Conveyor system and device to be transported

Abstract

A conveying system comprises a conveying device and a device to be conveyed, wherein the conveying system couples the device to be conveyed to the conveying device and causes the conveying device to move in order to transport the device to be conveyed to a predetermined location. The device to be conveyed includes a collision detector that detects a collision of the device to be conveyed with an obstacle.

Description

TECHNICAL FIELD

[0001] The present invention relates to a conveying system which causes a conveying device to convey a device to be transported and the device to be transported in the conveying system. STATE OF THE ART

[0002] A conveying system is known that causes a conveying device to transport a device to be moved to a predetermined location. For example, a conveying system is known that causes an automatically guided vehicle, moving by means of wireless communication, to tow and convey a cart holding a component feeding device and to move the cart to a coupling position of a component assembly device (see, for example, PTL 1 below). The conveying device of such a conveying system is equipped with a collision detection sensor, and if the conveying device collides with an obstacle while moving, it can detect the collision in order to recognize the presence of the obstacle (see, for example, PTL 2 below). Citation list for patent literature PTL 1: Unexamined Japanese patent publication no. 2019-184877 PTL 2: Unexamined Japanese patent publication no. 2019-119343 SUMMARY OF THE INVENTION

[0003] However, there is a problem that although the conveyor is equipped with a collision detection sensor, it may not be able to detect a collision if the device being transported collides with an obstacle while the conveyor is moving forward with the device being transported.

[0004] Against this background, the objective of the present invention is to provide a conveying system and a device to be transported, which is conveyed by a conveying device, that can reliably detect a collision when the device to be transported collides with an obstacle.

[0005] A conveying system of the present invention comprises a conveying device and a device to be transported, wherein the conveying system couples the device to be transported to the conveying device and causes the conveying device to move in order to transport the device to be transported to a predetermined location, wherein the device to be transported comprises a collision detector that detects a collision of the device to be transported with an obstacle.

[0006] A transportable device of the present invention is a transportable device that is coupled to a conveying device and is transported to a predetermined location by the movement of the conveying device, wherein the transportable device comprises a collision detector that detects a collision of the transportable device with an obstacle.

[0007] The present invention makes it possible to reliably detect a collision when a device being transported by a conveying device collides with an obstacle. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a side view showing a conveying system according to a first exemplary embodiment of the present invention together with a component assembly device. Parts (a)(b) of Fig. Figure 2 shows top views of a state in which an automatically guided vehicle of the conveyor system according to the first exemplary embodiment of the present invention couples a carriage to the component assembly device. Fig. Figure 3 is a perspective view of a state in which the carriage is coupled to the automatically guided vehicle that forms the conveying system according to the first exemplary embodiment of the present invention. Parts (a)(b) of Fig. Figure 4 shows top views in which the carriage is coupled to the automatically guided vehicle of the conveyor system according to the first embodiment of the present invention. Fig. Figure 5 is a top view showing a state in which the automatically guided vehicle of the conveyor system according to the first embodiment of the present invention brings the cart close to the component assembly device. Fig. Figure 6 is a top view showing a configuration of a collision detector included in the carriage of the conveyor system according to the first exemplary embodiment of the present invention. Parts (a)(b) of Fig. Figure 7 are top views showing the collision detector included in the carriage of the conveyor system according to the first exemplary embodiment of the present invention. Parts (a)(b) of Fig. Figure 8 shows top views of the collision detector included in the carriage of the conveyor system according to the first embodiment of the present invention. Fig. Figure 9 is a top view showing a configuration of a collision detector included in a carriage of a conveyor system according to a second embodiment of the present invention. Parts (a)(b) of Fig. Figure 10 are top views showing the collision detector included in the carriage of the conveyor system according to the second embodiment of the present invention. Parts (a)(b) of Fig. Figure 11 are top views showing the collision detector included in the carriage of the conveyor system according to the second embodiment of the present invention. DESCRIPTION OF THE EXECUTIONAL FORMS (First exemplary embodiment)

[0008] A first exemplary embodiment of the present invention is described. Fig. Figure 1 shows the conveying system 1 according to the first exemplary embodiment of the present invention together with the component assembly device 2. The conveying system 1 comprises an automatically guided vehicle 3 as a conveying device, which moves autonomously on the floor FL by means of wireless communication, and a cart 4 as a device to be transported, which is coupled to the automatically guided vehicle 3 and is conveyed on the floor FL.

[0009] In Fig. Component assembly device 1 is a device that mounts component BH onto substrate KB and comprises a conveyor 12 that transports the substrate KB to the base 11 and positions the substrate KB, as well as an assembly head 13 that moves relative to the substrate KB positioned by the conveyor 12. The assembly head 13 comprises a plurality of downward-projecting suction nozzles 13N.

[0010] The carriage 4 can move on the floor FL by means of a plurality of wheels 21, and a plurality of parts feeders 23 are attached to a plate-shaped feeder base 22 provided on an upper section of the carriage 4. That is, in the first exemplary embodiment, the carriage 4 is a carriage for mounting the parts feeders. Each parts feeder 23 is configured to continuously supply components BH to the component feeder port 23K provided at its end section.

[0011] The carriage 4 is transported on the floor FL by an automatically guided vehicle 3 and connected to the base 11 by being inserted into the carriage coupling space 11S, which is formed on an end section of the base 11 of the component assembly device 2 (part (a) of Fig. 2 → Part (b) of Fig. 2) As in parts (a) and (b) of Fig. As shown in Figure 2, a pair of carriage guides 14 are provided on two side walls 11W of the base 11, forming the carriage coupling space 11S. The pair of carriage guides 14 is arranged at a distance slightly greater than the lateral width of the carriage 4 and guides the carriage 4, as it approaches the base 11 to be coupled to it, into the carriage coupling space 11S.

[0012] Carriage 4 is coupled to base 11 by moving along a track in carriage coupling space 11S, guided by the pair of carriage guides 14 provided on base 11. Once carriage 4 is coupled to base 11, the component feed port 23K of each component feeder 23 attached to carriage 4 is located in a movable area of ​​the assembly head 13 ( Fig. 1) Once the carriage 4 is coupled to the base 11, each parts feeder 23 attached to the carriage 4 acts as a component supply unit for the component assembly device 2 and feeds the component BH to the component feed port 23K. Note that once the carriage 4 is connected to the base 11 as described above, the carriage-side connector 4K of the carriage, located on the front part 4M of the carriage 4, is connected to the component assembly device-side connector 11K of the base 11, located on the side of the base 11 ( Fig. 1), whereby the carriage 4 is electrically connected to the side of the base 11 (i.e. the side of the component assembly device 2) so that signal transmission between the two is possible.

[0013] During a component assembly operation to attach component BH to substrate KB, the component assembly device 2 first conveys and positions the substrate KB using the conveyor 12 and causes the assembly head 13 to move back and forth between the parts feeder 23 and the substrate KB while component BH is fed to the parts feeder 23. During this back-and-forth movement between the parts feeder 23 and the substrate KB, the assembly head 13 uses the suction nozzle 13N to pick up component BH, which is fed from the parts feeder 23 to the component feed port 23K, and then mounts the picked-up component BH onto the substrate KB. Once component BH has been mounted onto the substrate KB as a result of the process described above, the conveyor 12 transports the substrate KB outwards.

[0014] Next, the conveying system 1 will be described. As in Fig. Figure 3 shows that the automatically guided vehicle 3, which is a conveying device of the conveying system 1, comprises two drive wheels 32 and two driven wheels 33 on a vehicle body 31, which overall has a box shape. Fig. In the vehicle body 3, two drive wheels 32 are arranged side by side in one direction (left-right direction), and two driven wheels 33 are arranged side by side in the front-back direction of the vehicle body 31. In the following description of the automatically guided vehicle 3, a horizontal direction in which two drive wheels 32 are opposite each other is referred to as the X-direction (left-right direction), a direction orthogonal to the X-direction in a horizontal plane as the Y-direction (front-back direction), and a vertical direction as the Z-direction. In the Y-direction (longitudinal direction), the direction from the center of the vehicle 4 to the feeder base 22 (parts feeder 23) is referred to as the front, and the opposite direction as the rear.

[0015] In Fig. 3 The automatically guided vehicle 3 comprises a control device 34 and a transmitter-receiver 35 in the vehicle body 31. The control device 34 controls a drive control unit (not shown) to operate two drive wheels 32 on the basis of an operating program stored in its own memory and command information transmitted from outside via the transmitter-receiver 35.

[0016] The two drive wheels 32 also serve as steering wheels. The direction of rotation and the rotational speed of the two drive wheels 32 can be adjusted independently of each other, and by adjusting the steering angle, the direction of rotation and the rotational speed of the two drive wheels 32, the vehicle body 31 can move linearly and gradually rotate forwards and backwards as well as turn in place (rotation about its own axis, rotation about its own axis).

[0017] In parts (a) and (b) of Fig. 4 A coupling unit 36 ​​for coupling the transport trolley 4, which is a device to be transported, is provided on a surface (rear side) of the vehicle body 31, which is located at the rear in the forward direction of the automatically guided vehicle 3. The coupling unit 36 ​​comprises two arm sections 37 extending rearward from the rear of the vehicle body 31 of the automatically guided vehicle 3, and two clamps 38 provided at the respective ends of the two arm sections 37 (part (a) of Fig. 4).

[0018] Meanwhile, at an end section on the rear (the side opposite the side on which the feeder base 22 is provided) of the carriage 4, two projecting sections 41 are provided, arranged at the same distance as the distance between two arm sections 37, in order to project horizontally. Each of the two projecting sections 41 is provided with a column section 42 as a coupling section, which extends upwards as it projects.

[0019] When the carriage 4 is coupled to the coupling unit 36, the automatically guided vehicle 3 is first brought to the rear of the carriage 4 (the side opposite the side on which the guide base 22 is located). At this point, two column sections 42 contained in the carriage 4 and two terminals 38 contained in the automatically guided vehicle 3 are adjusted so that they are opposite each other.

[0020] After two column sections 42 and two clamps 38 are positioned so that they are opposite each other, the automatically guided vehicle 3 is moved backwards and brought close to the car 4 (arrow A in part (a) of Fig. (shown in Figure 4). When the two column sections 42 are ready to be clamped by their respective terminals 38, the two terminals 38 are closed to clamp the respective column sections 42. This couples the carriage 4 to the coupling unit 36 ​​(part (b) of Figure 4). Fig. 4).

[0021] The automatically guided vehicle 3 travels on the floor FL in a state where the carriage 4 is coupled to the coupling unit 36, thus transporting (moving) the carriage 4 on the floor FL. The automatically guided vehicle 3 normally travels forward with the carriage 4 at its rear, towing the carriage 4, but sometimes travels backward with the carriage 4 at its front, pushing the carriage 4. The automatically guided vehicle 3 travels backward while pushing the carriage 4 mainly when it couples the carriage 4 to the base 11 of the component assembly device 2. Fig. 5).

[0022] When coupling the carriage 4 with the base 11 of the component assembly device 2, the automatically guided vehicle 3 first moves forward to bring the carriage 4 into a position that is somewhat away from the carriage coupling space 11S of the component assembly device 2 (arrow B in Fig. 5) Then the carriage 4 is rotated about an axis of rotation or a rotation about an axis of rotation (in Fig. 5 shown with arrow C) positioned so that the carriage 4 can essentially pass between the extension lines of the guide lines GL of the two carriage guides 14 contained in the base 11.

[0023] Once the carriage 4 is positioned, the automatically guided vehicle 3 moves backwards to couple the carriage 4 to the base 11 (part (a) of Fig. 2 → Part (b) of Fig. 2) At this time, the carriage 4 is guided by the pair of carriage guides 14 in such a way that it is moving just between the pair of carriage guides 14.

[0024] Once the carriage 4 is coupled to the base 11 of the component assembly device 2, the automatically guided vehicle 3 opens the clamps 38 to release the clamping of the two column sections 42. The automatically guided vehicle 3 then moves forward to detach itself from the carriage 4.

[0025] Carriage 4 is coupled to the base 11 of the component assembly device 2 by the automatically guided vehicle 3 in the manner described above. If carriage 4 collides with an obstacle during this process (including the base 11 before it is coupled to carriage 4), the collision must be detected and measures such as temporarily stopping the automatically guided vehicle 3 must be taken. For this reason, carriage 4 includes a collision detector that detects when carriage 4 comes into contact with an obstacle.

[0026] In Fig. 6. The base section 51 is provided on the outer surface of the carriage 4 such that it surrounds part of the outer surface, and the collision detector is attached to the base section 51. As in Fig. As shown in Figure 6, the outer surface of the vehicle 4 comprises four surfaces, namely the front surface 4a, two left and right side surfaces 4b and the rear surface 4c, and under the four surfaces (front surface 4a, two left and right side surfaces 4b and rear surface 4c) of the vehicle 4 the base section 51 is provided in a position that surrounds the three surfaces (front surface 4a and two left and right side surfaces 4b), with the exception of one surface (rear surface 4c) which is to be coupled with the automatically guided vehicle 3.

[0027] In Fig. 6 The base section 51 is provided on each of the left and right sides of the carriage 4. Each base section 51 comprises a front surface section 51a, which is positioned along the front 4a of the carriage 4, and side surface sections 51b, which are each positioned along one of the left and right side surfaces 4b.

[0028] The collision detector will now be described. In the first exemplary embodiment, the collision detector comprises a bumper 52, three bumper sensors 53, and a left and a right detector for the blind spot 54.

[0029] In Fig. 6 The bumper 52 comprises a front section 52a, located in front of the front 4a of the vehicle 4, and two side sections 52b, located on the left and right sides of the vehicle 4, respectively. In this way, the bumper 52 has a U-shape, comprising three side sections (front section 52a and two left and right side sections 52b) that surround the three surfaces (front surface 4a and two left and right side surfaces 4b), with the exception of one surface (rear surface 4c) that is to be connected to the automatically guided vehicle 3, beneath the four surfaces (front surface 4a, two left and right side surfaces 4b, and rear surface 4c) that form the outer surface of the vehicle 4. The bumper 52 is mounted in a state in which it is elastically supported with respect to the base section 51 by several spring elements 52S, which are provided between the front side section 52a and the front surface 4a of the car 4.

[0030] Among the four surfaces that form the outer surface of the carriage 4 as the device to be transported, three bumper sensors 53 are provided at positions corresponding to the three surfaces, with the exception of one surface that is to be coupled to the automatically guided vehicle 3 as the conveying device. In particular, three bumper sensors 53 are provided on the outer surfaces of the three side sections mentioned above (front 52a and two left and right side sections 52b) of the bumper 52. Of these three bumper sensors 53, the bumper sensor 53 provided on the front section 52a of the bumper 52 is referred to as the "front bumper sensor 53a", and the bumper sensors 53 provided on the two left and right side sections 52b of the bumper 52 are referred to as the "side bumper sensors 53b".

[0031] Each of the three bumper sensors 53 includes a contact sensor and outputs a detection signal to the control device 34 when an obstacle collides with the surface (in this case, the outer surface). This allows the control device 34 to detect that the obstacle has collided with the bumper sensor 53.

[0032] Of the three bumper sensors 53, the front bumper sensor 53a, which is provided on the front 52a of the bumper 52, is located in a normal state, in which no obstacle collides with the bumper 52, in front of the vehicle-side connector 4K, which is provided on the front 4M of the vehicle 4. That is, in the first exemplary embodiment, a portion of the bumper sensors 53 projects outwards (here forwards) relative to the vehicle-side connector 4K, which is provided on the outer surface of the vehicle 4 as a transportable device and is to be connected to the component assembly device-side connector 11K contained in the component assembly device 2. This allows the front bumper sensor 53a to detect an obstacle before the obstacle collides with the vehicle-side connector 4K.

[0033] However, if the front bumper sensor 53a comes into contact with the wall surface 11M of the base 11, on which the component mounting device-side connector 11K is provided, when the car 4 is coupled to the base 11 (see Fig. 1) It must be prevented that the front bumper sensor 53a falsely detects the wall surface 11M of the base 11 as an obstacle. For this purpose, the control device 34 can ignore a detection signal issued by the front bumper sensor 53a immediately before the car 4 couples with the base 11, or interrupt the power supply to the front bumper sensor 53a immediately before the car 4 couples with the base 11. It should be noted that when the front bumper sensor 53a comes into contact with the wall surface 11M of the base 11, the bumper 52 moves backward (to approach the front surface 51a of the base section 51) while compressing the spring elements 52S provided between the front side section 52a of the bumper 52 and the front surface 51a of the base section 51.

[0034] In particular, the control device 34 detects that an obstacle has collided with the front of the bumper 52 when it receives a detection signal from the front bumper sensor 53a, detects that an obstacle has the left side surface of the bumper 52 when it receives a detection signal from the left bumper sensor 53b, and detects that an obstacle has the right side surface of the bumper 52 when it receives a detection signal from the right bumper sensor 53b. It should be noted that the bumper sensor 53, as described above, is a contact sensor, so both ends of it have dead zones FR with poor sensitivity ( Fig. 6).

[0035] In Fig. 6 and part (a) of Fig. 7 Each of the left and right detectors for the dead zone 54 includes two swivel arms 55 (front swivel arm 56 and side swivel arm 57).

[0036] In Fig. 6 and part (a) of Fig. 7 The front pivot arm 56 extends outwards (forwards) in the left-right direction from a position opposite the blind area FR of the front bumper sensor 53a, which is located near an end section of the front bumper sensor 53a. The front pivot arm 56 comprises a corner section 56a extending outwards and rearwards in the left-right direction from its outer end section, and a front pivot arm support section 56b extending rearwards from a rear end section of the corner section 56a.

[0037] The front pivot arm support section 56b is pivotably supported by a first bracket 61, which extends laterally (outwards) from a front end section of the side section 52b of the bumper 52 (a position near a corner section of the bumper 52). Therefore, the front pivot arm 56 pivots when it exerts a compressive force P1 from the front (part (b) of Fig. 7) receives, the front pivot arm 56 swings in a direction in which its end section is brought close to the bumper 52 (arrow R1 in part (b) of Fig. 7 shown), and brings the end section into contact with the sensitive area KR (area except the dead zone FR) of the front bumper sensor 53a (part (b) of Fig. 7) Likewise, the front pivot arm 56 oscillates when it receives a compressive force P2 at the corner section 56a from the diagonally front side (part (a) of Fig. 8) The front pivot arm 56 swings in a direction in which its tip end section is brought close to the bumper 52 (arrow R1 in part (a) of Fig. 8 shown), and brings the tip end section into contact with the front bumper sensor 53a (part (a) of Fig. 8).

[0038] In Fig. 6 and part (a) of Fig. 7 The lateral swivel arm 57 extends longitudinally outwards (laterally) near a front end section of the side bumper sensor 53b at a position opposite the dead zone FR of the side bumper sensor 53b. The lateral swivel arm 57 includes a lateral swivel arm support section 57a, which is bent from its front end and extends longitudinally inwards.

[0039] The lateral pivot arm support section 57a ​​is pivotably supported by a second bracket 62, which extends such that it projects forward from the front side section 52a of the bumper 52 (a position near the corner section of the bumper 52). Therefore, if a compressive force P3 acts from the side (part (b) of Fig. 8), the lateral pivot arm 57 swings in a direction in which its end section is brought close to the bumper 52 (arrow R2 in part (b) of Fig. 8), and brings the end section into contact with the side bumper sensor 53b (part (b) of Fig. 8).

[0040] If a car 4, which has such a configuration, collides with an obstacle, for example, during transport on the floor FL by an automatically guided vehicle 3, the collision is detected by the collision detector.

[0041] In particular, if an obstacle from the front of the bumper 52 collides with the sensitive area KR (an area other than the dead zone FR) of the front bumper sensor 53a, the front bumper sensor 53a, which has received the collision, outputs a detection signal to the control device 34, so that the control device 34 recognizes that the obstacle has collided with the front (which includes the corner area) of the bumper 52.If, on the other hand, an obstacle collides with the front swivel arm 56 of the blind spot detector 54 from the front of the bumper 52, the front swivel arm 56 swings as described above to come into contact with the sensitive area KR of the front bumper sensor 53a, and the front bumper sensor 53a outputs a detection signal to the control device 34, so that the control device 34 recognizes that the obstacle has collided with the front (which includes the corner area) of the bumper 52.

[0042] If 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, having received the collision, outputs a detection signal to the control device 34, so that the control device 34 recognizes that the obstacle has collided with the side surface of the bumper 52. Conversely, if an obstacle collides with the side pivot arm 57 of the blind spot detector 54 from the side of the bumper 52, the side pivot arm 57 swings as described above to come into contact with the sensitive area KR of the side bumper sensor 53b, and the side bumper sensor 53b outputs a detection signal to the control device 34, so that the control device 34 recognizes that the obstacle has collided with the side surface of the bumper 52.

[0043] As described above, in the conveyor system 1 according to the first embodiment, the collision detector, which detects the contact of the transported item 4 (the device to be transported) with an obstacle, is located in the transported item 4 itself, rather than in the conveyor (automatically guided vehicle 3) that transports the transported item 4. Therefore, if the carriage 4 transported by the automatically guided vehicle 3 collides with an obstacle, the collision can be reliably detected.

[0044] Since the collision detector also comprises a bumper 52 which surrounds a part of the outer surface of the carriage 4, which is the device to be transported, and is elastically supported in relation to the carriage 4 (in particular the base section 51), and includes bumper sensors 53 which are attached to the outer surface of the bumper 52 and detect when an obstacle collides with the bumper 52, the collision can be detected with a simple configuration.

[0045] Furthermore, the collision detector includes pivot arms 55 (front pivot arm 56 and side pivot arm 57) that extend towards the blind area of ​​the bumper sensor 53, and the pivot arms 55 include blind area detectors 54 configured to swing upon collision with an obstacle to make contact with the sensitive area KR of the bumper sensor 53. Therefore, the collision can be reliably detected even if an obstacle collides with a section corresponding to the blind area FR at the end of the bumper sensor 53 (including a section corresponding to the corner of the bumper 52). (Second embodiment)

[0046] A second embodiment of the present invention is described below. A conveying system in the second embodiment differs from that in the first embodiment only in the configuration of the collision detector contained in the carriage 4, while the other configurations are identical to those in the first embodiment. Accordingly, only the configuration and operation of the collision detector are described here.

[0047] In Fig. 9 The collision detector of the second exemplary embodiment is provided on the base section 51 as in the case of the first exemplary embodiment and comprises a bumper base 71, a movable bumper 72 and a limit switch 73 (see also part (a) of Fig. 10) The bumper base 71 is designed to surround part of the outer surface of the base section 51 (i.e., the carriage 4), and the movable bumper 72 is provided outside the bumper base 71.

[0048] As in Fig. 9 and part (a) of Fig. As shown in Figure 10, the bumper base 71 comprises a base front section 71a located on the outside (front) of the front surface section 51a of the base section 51, and a lateral base side section 71b located on the outside (side) of each of the two left and right side surface sections 51b of the base section 51. In this way, the bumper base 71 has a U-shape comprising three side sections (base front section 71a and two lateral base side sections 71b) that surround the three surfaces (front 4a and two left and right side surfaces 4b), except for one surface (rear 4c) that is to be connected to the automatically guided vehicle 3, among the four surfaces (front surface 4a, two left and right side surfaces 4b, and rear surface 4c) that form the outer surface of the vehicle 4. The bumper base 71 is fixed in a state in which it is in relation to the base section 51 (i.e.h. is elastically supported with respect to the base section 51) by a plurality of base support springs 74.

[0049] In Fig. 9 and part (a) of Fig. 10. The movable bumper 72 comprises a front base front section 72a, which is located outside (in front of) the front base front section 71a of the bumper base 71, and a bumper side section 72b, which extends rearward from each of the left and right end sections of the bumper base front section 72a and is located outside (next to) the lateral base side section 71b of the bumper base 71. As described above, the movable bumper 72 has a U-shape with a front bumper section 72a and two left and right side bumper sections 72b as its three side sections.The two left and right side bumper side sections 72b each have front end sections connected to the front bumper section 72a, and the two left and right side bumper side sections 72b are configured to be able to move parallel to each other in directions or away from each other while maintaining a substantially orthogonal attitude to the front bumper section 72a.

[0050] In Fig. 9 and part (a) of Fig. 10 The front side section 72a of the movable bumper 72 is elastically supported against the bumper base 71 by several front support springs 75. In addition, each of the two left and right bumper side sections 72b of the movable bumper 72 is elastically supported against the bumper base 71 by a plurality of side support springs 76.

[0051] In Fig. 9 and part (a) of Fig. The limit switch 73 comprises a left limit switch 73L and a right limit switch 73R. The left limit switch 73L is located between the lateral base side section 71b on the left side of the bumper base 71 and the lateral bumper section 72b on the left side of the movable bumper 72 facing the bumper base. The left limit switch 73L is attached to the left lateral base side section 71b, and the actuating element 73H is directed towards the left lateral base side section 71b of the bumper base 71.

[0052] The right limit switch 73R is located between the lateral base side section 71b on the right side of the bumper base 71 and the lateral base side section 72b on the right side of the movable bumper 72 facing the bumper base. The right limit switch 73R is attached to the right lateral base side section 71b, and the actuating element 73H is aligned with the right lateral base side section 71b of the bumper base 71.

[0053] As in part (b) of Fig. As shown in Figure 10, when the pressure force P1 acts upon it, the front part (bumper front 72a) of the movable bumper 72 moves rearward against the preload force of the front support springs 75, and in response, each of the two left and right bumper side sections 72b, which are connected to the front bumper section 72a, moves toward the side surface 4b of the car 4 against the preload force of the side support springs 76. As a result, the left bumper side section 72b presses on the actuating element 73H of the left limit switch 73L and the right bumper side section 72b presses on the actuating element 73H of the right limit switch 73R (part (b) of Fig. 10) Note that in part (b) of Fig. 10 the movement of the right bumper side section 72b is omitted.

[0054] When the side sections 72b of the bumper move towards the side surface 4b of the car 4 as described above, two guide pins 72P, provided on the side sections 72b of the bumper, each move within two guide grooves 71M formed in the lateral base side sections 71b and extending obliquely from the front to the rear inner side (towards the side surface 4b of the car 4). As the side bumper side sections 72b move in this manner towards the side surface 4b of the car 4, the side bumper side sections move in an oblique direction approaching the side surface 4b of the car 4 and pointing rearward (arrow Y pointing in an oblique direction, shown in part (b) of Fig. 10).

[0055] The left limit switch 73L and the right limit switch 73R, which are pressed by the actuating parts 73H, are both switched on. Since both the left limit switch 73L and the right limit switch 73R, having been switched on, output a detection signal to the control device 34, the control device 34 detects that an obstacle has collided with the front part of the bumper 52.

[0056] If the pressure force P2 from the left oblique direction is applied to a left corner area of ​​the movable bumper 72 (part (a) of Fig. 11) acts or the pressure force P3 on the left side of the movable bumper 72 (left bumper side section 72b) (part (b) of Fig. 11) acts, the left bumper side section 72b moves against the preload force of the left support spring 76 (arrow Y, shown in part (a) of Fig. 11 and part (b) of Fig. 11) in the direction of the side surface 4b of the car 4. Thus, the front bumper section 72a, connected to the left bumper side section 72b, moves rearward against the preload force of the front support springs 75, and the right bumper side section 72b, connected to the front bumper section 72a, moves toward the side surface 4b of the car 4 against the preload force of the right support spring 76. As a result, the left and right limit switches 73 are activated and send a detection signal to the control device 34, so that the control device 34 detects that an obstacle is present in the left corner area of ​​the movable bumper 72.

[0057] As described above, in the conveying system according to the second embodiment, the collision detector, which detects the contact of the carriage 4 (the device being transported) with an obstacle, is located in the carriage 4 itself, and not in the conveying device (automatically guided vehicle 3) that transports the carriage 4. Therefore, if the carriage 4, transported by the automatically guided vehicle 3, collides with an obstacle, the collision can be reliably detected.

[0058] In the second embodiment, the collision detector comprises a bumper base 71 arranged to surround part of the outer surface of the carriage 4, which is the device to be transported, a movable bumper 72 arranged outside the bumper base 71 and elastically supported with respect to the bumper base 71, and a limit switch 73 which detects a movement in which the movable bumper 72 approaches the bumper base 71. When an obstacle collides with the movable bumper 72, the collision can be detected with a simple configuration.

[0059] Furthermore, in the second embodiment, both the bumper base 71 and the movable bumper 72 have a U-shape comprising three side sections that surround the three surfaces, with the exception of one surface that is to be coupled to the automatically guided vehicle 3, which is the device to be transported, among the four surfaces that form the side surface of the vehicle 4, which is the device to be transported. The limit switch 73 detects both operations in which two opposite side sections of the three side sections of the movable bumper 72 approach the bumper base 71 and operations in which a side section (bumper front section 72a) located between the two opposite side sections (bumper side sections 72b) of the three side sections approaches the bumper base 71. Therefore, the configuration for detecting a collision with an obstacle is simple.

[0060] In the second exemplary embodiment, in particular when a side section (bumper front section 72a) located between the two opposing side sections of the movable bumper 72 approaches the bumper base 71, each of the two corresponding side sections (two left and right bumper side sections 72b) approaches the bumper base 71 (see the description using part (b) of Fig. 10, which was described above). Therefore, it is not necessary to provide a limit switch 73 for each of the three side sections (bumper front section 72a and two left and right bumper side sections 72b), and the limit switch 73 for the bumper front section 72a can be omitted, so that the manufacturing costs can be reduced accordingly.

[0061] As described above, in the conveying system according to the first and second embodiments, the collision detector, which detects the contact of the device 4 to be transported with an obstacle, is provided in the device 4 itself, instead of in the conveying device (automatically guided vehicle 3) that transports the device 4. If the carriage 4 transported by the automatically guided vehicle 3 collides with an obstacle, the collision can thus be reliably detected.

[0062] Although the embodiments of the present invention have been shown above, the present invention is not limited to the embodiments mentioned above, and various modifications and the like may be made. For example, the bumper 52 in the first embodiment and the bumper base 71 and the movable bumper 72 in the second embodiment each have a U-shape, but the shapes of these elements are not particularly limited as long as the device to be transported includes a collision detector that detects that the transport device (cart 4) has collided with an obstacle.

[0063] Furthermore, in the first and second embodiments described above, the device to be transported is a carriage 4 for attaching the parts feeders, which are to be coupled to the component assembly device 2; however, this is only an example, and the present invention is not specifically limited to this. Furthermore, in the first and second embodiments described above, the conveying device is an automatically guided vehicle 3; however, the conveying device is not limited to an automatically guided vehicle 3, as long as it can convey the device to be transported. INDUSTRIAL APPLICABILITY

[0064] A conveying system and a device to be transported are provided, which is conveyed by a conveying device and which can reliably detect a collision if the device to be transported collides with an obstacle. REFERENCE MARKS IN THE DRAWINGS 1. Conveyor system 2-component assembly device 3 automatically guided vehicle (conveyor device) 4 trolleys (device to be transported) 4a Front 4b Side surface 4c back surface 4K wagon-side connector 11 Basic 11K component mounting fixture-side connector 23 parts feeders 36 coupling unit 51 Basic section 51a Anterior surface section 51b Side surface section 52 bumpers 52S spring element 52a Front side section 52b Section 53 Bumper sensor 54 Dead Zone Detector 55 Swivel arm 56 front swivel arm 56a Corner section 57 lateral swivel arm 71 Bumper base 72 movable bumper 73 Limit switches 74 Base support spring 75 front support spring 76 lateral support springs KR sensitive area FR dead zone

Claims

[1] Support system, comprehensive: a conveying device; and a device to be transported, wherein the conveying system connects the device to be transported to the conveying device and causes the conveying device to move in order to transport the device to be transported to a predetermined location, wherein The device to be transported includes a collision detector that detects a collision of the device to be transported with an obstacle. [2] Conveyor system according to claim 1, wherein The collision detector includes: a bumper arranged in such a way as to surround part of an outer surface of the device to be transported, and which is elastically supported in relation to the device to be transported; and a bumper sensor that is attached to an outer surface of the bumper and is configured to detect a collision of the bumper with the obstacle. [3] Conveyor system according to claim 2, wherein the outer surface of the device to be transported consists of a surface to be coupled with the conveying device and three surfaces, and The bumper sensor is positioned in a location that corresponds to each of the three surfaces. [4] Conveyor system according to claim 3, wherein the bumper has a U-shape, comprising three side sections that surround the three surfaces, and The bumper sensor is provided on each of the three side sections of the bumper. [5] Conveyor system according to claim 4, wherein The collision detector further comprises a swivel arm that extends to a position opposite a blind spot of the bumper sensor, and The swivel arm swings to come into contact with a sensitive area of ​​the bumper sensor in the event of a collision with the obstacle. [6] Conveyor system according to claim 1, wherein The collision detector includes: a bumper base designed to surround part of an outer surface of the device to be transported; a movable bumper that is provided outside the bumper base and is elastically supported in relation to the bumper base; and a limit switch that detects movement of the movable bumper towards the bumper base when the obstacle collides with the movable bumper. [7] Conveyor system according to claim 6, wherein the outer surface of the device to be transported, an area to be coupled with the conveying device, and comprises three surfaces, the movable bumper has three side sections that surround the three surfaces, the three side sections have two opposing side sections and one side section arranged between the two side sections, and The limit switch detects movement of each of the two side sections approaching the bumper base, and movement of the one side section approaching the bumper base. [8] Conveyor system according to claim 7, wherein the bumper base has a U-shape with three side sections surrounding the three surfaces. [9] Conveyor system according to claim 8, wherein when one side section approaches the bumper base, each of the two side sections operates in such a way as to approach the bumper base. [10] Conveyor system according to claim 1, wherein the device to be transported is a carriage for attaching a parts feeder which is to be coupled with a component assembly device. [11] Conveyor system according to claim 2, wherein the device to be transported is a carriage for attaching a parts feeder, which is to be coupled with a component assembly device, the device to be transported further comprises a wagon-side connector which is provided on the outer surface and is connected to a component-mounting-device-side connector contained in the component-mounting device, and Part of the bumper sensor protrudes outwards relative to the connector on the car side. [12] Device to be transported, which is coupled to a conveying device and is transported to a predetermined location by the movement of the conveying device, wherein the device to be transported comprises a collision detector which detects a collision of the device to be transported with an obstacle. [13] Device to be transported according to claim 12, wherein The collision detector includes: a bumper arranged in such a way as to surround part of an outer surface of the device to be transported, and which is elastically supported in relation to the device to be transported; and a bumper sensor that is attached to an outer surface of the bumper and is configured to detect a collision of the bumper with the obstacle. [14] Device to be transported according to claim 13, wherein: the outer surface of the device to be transported is formed from a surface to be coupled with the conveying device and three surfaces and The bumper sensor is positioned in a location that corresponds to each of the three surfaces. [15] Device to be transported according to claim 14, wherein the bumper has a U-shape with three side sections surrounding the three surfaces, and The bumper sensor is provided on each of the three side sections of the bumper. [16] Device to be transported according to claim 15, wherein: the collision detector further comprises a swivel arm that extends to a position facing a blind area of ​​the bumper sensor, and The swivel arm swings to come into contact with a sensitive area of ​​the bumper sensor in the event of a collision with the obstacle. [17] Device to be transported according to claim 12, wherein The collision detector includes: a bumper base designed to surround part of an outer surface of the device to be transported; a movable bumper that is provided outside the bumper base and is elastically supported in relation to the bumper base; and a limit switch that detects movement of the movable bumper towards the bumper base when the obstacle collides with the movable bumper. [18] Device to be transported according to claim 17, wherein the outer surface of the device to be transported comprises an area to be coupled with the conveying device and includes three surfaces, the movable bumper has three side sections that surround the three surfaces, the three side sections have two opposing side sections and one side section arranged between the two side sections, and The limit switch detects movement of each of the two side sections approaching the bumper base, and movement of the one side section approaching the bumper base. [19] Device to be transported according to claim 18, wherein the bumper base has a U-shape with three side sections surrounding the three surfaces. [20] Device to be transported according to claim 19, wherein when one side section approaches the bumper base, each of the two side sections operates in such a way as to approach the bumper base. [21] Device to be transported according to claim 12, wherein the device to be transported is a carriage for attaching a parts feeder which is to be coupled with a component assembly device. [22] Device to be transported according to claim 13, wherein the device to be transported is a carriage for attaching a parts feeder, which is to be coupled with a component assembly device, the device to be transported further comprises a wagon-side connector which is provided on the outer surface and is connected to a component-mounting-device-side connector contained in the component assembly device, and Part of the bumper sensor protrudes outwards relative to the connector on the car side.

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