trolley in the transport system of Embodiment 2 of the present invention. Detailed Implementation

[0023] (Implementation Method 1)

[0024] Embodiment 1 of the present invention will be described. Figure 1 The transport system 1 of Embodiment 1 is shown together with the component mounting device 2. The transport system 1 includes an unmanned transport vehicle 3, which is a transport device that autonomously travels on the floor FL using wireless communication, and a trolley 4, which is a transported device connected to the unmanned transport vehicle 3 and transported on the floor FL.

[0025] exist Figure 1 In this device, the component mounting apparatus 2 is a device for mounting the component BH onto the substrate KB, and includes a transport conveyor 12 for moving and positioning the substrate KB onto the base 11, and an assembly head 13 for moving relative to the substrate KB positioned by the transport conveyor 12. The assembly head 13 has a plurality of suction nozzles 13N extending downward.

[0026] The trolley 4 is capable of traveling on the floor surface FL using multiple wheels 21, and multiple part feeders 23 are mounted on the plate-shaped feeder 22 located on the upper part. That is, in embodiment 1, the trolley 4 serves as a trolley for mounting the part feeders. The part feeders 23 continuously supply part BH to the part supply port 23K located at the end.

[0027] The trolley 4 is transported on the floor surface FL by the unmanned transport vehicle 3, and is connected to the base 11 by means of the trolley connection space 11S formed at the end of the base 11 of the component mounting device 2. Figure 2 (a) → Figure 2 (b)). For example Figure 2 As shown in (a) and (b), a pair of trolley guides 14 are provided on the two side walls 11W of the base 11 that forms the trolley connection space 11S. The pair of trolley guides 14 are arranged at a distance slightly larger than the lateral width of the trolley 4, and guide the trolley 4, which approaches the base 11 for connection, into the trolley connection space 11S.

[0028] The trolley 4 travels in the trolley connection space 11S in a forward path guided by a pair of trolley guides 14 provided on the base 11, thereby engaging with the base 11. When the trolley 4 is engaged with the base 11, the component supply port 23K of the component feeder 23 mounted on the trolley 4 is located in the movable area of ​​the assembly head 13. Figure 1 When the trolley 4 is combined with the base 11, the component feeders 23 installed on the trolley 4 function as component supply sections of the component mounting device 2, and supply component BH to the component supply port 23K. It should be noted that when the trolley 4 is combined with the base 11 as described above, the trolley-side connector 4K located on the front 4M of the trolley 4 is connected to the component mounting device-side connector 11K located on the base 11 side. Figure 1 Thus, the trolley 4 becomes electrically connected and signal-transmitted to the base 11 side (i.e., the component mounting device 2 side).

[0029] When the component mounting device 2 performs the component mounting operation on the substrate KB, it first uses the transport conveyor 12 to transport and position the substrate KB, then uses the component feeder 23 to supply the component BH and causes the assembly head 13 to reciprocate between the component feeder 23 and the substrate KB. While reciprocating between the component feeder 23 and the substrate KB, the assembly head 13 uses the suction nozzle 13N to suction the component BH supplied by the component feeder 23 to the component supply port 23K, and mounts the suctioned component BH onto the substrate KB. After mounting the component BH onto the substrate KB, the transport conveyor 12 operates to discharge the substrate KB to the outside.

[0030] Next, the handling system 1 will be described. For example... Figure 3 As shown, the unmanned transport vehicle 3, which serves as the transport device of the transport system 1, has a box-shaped body 31 with two drive wheels 32 and two driven wheels 33. Figure 3 In this configuration, two drive wheels 32 are arranged along one direction of the vehicle body 31 (defined as the left-right direction), and two driven wheels 33 are arranged along the front-rear direction of the vehicle body 31. In the description of the automated guided vehicle 3, the horizontal direction in which the two drive wheels 32 face each other is defined as the X direction (left-right direction), the direction orthogonal to the X direction in the horizontal plane is defined as the Y direction (front-rear direction), and the vertical direction is defined as the Z direction. Furthermore, the direction in the Y direction (front-rear direction) from the center of the trolley 4 towards the feeder 22 (part feeder 23) is defined as the front, and the opposite direction is defined as the rear.

[0031] exist Figure 3 In this vehicle, the unmanned transport vehicle 3 has a control device 34 and a transceiver 35 inside the vehicle body 31. The control device 34 controls the drive control unit (not shown) to operate the two drive wheels 32 based on the operation program stored in its own storage unit and the instruction information sent from the outside via the transceiver 35.

[0032] The two drive wheels 32 also serve as steering wheels. The two drive wheels 32 can be independently adjusted in terms of rotation direction and speed. By adjusting the steering angle, rotation direction, and rotation speed of the two drive wheels 32, in addition to enabling the vehicle body 31 to travel in a straight line in the forward or backward direction and to turn slowly, the vehicle body 31 can also be turned on the spot (horizontal turn, stationary turn).

[0033] exist Figure 4 In (a) and (b), a connecting part 36 is provided on the rear side (back side) of the vehicle body 31, which becomes the rear side when the unmanned transport vehicle 3 is in the forward direction, for connecting the trolley 4, which is the transported device. The connecting part 36 consists of two arms 37 extending rearward from the back side of the vehicle body 31 of the unmanned transport vehicle 3 and two grippers 38 provided at the ends of the two arms 37.Figure 4 (a)).

[0034] On the other hand, at the rear end of the trolley 4 (the side opposite to the side where the feeder 22 is installed), two protrusions 41 are provided in a horizontal direction, arranged at the same interval as the two arms 37. Each of the two protrusions 41 is provided with a columnar portion 42 that extends upward as a connecting portion.

[0035] With the trolley 4 connected to the connecting part 36, firstly, the unmanned transport vehicle 3 is moved towards the rear of the trolley 4 (the side opposite to the side where the feeder 22 is installed). At this time, the two columnar parts 42 of the trolley 4 are positioned opposite the two grippers 38 of the unmanned transport vehicle 3.

[0036] After the two columnar parts 42 are aligned with the two clamps 38, the unmanned transport vehicle 3 is moved backward and approaches the trolley 4. Figure 4 Arrow A shown in (a). After the two columnar portions 42 are thus in a state where they can be clamped by their respective grippers 38, the two grippers 38 are closed to clamp the two columnar portions 42. This results in the trolley 4 being connected to the connecting portion 36. Figure 4 (b)

[0037] The automated guided vehicle 3 moves the trolley 4 on the floor surface FL by traveling on it with the trolley 4 connected to the connecting part 36. The automated guided vehicle 3 typically moves forward with the trolley 4 positioned rearward in the direction of travel, pulling the trolley 4 as it travels. However, sometimes it reverses with the trolley 4 positioned forward in the direction of travel, pushing the trolley 4 as it travels. The automated guided vehicle 3 mainly moves backward while pushing the trolley 4 when the trolley 4 is engaged with the base 11 of the component mounting device 2. Figure 5 ).

[0038] When connecting the trolley 4 to the base 11 of the component mounting device 2, firstly, the trolley 4 is moved to a position slightly separated from the trolley connection space 11S of the component mounting device 2 by the forward movement of the unmanned transport vehicle 3. Figure 5 Arrow B shown in the diagram). Then, by performing a horizontal turn or a turn in place here ( Figure 5 As shown by arrow C), the trolley 4 is positioned such that the extensions of the guide lines GL of the two trolley guides 14 provided by the base 11 are positioned relative to each other.

[0039] After the trolley 4 is positioned, the unmanned transport vehicle 3 reverses, allowing the trolley 4 to connect with the base 11. Figure 2 (a) → Figure 2(b)). At this time, the trolley 4 is guided by a pair of trolley guides 14 in a straight line between the pair of trolley guides 14.

[0040] After the unmanned transport vehicle 3 is connected to the base 11 of the component loading device 2, it opens the clamp 38 to release the clamps on the two columnar parts 42. Then, it moves forward and detaches from the trolley 4.

[0041] As described above, the trolley 4 is connected to the base 11 of the component mounting device 2 via the unmanned transport vehicle 3. However, in the process, if the trolley 4 collides with an obstacle (including the base 11 before it is connected to the trolley 4), countermeasures such as detecting the collision and temporarily stopping the movement of the unmanned transport vehicle 3 are required. Therefore, the trolley 4 is equipped with a collision detection unit that detects when it (the trolley 4) comes into contact with an obstacle.

[0042] exist Figure 6 In the middle, a base 51 is provided on the outer side of the trolley 4, surrounding a portion of the outer side, and a collision detection unit is mounted on the base 51. For example... Figure 6 As shown, the outer side of the trolley 4 is composed of four surfaces: the front surface 4a, the two left and right sides 4b, and the rear surface 4c. The base 51 is located at a position that surrounds the three surfaces (front surface 4a and the two left and right sides 4b) of the four surfaces (front surface 4a, the two left and right sides 4b, and the rear surface 4c) of the trolley 4, excluding the surface (rear surface 4c) that is connected to the unmanned transport vehicle 3.

[0043] exist Figure 6 In the middle, the bases 51 are respectively provided on the left and right sides of the trolley 4. Each base 51 has a front surface portion 51a arranged along the front surface 4a of the trolley 4 and a side portion 51b arranged along one of the left and right side sides 4b.

[0044] The collision detection unit will be described. In Embodiment 1, the collision detection unit is configured to include a bumper 52, three bumper sensors 53, and detection units 54 for insensitive areas on the left and right sides.

[0045] exist Figure 6In this design, the bumper 52 includes a front edge 52a located in front of the front surface 4a of the trolley 4 and two side edges 52b located on the left and right sides of the trolley 4, respectively. Thus, the bumper 52 has a U-shape, comprising three edges (front edge 52a and two side edges 52b) that surround three of the four surfaces (front surface 4a, the two side edges 4b, and the rear surface 4c) forming the outer side of the trolley 4, excluding the surface connected to the automated guided vehicle 3 (rear surface 4c). The bumper 52 is mounted in a state where it is elastically supported relative to the base 51 by a plurality of spring members 52S disposed between the front edge 52a and the front surface 4a of the trolley 4.

[0046] Three bumper sensors 53 are disposed at positions corresponding to three of the four surfaces of the trolley 4, which serves as the transport device, excluding the surface connected to the unmanned transport vehicle 3, which serves as the transport device. Specifically, the three bumper sensors 53 are disposed on the outer surfaces of the three sides (front side 52a and the two left and right side sides 52b) of the bumper 52. The bumper sensor 53 disposed on the front side 52a of the bumper 52 is referred to as the "front surface bumper sensor 53a," and the bumper sensors 53 disposed on the left and right side sides 52b of the bumper 52 are referred to as "side bumper sensors 53b."

[0047] The three bumper sensors 53 are each composed of contact sensors, and output a detection signal to the control device 34 when an obstacle collides with the surface (in this case, the outer surface). Thus, the control device 34 can detect when an obstacle collides with the bumper sensor 53.

[0048] Of the three bumper sensors 53, the front surface bumper sensor 53a, located on the front edge 52a of the bumper 52, is positioned forward of the trolley-side connector 4K located on the front side 4M of the trolley 4 when no obstacle collides with the bumper 52. That is, in Embodiment 1, a portion of the bumper sensor 53 extends outward (in this case, forward) of the trolley-side connector 4K, which is located on the outer side of the trolley 4 (which serves as the transport device) and connected to the component mounting device-side connector 11K of the component mounting device 2. Therefore, the front surface bumper sensor 53a can detect the obstacle before it collides with the trolley-side connector 4K.

[0049] On the other hand, when the trolley 4 is connected to the base 11, the front bumper sensor 53a abuts against the wall 11M of the base 11 where the component mounting device side connector 11K is located (see reference). Figure 1To prevent the front bumper sensor 53a from mistaking the wall 11M of the base 11 for an obstacle, the control device 34 should either ignore the detection signal output by the front bumper sensor 53a before the trolley 4 is about to engage with the base 11, or cut off the power supply to the front bumper sensor 53a before the trolley 4 is about to engage with the base 11. It should be noted that when the front bumper sensor 53a abuts against the wall 11M of the base 11, the bumper 52 compresses the aforementioned spring member 52S located between the front edge 52a of the bumper 52 and the front surface 51a of the base 51, while moving rearward (towards the front surface 51a of the base 51).

[0050] In detail, the control device 34 detects an obstacle colliding with the front surface of the bumper 52 when it receives a detection signal from the front surface bumper sensor 53a; it detects an obstacle colliding with the left side of the bumper 52 when it receives a detection signal from the left side bumper sensor 53b; and it detects an obstacle colliding with the right side of the bumper 52 when it receives a detection signal from the right side bumper sensor 53b. It should be noted that the bumper sensor 53, as described above, is a contact sensor; therefore, its two ends become insensitive areas FR (where sensitivity is poor). Figure 6 ).

[0051] exist Figure 6 as well as Figure 7 In (a), the detection unit 54 corresponding to the left and right insensitive areas is configured with two swing arms 55 (a front swing arm 56 and a side swing arm 57).

[0052] exist Figure 6 as well as Figure 7 In (a), the front swing arm 56 extends in the left-right direction at a position opposite to the insensitive area FR of the front bumper sensor 53a, outside the insensitive area (front) near the end of the front bumper sensor 53a. The front swing arm 56 has a corner portion 56a extending rearward from its outer end in the left-right direction and a front swing arm support portion 56b extending rearward from the rear end of the corner portion 56a.

[0053] The front swing arm support 56b is pivotally supported on a first bracket 61 that extends laterally (outward) from the front end of the side portion 52b of the bumper 52 (near the corner of the bumper 52). Therefore, when the front swing arm 56 is subjected to a pressing force P1 from the front ( Figure 7 (b) , swings in the direction that brings the head end closer to the bumper 52 ( Figure 7Arrow R1 shown in (b) makes its tip contact the sensitive area KR (not the insensitive area FR) of the front bumper sensor 53a. Figure 7 (b)). Additionally, when a pressing force P2 from the diagonal front is applied to corner 56a ( Figure 8 (a) The front swing arm 56 also swings in the same direction to bring the head end closer to the bumper 52. Figure 8 Arrow R1 shown in (a) makes its head end contact the front surface bumper sensor 53a. Figure 8 (a)).

[0054] exist Figure 6 as well as Figure 7 In (a), the lateral swing arm 57 extends in the front-rear direction from the outer side (lateral side) near the front end of the side bumper sensor 53b, opposite the insensitive area FR of the side bumper sensor 53b. The lateral swing arm 57 has a lateral swing arm support 57a that bends from its front end side and extends inward in the left-right direction.

[0055] The side swing arm support 57a is pivotally supported on a second bracket 62 that extends forward from the front side 52a of the bumper 52 (near the corner of the bumper 52). Therefore, when the side swing arm 57 is subjected to a pressing force P3 from the side ( Figure 8 (b) , swings in the direction that brings the head end closer to the bumper 52 ( Figure 8 Arrow R2 shown in (b) makes its head contact the side bumper sensor 53b. Figure 8 (b)

[0056] When the trolley 4 with such a structure is moved on the floor FL by the unmanned transport vehicle 3, the collision is detected by the collision detection unit if the trolley 4 collides with an obstacle.

[0057] Specifically, when an obstacle collides with the sensitive area KR (not the insensitive area FR) of the front bumper sensor 53a from the front of the bumper 52, the front bumper sensor 53a, upon receiving the impact, outputs a detection signal to the control device 34, thereby detecting that the obstacle has collided with the front surface (including the corners) of the bumper 52. Furthermore, when an obstacle collides with the front swing arm 56 of the detection unit 54 corresponding to the insensitive area from the front of the bumper 52, the front swing arm 56 swings as described above and comes into contact with the sensitive area KR of the front bumper sensor 53a. The front bumper sensor 53a outputs a detection signal to the control device 34, thereby detecting that the obstacle has collided with the front surface (including the corners) of the bumper 52.

[0058] When an obstacle collides with the sensitive area KR of the side bumper sensor 53b from the side of the bumper 52, the side bumper sensor 53b, which is subjected to the impact, outputs a detection signal to the control device 34, thereby detecting that the obstacle has collided with the side of the bumper 52. Furthermore, when an obstacle collides with the side swing arm 57 of the detection unit 54 corresponding to the insensitive area from the side of the bumper 52, the side swing arm 57 swings as described above and comes into contact with the sensitive area KR of the side bumper sensor 53b. The side bumper sensor 53b outputs a detection signal to the control device 34, thereby detecting that the obstacle has collided with the side of the bumper 52.

[0059] Thus, in the transport system 1 of Embodiment 1, the collision detection unit that detects when the trolley 4, which is the transported device, comes into contact with an obstacle is not equipped on the transport device (unmanned transport vehicle 3) that transports the trolley 4, but on the trolley 4 itself. Therefore, if the trolley 4, which is being transported by the unmanned transport vehicle 3, collides with an obstacle, the collision can be reliably detected.

[0060] In addition, the collision detection unit consists of a bumper 52 that is provided in such a way that it surrounds part of the outer side of the trolley 4 which is the transport device and is elastically supported relative to the trolley 4 (specifically the base 51), and a bumper sensor 53 that is mounted on the outer surface of the bumper 52 and detects the situation where an obstacle collides with the bumper 52. Therefore, a collision can be detected with a simple structure.

[0061] Furthermore, the collision detection unit includes a non-sensitive area detection unit 54, which has swing arms 55 (front swing arm 56 and side swing arm 57) extending at a position opposite to the non-sensitive area of ​​the bumper sensor 53. The swing arms 55 are configured to swing and contact the sensitive area KR of the bumper sensor 53 when a collision occurs. Therefore, even if an obstacle collides with the end of the bumper sensor 53, which corresponds to the portion of the non-sensitive area FR (including the portion corresponding to the corner of the bumper 52), the collision can be reliably detected.

[0062] (Implementation Method 2)

[0063] Next, Embodiment 2 of the present invention will be described. The only difference between the conveying system in Embodiment 2 and Embodiment 1 is the structure of the collision detection unit on the trolley 4; all other structures are the same as in Embodiment 1. Therefore, here, only the structure and operation of the collision detection unit will be described.

[0064] exist Figure 9In Embodiment 2, the collision detection unit is similarly provided on the base 51 as in Embodiment 1, and includes a bumper base 71, a movable bumper 72, and a limit switch 73 (see also [reference 1]). Figure 10 (a)). The bumper base 71 is provided to surround a portion of the outer side of the base 51 (i.e., the trolley 4), and the movable bumper 72 is provided on the outside of the bumper base 71.

[0065] like Figure 9 as well as Figure 10 As shown in (a), the bumper base 71 has a base front edge portion 71a located outside (front) of the front surface portion 51a of the base 51 and base side edge portions 71b located outside (side) of each of the two side side portions 51b of the base 51. Thus, the bumper base 71 has a U-shape, which has three edges (base front edge portion 71a and two base side edge portions 71b) surrounding three of the four surfaces (front surface 4a, the two side sides 4b and the rear surface 4c) forming the outer side of the trolley 4, excluding the surface connected to the unmanned transport vehicle 3 (rear surface 4c). The bumper base 71 is mounted in a state in which it is elastically supported relative to the base 51 (i.e. relative to the base 51) by a plurality of base support springs 74.

[0066] exist Figure 9 as well as Figure 10 In (a), the movable bumper 72 includes a front bumper portion 72a located outside (front) of the front edge 71a of the bumper base 71, and bumper side portions 72b extending rearward from the left and right ends of the front bumper portion 72a and located outside (side) of the side edge 71b of the base of the bumper base 71. Thus, the movable bumper 72 has a U-shape with the front bumper portion 72a and the two left and right bumper side portions 72b forming three sides. The front ends of the two left and right bumper side portions 72b are respectively connected to the front bumper portion 72a, and the two left and right bumper side portions 72b are each configured to move parallel to each other in directions of approach or separation while maintaining a substantially orthogonal posture relative to the front bumper portion 72a.

[0067] exist Figure 9 as well as Figure 10 In (a), the front bumper portion 72a of the movable bumper 72 is elastically supported relative to the bumper base 71 by a plurality of front support springs 75. In addition, the left and right bumper side portions 72b of the movable bumper 72 are each elastically supported relative to the bumper base 71 by a plurality of side support springs 76.

[0068] exist Figure 9 as well as Figure 10In (a), the limit switch 73 consists of a left limit switch 73L and a right limit switch 73R. The left limit switch 73L is located between the left base side 71b of the bumper base 71 and the left bumper side 72b of the opposite movable bumper 72. The left limit switch 73L is mounted on the left base side 71b, and the operating piece 73H faces the left base side 71b of the bumper base 71.

[0069] The right limit switch 73R is located between the right side of the bumper base 71 (base side 71b) and the right side of the opposite movable bumper 72 (bumper side 72b). The right limit switch 73R is mounted on the right side of the base 71b, with the operating piece 73H facing the right side of the bumper base 71 (base side 71b).

[0070] like Figure 10 As shown in (b), when a pressing force P1 is applied to the front part (front bumper part 72a) of the movable bumper 72, the front bumper part 72a moves backward against the force of the front support spring 75. Simultaneously, the two left and right bumper side parts 72b connected to the front bumper part 72a move towards the side 4b of the trolley 4 against the force of the side support spring 76. Thus, the left bumper side part 72b presses the operating piece 73H of the left limit switch 73L, and the right bumper side part 72b presses the operating piece 73H of the right limit switch 73R. Figure 10 (b)). It should be noted that in Figure 10 The action of the right bumper side 72b is omitted in (b).

[0071] When the bumper side 72b moves toward the side 4b of the trolley 4 as described above, the two guide pins 72P provided on the bumper side 72b move inside the two guide grooves 71M formed on the base side 71b and extending obliquely from the front to the rear (in the direction toward the side 4b of the trolley 4). Thus, when the bumper side 72b moves toward the side 4b of the trolley 4, it moves obliquely toward the side 4b of the trolley 4 and toward the rear. Figure 11 The slanted arrow Y shown in (b).

[0072] When the operating plate 73H is pressed, both the left limit switch 73L and the right limit switch 73R become active. The active left limit switch 73L and right limit switch 73R then output detection signals to the control device 34, thus the control device 34 detects that an obstacle has collided with the front of the bumper 52.

[0073] When a pressing force P2 from the left diagonal direction is applied to the left corner of the movable bumper 72, Figure 11 (a) or when pressure P3 is applied to the left side of the movable bumper 72 (the left side of the bumper 72b) ( Figure 11 (b) The left bumper side 72b overcomes the force of the left side support spring 76 and moves toward the side 4b of the trolley 4. Figure 11 (a) and Figure 10 (See arrow Y in (b)). As a result, the front bumper portion 72a, connected to the left bumper side 72b, moves rearward against the force of the front support spring 75, and the right bumper side 72b, connected to the front bumper side 72a, moves towards the side 4b of the trolley 4 against the force of the right side support spring 76. Consequently, the left and right limit switches 73 are activated, outputting detection signals to the control device 34. Therefore, the control device 34 detects that an obstacle has collided with the left corner of the movable bumper 72.

[0074] Thus, in the transport system of Embodiment 2, the collision detection unit that detects when the trolley 4, which is the transported device, comes into contact with an obstacle is not equipped on the transport device (unmanned transport vehicle 3) that transports the trolley 4, but on the trolley 4 itself, which is the transported device. Therefore, if the trolley 4, which is being transported by the unmanned transport vehicle 3, collides with an obstacle, the collision can be reliably detected.

[0075] In embodiment 2, the collision detection unit consists of a bumper base 71 that surrounds part of the outer side of the trolley 4 which is the transport device, a movable bumper 72 that is provided on the outside of the bumper base 71 and elastically supported relative to the bumper base 71, and a limit switch 73 that detects the movement of the movable bumper 72 approaching the bumper base 71 when an obstacle collides with the movable bumper 72. Therefore, a collision can be detected with a simple structure.

[0076] Furthermore, in Embodiment 2, the bumper base 71 and the movable bumper 72 each have a U-shape. The U-shape has three sides that surround three of the four sides of the trolley 4, which is the transport device, except for the side that is connected to the unmanned transport vehicle 3, which is the transport device. The limit switch 73 detects the movement of two opposite sides of the three sides of the movable bumper 72 approaching the bumper base 71 and the movement of one side (front side 72a of the bumper) between the two opposite sides (side side 72b of the bumper) approaching the bumper base 71. Therefore, the structure for detecting collisions with obstacles is simple.

[0077] In embodiment 2, in particular, when one of the two opposing sides of the movable bumper 72 (the front side 72a of the bumper) approaches the bumper base 71, the corresponding two sides (the left and right side sides 72b of the bumper) move in a manner that approaches the bumper base 71 (refer to the aforementioned usage). ​ (as explained in (b)). Therefore, it is not necessary to provide limit switches 73 corresponding to each of the three sides (the front side 72a of the bumper and the two side sides 72b of the bumper on the left and right), and the limit switch 73 corresponding to the front side 72a of the bumper can be omitted, thus reducing the manufacturing cost accordingly.

[0078] As explained above, in the transport system of Embodiments 1 and 2, the collision detection unit that detects when the trolley 4, which is the transported device, comes into contact with an obstacle is not equipped on the transport device (unmanned transport vehicle 3) that transports the trolley 4, but on the trolley 4 itself, which is the transported device. Therefore, when the trolley 4, which is being transported by the unmanned transport vehicle 3, collides with an obstacle, the collision can be reliably detected.

[0079] The embodiments of the present invention have been described so far, but the present invention is not limited to the embodiments described above and can be modified in various ways. For example, the bumper 52 in embodiment 1 and the bumper base 71 and movable bumper 72 in embodiment 2 are U-shaped, but the shape of these components is not particularly limited as long as a collision detection unit that detects the collision between the transported device (trolley 4) and an obstacle is provided on the transported device.

[0080] Furthermore, in embodiments 1 and 2 described above, the device being transported by the transport device is a trolley 4 for mounting a parts feeder that is combined with the parts mounting device 2; however, this is just one example and is not particularly limited. Also, in embodiments 1 and 2 described above, the transport device is an unmanned transport vehicle 3; however, the transport device is only required to be capable of transporting the device being transported and is not limited to an unmanned transport vehicle 3.

[0081] Industrial applicability

[0082] Provides a transport system and a transported device capable of reliably detecting a collision when a transported device collides with an obstacle.

[0083] Explanation of reference numerals in the attached figures

[0084] 1. Handling System

[0085] 2. Component mounting device

[0086] 3. Automated guided vehicles (transfer devices)

[0087] 4 vehicles (transportation devices)

[0088] 4a Front surface

[0089] 4b Side view

[0090] 4c rear surface

[0091] 4K trolley-side connector

[0092] 11 Abutment

[0093] 11K component mounting device side connector

[0094] 23 Parts feeder

[0095] 36 Connecting parts

[0096] 51 Base

[0097] 51a Front surface portion

[0098] 51b Side profile

[0099] 52 Bumper

[0100] 52S Spring Component

[0101] 52a Front part

[0102] 52b Side section

[0103] 53 Bumper Sensors

[0104] 54. Insensitive areas correspond to the detection department.

[0105] 55 Swing Arm

[0106] 56. Front swing arm

[0107] 56a Corner

[0108] 57 Lateral swing arm

[0109] 71 Bumper Base

[0110] 72 Movable Bumper

[0111] 73 Limit Switch

[0112] 74 Base support spring

[0113] 75 Front support spring

[0114] 76 Side support springs

[0115] KR Sensitive Area

[0116] FR insensitive area.

Claims

1. A conveyance system provided with a conveyance device and a conveyed device, the conveyance system making the conveyed device connect to the conveyance device and conveying the conveyed device to a prescribed place by making the conveyance device travel, wherein a collision detection section that detects a case where the conveyed device collides with an obstacle is provided to the conveyed device.

2. The conveyance system according to claim 1, wherein the collision detection section has: a bumper that is provided in a manner of surrounding a part of an outer side surface of the conveyed device and is elastically supported with respect to the conveyed device; and a bumper sensor that is installed to an outer surface of the bumper and detects a case where the bumper collides with the obstacle.

3. The conveyance system according to claim 2, wherein the outer side surface of the conveyed device is formed by three surfaces and one surface that connects to the conveyance device, and the bumper sensor is provided at positions corresponding to the three surfaces, respectively.

4. The conveyance system according to claim 3, wherein the bumper has a U shape that has three edge portions that surround the three surfaces, and the bumper sensor is provided at the three edge portions of the bumper, respectively.

5. The conveyance system according to claim 4, wherein the collision detection section further has a swing arm that extends at a position opposite to a non-sensitive region of the bumper sensor, and the swing arm is configured to swing and contact a sensitive region of the bumper sensor when colliding with the obstacle.

6. The conveyance system according to claim 1, wherein the collision detection section has: a bumper base that is provided in a manner of surrounding a part of an outer side surface of the conveyed device; a movable bumper that is provided outside the bumper base and is elastically supported with respect to the bumper base; and a limit switch that detects an action of the movable bumper approaching the bumper base when the obstacle collides with the movable bumper.

7. The conveyance system according to claim 6, wherein the outer side surface of the conveyed device is formed by three surfaces and one surface that connects to the conveyance device, the movable bumper has three edge portions that surround the three surfaces, the three edge portions have two edge portions that oppose each other and one edge portion between the two edge portions, and the limit switch detects an action of the two edge portions approaching the bumper base, respectively, and an action of the one edge portion approaching the bumper base.

8. The conveyance system according to claim 7, wherein the bumper base has a U shape that has three edge portions that surround the three surfaces.

9. The conveyance system according to claim 8, wherein when the one edge portion approaches the bumper base, the two edge portions act in a manner of approaching the bumper base, respectively.

10. The conveyance system according to claim 1, wherein the conveyed device is a pallet for a parts feeder installed in combination with a component mounting device.

11. The conveyance system according to claim 2, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The carried device is a pallet for mounting a parts feeder in combination with a component mounting device, The carried device further has a pallet-side connector provided on the outer side and connected to a component mounting device-side connector provided in the component mounting device, A portion of the bumper sensor protrudes outwardly beyond the pallet-side connector.

12. A carried device which is connected to a carrying device and is carried to a prescribed place by running of the carrying device, wherein The carried device has a collision detection section which detects that the carried device has collided with an obstacle.

13. The carried device according to claim 12, wherein The collision detection section has: a bumper which is provided so as to surround a portion of an outer side of the carried device and is elastically supported with respect to the carried device; and a bumper sensor which is mounted to an outer surface of the bumper and detects that the bumper has collided with the obstacle.

14. The carried device according to claim 13, wherein The outer side of the carried device is formed by three faces and one face which is connected to the carrying device, The bumper sensor is provided at positions corresponding to the three faces, respectively.

15. The carried device according to claim 14, wherein The bumper has a U shape which has three edge portions which surround the three faces, The bumper sensor is provided at the three edge portions of the bumper, respectively.

16. The carried device according to claim 15, wherein The collision detection section further has a swing arm which extends at a position opposite to a non-sensitive region of the bumper sensor, The swing arm is configured to swing and contact a sensitive region of the bumper sensor when colliding with the obstacle.

17. The carried device according to claim 12, wherein The collision detection section has: a bumper base which is provided so as to surround a portion of an outer side of the carried device; a movable bumper which is provided on an outer side of the bumper base and is elastically supported with respect to the bumper base; and a limit switch which detects that the movable bumper approaches the bumper base when the obstacle collides with the movable bumper.

18. The carried device according to claim 17, wherein The outer side of the carried device is formed by three faces and one face which is connected to the carrying device, The movable bumper has three edge portions which surround the three faces, The three edge portions have two edge portions which are opposite to each other and one edge portion which is between the two edge portions, The limit switch detects that the two edge portions approach the bumper base, respectively, and that the one edge portion approaches the bumper base.

19. The carried device according to claim 18, wherein The bumper base has a U shape which has three edge portions which surround the three faces.

20. The carried device according to claim 19, wherein ​ ​ When the one edge portion approaches the bumper base, the two edge portions respectively act in a manner approaching the bumper base.

21. The conveyed device according to claim 12, wherein The conveyed device is a pallet for a parts feeder installed in combination with a component mounting device.

22. The conveyed device according to claim 13, wherein The conveyed device is a pallet for a parts feeder installed in combination with a component mounting device, The conveyed device further includes a pallet-side connector provided to the outer side and connected to a component mounting device-side connector provided to the component mounting device, A part of the bumper sensor protrudes outwardly further than the pallet-side connector.

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