Work system, processing device, and mounting method

Abstract

To bring a wheel into contact with a floor surface even when the floor surface is uneven or inclined.SOLUTION: A work system 100 according to a first aspect includes a work device 110 and a processing device 130 that is conveyed on a floor surface 300 on which the work device 110 is installed and is attached to / detached from the work device 110. The work device 110 includes a guide member 150 that guides movement of the processing device 130 when the processing device 130 is attached to the work device 110. The processing device 130 includes: a body portion 139; and a to-be-guided member 160 that is engaged with the guide member 150 to determine a position of the body portion 139 relative to the work device 110; a plurality of wheels that support the body portion 139; and a first suspension device 141 and a second suspension device 142 that are suspension devices for suspending a first wheel 131 and a second wheel 132, respectively, the first wheel and the second wheel being the wheels disposed apart from each other in a width direction orthogonal to, in a horizontal plane, a direction in which the processing device 130 is attached to / detached from the work device 110.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a working system including a working device and a processing device that performs processing on the working device, the processing device included in the working system, and a method for attaching the processing device to the working device. [Background technology]

[0002] Conventionally, there exists a processing device that is transported on a floor surface on which a working device that performs work on a printed circuit board or the like is installed, and is attached to the working device. Specifically, a component supplying device, which is one of the processing devices that automatically supplies components, particularly carrier tapes, to a component mounting device, which is one of the working devices, is transported on the floor surface and attached to the component mounting device.

[0003] Patent document 1 describes a technology in which a positioning section consisting of a pair of rails is provided on a component supplying device, and when the component supplying device is attached to a component mounting device, the component supplying device is guided via the positioning section by a guide means attached to the component mounting device, thereby correcting any positional deviation of the component supplying device relative to the component mounting device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-064679 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a component supplying device is attached to a conventional component mounting device, the wheels of the component supplying device, whose posture has been corrected by the guiding means, may become separated from the floor surface due to the unevenness or inclination of the floor surface, etc. In such a case, the inventors have found that the weight of the component supplying device is applied to the guiding means, which deforms the guiding means and makes it impossible to position it correctly.

[0006] The present invention has been made based on the inventor's findings, and an object of the present invention is to provide a working system, a processing device, and an installation method that reduce the load on a guide means. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, one aspect of the present invention is a work system comprising a work device, a processing device which is transported on a floor surface on which the work device is installed and which is attached to and detached from the work device, and a guide member which guides the movement of the processing device when the processing device is attached to the work device, and the processing device comprises a main body, a guided member which engages with the guide member to determine the position of the main body relative to the work device, a plurality of wheels which support the main body, and a first suspension device and a second suspension device which are suspension devices which suspend the first wheel and second wheel, respectively, which are arranged apart from each other in a width direction perpendicular to the horizontal plane to the attachment / detachment direction of the processing device relative to the work device.

[0008] In order to achieve the above-mentioned object, one aspect of the present invention is a processing device that is transported on a floor surface on which a working device is installed and is attached and detached to the working device, and includes a main body, a guided member that engages with a guide member that guides the movement of the processing device when the processing device is attached to the working device to determine the position of the main body with respect to the working device, a plurality of wheels that support the main body, and a first suspension device and a second suspension device that are suspension devices that suspend the first wheel and second wheel, respectively, which are the wheels that are arranged apart from each other in a width direction perpendicular to the horizontal plane to the attachment / detachment direction of the processing device with respect to the working device.

[0009] In order to achieve the above-mentioned object, one installation method of the present invention is an installation method for installing a processing device that is transported on a floor surface on which the working device is installed and is attached and detached to the working device, the working device having a guide member that guides the movement of the processing device when the processing device is attached to the working device, the processing device having a main body portion, a guided member that engages with the guide member to determine the position of the main body portion relative to the working device, a plurality of wheels that support the main body portion, and a first suspension device and a second suspension device that are suspension devices that suspend the first wheel and second wheel, respectively, which are the wheels that are arranged apart from each other in a width direction perpendicular to the attachment / detachment direction of the processing device to the working device in a horizontal plane, and the processing device is installed to the working device while determining the position of the main body portion relative to the working device by abutting the guided member of the processing device against the guide member of the working device. Effect of the Invention

[0010] According to the present invention, even if the floor surface is uneven or inclined, the wheels support the processing device through the suspension device, making it possible to suppress the load of the processing device applied to the guide member. [Brief description of the drawings]

[0011] [Figure 1] FIG. [Diagram 2] FIG. 2 is a perspective view showing the working device with a guide member omitted. [Diagram 3] FIG. 4 is a perspective view showing a guide member together with the secondary work device and the processing device in a partially see-through state. [Figure 4] FIG. 2 is a perspective view showing a wheel, a suspension device, and a guided member. [Diagram 5] FIG. 2 is a perspective view showing one side of a guide member and a guided member. [Figure 6] FIG. 4 is a side view showing the functions of a pitch guide portion and a pitch abutment portion. [Figure 7] 13 is a perspective view showing another example of a pitch guide portion and a pitch abutment portion. FIG. [Figure 8] FIG. 13 is a diagram showing the effect of the work system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the working system and processing device according to the present invention will be described with reference to the drawings. Note that the following embodiment is an example for explaining the present invention, and is not intended to limit the present invention. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical expressions, contents of each step in the method, and the order of each step shown in the following embodiment are examples, and may include contents not described below. In addition, geometric expressions such as parallel and orthogonal may be used, but these expressions do not indicate mathematical strictness, and include errors, deviations, etc. that are substantially acceptable. In addition, expressions such as simultaneous and identical also include a substantially acceptable range.

[0013] In addition, the drawings are schematic diagrams in which emphasis, omission, or adjustment of the ratio is appropriately performed in order to explain the present invention, and differ from the actual shapes, positional relationships, and ratios. In addition, the X-axis, Y-axis, and Z-axis that may be shown in the drawings indicate orthogonal coordinates that are arbitrarily set for the explanation of the drawings. In other words, the Z-axis is not necessarily an axis along the vertical direction, and the X-axis and Y-axis are not necessarily present in a horizontal plane.

[0014] In addition, in the following, a plurality of inventions may be collectively described as one embodiment, and some of the contents described below are described as optional components related to the present invention.

[0015] 1 is a perspective view showing a working system 100. The working system 100 is a system for performing a task on, for example, an object (not shown), and includes a working device 110 and a processing device 130. In the case of this embodiment, the working system 100 includes an automated guided vehicle 200 for transporting the processing device 130.

[0016] FIG. 2 is a perspective view of the operating device 110 with the guide member 150 omitted. The guide member 150 will be described later. Examples of the operating device 110 include devices that perform operations on a board, such as mounting components on the board, which is an object. Specifically, examples of the operating device 110 include devices that are incorporated into a circuit board manufacturing line, such as a solder printing device that prints solder paste on the surface of a printed circuit board or the like, a component mounting device that mounts components on a board, and a reflow furnace that melts solder paste by heating and mechanically and electrically connects the components to the board by cooling. In addition, the operating device 110 also includes an inspection device that performs inspections at each process of performing operations on the board, and a transport device that connects each device and transports boards in the middle of production.

[0017] In this embodiment, the working device 110 includes a working device main body 111 and a sub-working device 112 .

[0018] The operating device body 111 is a device that mainly performs operations on a board. For example, when the operating device 110 is a component mounting device, the operating device body 111 mounts components on a board.

[0019] The auxiliary operating device 112 is a device that is attached to and detached from the operating device main body 111, and is a device that performs a secondary operation on a board. For example, when the operating device 110 is a component mounting device, the auxiliary operating device 112 automatically supplies components to be mounted on a board to the operating device main body 111. The auxiliary operating device 112 may be composed of an auxiliary operating device main body 113 such as a component supply unit that transports a carrier tape that holds components in an arranged state to the operating device main body 111 and supplies the components to the operating device main body 111, and a cart 114 that holds the auxiliary operating device main body 113.

[0020] Fig. 3 is a perspective view showing the guide member 150 together with the secondary working device 112 and the processing device 130 in a partially see-through state. Fig. 4 is a perspective view showing the wheels, the suspension device, and the guided member 160. Fig. 5 is a perspective view showing one side of the guide member 150 and the guided member 160. The guide member 150 is a structure that determines the positional relationship of the processing device 130 with respect to the working device 110, and guides the movement of the processing device 130 when the processing device 130 is attached to the working device 110. The guide member 150 includes a first member 151. In the present embodiment, the guide member 150 includes a pitch guide portion 152.

[0021] The first member 151 is a member for positioning the processing device 130 relative to the working device 110. The first member 151 is a plate-like member extending in the attachment / detachment direction (Y-axis direction in the figure) along a vertical plane (YZ plane in the figure) that is a plane including the up and down directions, and is a pair of structural members arranged to face each other with a gap in the width direction (X-axis direction in the figure) perpendicular to the attachment / detachment direction in the horizontal plane.

[0022] In this embodiment, the pair of first members 151 protrude outward (Y- direction in the figure) from the working device body 111 along the attachment / detachment direction (Y-axis direction in the figure) in a horizontal plane (XY plane in the figure) and are arranged parallel to each other. The pair of first members 151 have a symmetrical shape with a plane including the up-down direction and the attachment / detachment direction as a plane of symmetry.

[0023] 3, a tapered surface 153 that gradually separates from each other toward the tip (the side of the processing device 130) of the pair of first members 151 is provided at the tip (the side of the processing device 130). When the processing device 130 is attached to the working device 110, the tip of the guided member 160 (described in detail later) first comes into contact with the tapered surface 153. As a result, even if the position of the processing device 130 relative to the working device 110 in the left-right direction is misaligned, the processing device 130 is guided by the tapered surface 153 and the position is corrected to an appropriate position.

[0024] In this embodiment, the first member 151 has both the function of a roll guide section that determines the roll angle (rotation angle around the Y axis in the figure) of the main body section 139 of the processing device 130, and the function of a yaw guide section that determines the yaw angle (rotation angle around the Z axis in the figure) of the main body section 139 of the processing device 130. Details will be described later. In the figure, the X axis corresponds to the width direction, the Y axis corresponds to the attachment / detachment direction, and the Z axis corresponds to the direction of gravity. Also, yaw is rotation around the Z axis, roll is rotation around the Y axis, and pitch is rotation around the X axis.

[0025] The pitch guide portion 152 is a portion that corrects the pitch angle of the main body portion 139 of the processing device 130. A method for correcting the pitch angle will be described later. The pitch guide portion 152 is a rectangular plate-like member that spreads in a plane (XZ plane in the figure) perpendicular to the attachment / detachment direction (Y-axis direction in the figure), rises vertically from the first member 151, and extends in the up-down direction. The pitch guide portion 152 abuts against the guided member 160 to determine the position of the processing device 130 relative to the working device 110 in the attachment / detachment direction.

[0026] The processing device 130 is a device that is transported on the floor surface 300 on which the operating device 110 is installed, performs processing between the operating device 110 while attached to the operating device 110, and is removed from the operating device 110 after the processing is completed. The type of the processing device 130 is not particularly limited. For example, examples of the processing device 130 include a carrier tape supplying device that supplies a container containing a carrier tape to a component mounting device that is one of the operating devices 110, a tray supplying device that supplies a tray on which components are placed, and a solder supplying device that supplies solder paste to a solder printing device. Moreover, the processing device 130 may be a device that accesses the operating device 110 and performs adjustment processing, etc., instead of supplying components.

[0027] In this embodiment, the processing device 130 executes processing between the processing device 110 while attached to the auxiliary working device 112, and after the processing is completed, the processing device 130 is removed from the auxiliary working device 112 by the automatic guided vehicle 200. As shown in Fig. 3, the processing device 130 includes a main body 139, a first wheel 131, a second wheel 132, a first suspension device 141, a second suspension device 142, and a pair of guided members 160. As shown in Fig. 4, in this embodiment, the processing device 130 includes a third wheel 133, a fourth wheel 134, a third suspension device 143, and a fourth suspension device 144.

[0028] The main body 139 is a part that actually performs work on the operating device 110. In the case of this embodiment, the main body 139 performs processing on the secondary operating device 112 while attached to the secondary operating device 112.

[0029] The first wheel 131 and the second wheel 132 are part of a plurality of wheels placed on the floor surface 300 and supporting the main body 139. The first wheel 131 and the second wheel 132 are arranged apart from each other in a width direction (X-axis direction in the drawing) perpendicular to the attachment / detachment direction (Y-axis direction in the drawing) of the processing device 130 to the working device 110 in a horizontal plane (XY plane in the drawing). The first wheel 131 and the second wheel 132 are attached to the lower part of the edge of the main body 139 on the side farther from the working device 110 in a state in which the processing device 130 is attached to the working device 110. The type of the first wheel 131 and the second wheel 132 is not limited, but in the case of this embodiment, casters that can rotate around the vertical direction are adopted.

[0030] In this embodiment, the processing device 130 is equipped with, as wheels, a third wheel 133 arranged spaced apart from the first wheel 131 and the second wheel 132 in the mounting / removal direction, and a fourth wheel 134 arranged spaced apart from the first wheel 131 and the second wheel 132 in the mounting / removal direction and spaced apart in the width direction from the third wheel 133. The types of the third wheel 133 and the fourth wheel 134 are not limited, but in this embodiment, casters that can rotate around the up and down direction are used.

[0031] The first suspension device 141 is disposed between the main body 139 and the first wheel 131, and adjusts the distance between the main body 139 and the first wheel 131 in the vertical direction to absorb undulations and inclinations of the floor surface 300. As shown in FIG. 4, in this embodiment, the first suspension device 141 includes a first elastic body 145 and a first damper 171, and functions as a buffer device that suppresses the influence of undulations and inclinations of the floor surface 300 from being transmitted to the main body 139 when the processing device 130 is transported. The first suspension device 141 is disposed in the lower part of the main body 139, and is disposed outside the main body 139 in the width direction.

[0032] The second suspension device 142 is similar to the first suspension device 141 and is disposed between the main body part 139 and the second wheel 132, and adjusts the distance between the main body part 139 and the second wheel 132 in the vertical direction in order to absorb undulations and inclinations of the floor surface 300. In the case of this embodiment, the second suspension device 142 includes a second elastic body 146 and a second damper (not shown).

[0033] In the present embodiment, the processing device 130 includes, as suspension devices, a third suspension device 143 that is disposed between the main body 139 and the third wheel 133 and absorbs the undulations and inclinations of the floor surface 300, and a fourth suspension device 144 that is disposed between the main body 139 and the fourth wheel 134 and absorbs the undulations and inclinations of the floor surface 300. The third suspension device 143 and the fourth suspension device 144 include a third elastic body 147 and a fourth elastic body 148, respectively. The third suspension device 143 and the fourth suspension device 144 also include a third damper (not shown) and a fourth damper (not shown), respectively. The third suspension device 143 and the fourth suspension device 144 are disposed below the main body 139. Each of the first damper 171, the second damper, the third damper, and the fourth damper damps vibration energy generated in the main body 139 and the like when the processing device 130 is transported.

[0034] The spring forces of the first elastic body 145 of the first suspension device 141, the second elastic body 146 of the second suspension device 142, the third elastic body 147 of the third suspension device 143, and the fourth elastic body 148 of the fourth suspension device 144 are not limited. For example, when the processing device 130 is placed on a horizontal floor surface 300, the spring forces of the first elastic body 145 to the fourth elastic body 148 may be set so as to keep the main body 139 horizontal. For example, when the distances from the position of the center of gravity of the main body 139 to each wheel (first wheel 131, second wheel 132, third wheel 132, fourth wheel 134) are equal to each other, the spring forces of all the elastic bodies from the first elastic body 145 to the fourth elastic body 148 may be the same. Furthermore, when the distances from the position of the center of gravity of the main body 139 to each wheel (first wheel 131, second wheel 132, third wheel 132, fourth wheel 134) are different from one another, the spring forces of the elastic bodies from the first elastic body 145 to the fourth elastic body 148 are set to values ​​according to the distances to the center of gravity of the main body 139. Depending on the unevenness of the articles loaded on the processing device 130, the main body 139 may not be able to be kept horizontal.

[0035] In this embodiment, the spring force of the first elastic body 145 and the spring force of the second elastic body 146 are set so that the width direction of the main body 139 is horizontal, and the spring force of the third elastic body 147 and the spring force of the fourth elastic body 148 are set so that the width direction of the main body 139 is horizontal. In addition, the spring force of each of the first elastic body 145, the second elastic body 146, the third elastic body 147, and the fourth elastic body 148 is set so that when the processing device 130 is placed on a horizontal floor surface 300, the working device 110 side faces downward (so that the processing device 130 faces downward) when the processing device 130 is attached to the working device 110. This allows the operation when the guide member 150 determines the pitch angle of the main body 139 of the processing device 130 to be limited to the direction in which the main body 139 is raised, and the structures of the pitch guide part 152 and the pitch abutment part 163 described later can be simplified.

[0036] 3, the guided member 160 is a member that abuts against the guide member 150 to determine the position of the main body 139 relative to the working device 110. The guided member 160 is a member that moves relatively along each of the pair of first members 151 when the processing device 130 is attached to the working device 110. The pair of guided members 160 are structures that protrude from the processing device 130 toward the working device 110 along the attachment / detachment direction (Y-axis direction in the figure) within a horizontal plane (XY plane in the figure) and are arranged parallel to each other. The pair of guided members 160 have a symmetrical shape with a vertical plane including the attachment / detachment direction and the up-down direction as a plane of symmetry.

[0037] 4, in this embodiment, guided member 160 includes a contact portion 161 that directly contacts guide member 150 and a holding portion 162 that holds a contact portion 161. The shape and structure of contact portion 161 are not limited, and may be, for example, a sliding member that slides relative to guide member 150. In this embodiment, contact portion 161 is a roller that is attached to holding portion 162 rotatably around a rotation axis that extends in the up-down direction (vertical direction).

[0038] Among the multiple contact parts 161, at least two contact parts 161 arranged at a distance from each other in the vertical direction function as roll contact parts that correct the posture of the main body part 139 of the processing device 130 in the roll direction. In the case of this embodiment, each of the guided members 160 has two pairs of roller-shaped contact parts 161 arranged at a distance from each other in the vertical direction on the same rotation axis extending in the vertical direction, arranged side by side in the attachment / detachment direction. On the other hand, from a different perspective, among the multiple contact parts 161, at least two contact parts 161 arranged at a distance from each other in the attachment / detachment direction function as yaw contact parts that correct the posture of the main body part 139 of the processing device 130 in the yaw direction. In the case of this embodiment, each of the guided members 160 has two pairs of roller-shaped contact parts 161 arranged at a distance from each other in the attachment / detachment direction, arranged side by side in the vertical direction. In other words, the four contact portions 161 arranged at the vertices of a rectangle on the guided member 160 can correct the posture of the main body portion 139 in the roll direction and the yaw direction as well by contacting the plate-shaped first member 151. The portions of the first member 151 that contact the multiple contact portions 161 function as a roll guide portion and a yaw guide portion.

[0039] In this embodiment, guided member 160 has pitch abutment portion 163 that abuts against pitch guide portion 152 that determines the pitch angle of main body portion 139. Guided member 160 has at least two pitch abutment portions 163 that are spaced apart from each other in the vertical direction, and abuts against pitch guide portion 152 at two locations in the vertical direction. The shape and structure of pitch abutment portion 163 are not limited, and may be, for example, a sliding member that slides relative to pitch guide portion 152. In this embodiment, pitch abutment portion 163 is a roller that is attached to holding portion 162 rotatably around a rotation axis extending in the width direction.

[0040] FIG. 6 is a side view showing the functions of the pitch guide section 152 and the pitch abutment section 163. In the present embodiment, as shown in (a) of FIG. 6, the spring force of the elastic body provided in each suspension device is set, so that when the processing device 130 is placed on a horizontal floor surface 300, the working device 110 side faces downward when the processing device 130 is attached to the working device 110. Therefore, when the processing device 130 is attached to the working device 110, the upper side of the pitch abutment section 163 arranged in the vertical direction abuts against the pitch guide section 152 first. Since the unmanned guided vehicle 200 applies a thrust (arrow in FIG. 6) to the processing device 130 between the pitch abutment section 163 arranged on the upper side and the pitch abutment section 163 arranged on the lower side, the upper pitch abutment section 163 moves upward along the pitch guide section 152 so as to correct the attitude of the tilted main body section 139 of the processing device 130. When the processing device 130 is placed at the mounting position, as shown in FIG. 6(b), both the upper and lower pitch abutment portions 163 abut against the pitch guide portion 152, and the attitude of the processing device 130 in the pitch direction is corrected.

[0041] The present invention is not limited to the above-described embodiment. For example, the components described in this specification may be combined in any manner, or some of the components may be removed to create another embodiment of the present invention. In addition, the present invention also includes modifications that are made to the above-described embodiment by those skilled in the art without departing from the spirit of the present invention, i.e., the meaning of the words in the claims.

[0042] For example, while the embodiment in which the guide member 150 is attached to the working device 110 has been described, the attachment position of the guide member 150 is not limited, and the guide member 150 may be attached to the floor surface 300 or the like.

[0043] Furthermore, the height position of the highest part of the pitch abutment portion 163 may be higher than the height position of the highest part of the abutment portion 161. This ensures that the pitch abutment portion 163 abuts against the pitch guide member 152 before the abutment portion 161 does, thereby reducing the force of posture correction in the pitch direction and making it easier to correct the posture of the processing device 130 in the pitch direction.

[0044] Furthermore, the third wheel 133, the fourth wheel 134, the third suspension device 143, and the fourth suspension device 144 are disposed below the main body 139 of the processing device 130, but they may also be disposed on the sides of the main body 139 in the width direction.

[0045] In addition, as shown in FIG. 7, the pitch guide portion 152 may be a member having an L-shaped cross section attached to the guide member 150, and the pitch abutment portion 163 may be attached to a side surface of the holding portion 162 in the width direction, rather than to the tip of the holding portion 162 in the attachment / detachment direction.

[0046] Further, although the case where processing device 130 is transported by automatic guided vehicle 200 has been described, processing device 130 may be transported by a manned guided vehicle or the like, or may be transported by human power.

[0047] A working system 100 of a first aspect of the embodiment comprises a working device 110, a processing device 130 which is transported on a floor surface 300 on which the working device 110 is placed and which is attached and detached to the working device 110, and a guide member 150 which guides the movement of the processing device 130 when the processing device 130 is attached to the working device 110. The processing device 130 comprises a main body 139, a guided member 160 which engages with the guide member 150 to determine the position of the main body 139 relative to the working device 110, a plurality of wheels which support the main body 139, and a first wheel 131 which is a wheel arranged at a distance from each other in a width direction perpendicular to the horizontal plane to the attachment / detachment direction of the processing device 130 relative to the working device 110, and a first suspension device 141 and a second suspension device 142 which are suspension devices which suspend the second wheel 132.

[0048] 8, with the processing device 130 attached to the working device 110 and the attitude of the main body 139 corrected, even if the floor surface 300 below the processing device 130 is tilted, the wheels come into contact with the floor surface 300 by the suspension devices, and each wheel supports the load of the main body 139. Therefore, the load of the main body 139 applied to the guide member 150 that corrects the attitude of the main body 139 can be reduced, and problems such as distortion of the guide member 150 can be avoided.

[0049] The second embodiment of the work system 100 includes the first embodiment, and the wheels include a first wheel 131 and a third wheel 133 arranged spaced apart from the second wheel 132 in the attachment / detachment direction, and the suspension device includes a third suspension device 143 that suspends the third wheel 133 relative to the main body portion 139.

[0050] The third embodiment of the work system 100 includes the second embodiment, and each of the first elastic body 145 provided in the first suspension device 141, the second elastic body 146 provided in the second suspension device 142, and the third elastic body 147 provided in the third suspension device 143 has a spring force set so as to keep the main body 139 horizontal when the processing device 130 is placed on a horizontal floor surface 300.

[0051] The fourth embodiment of the working system 100 includes the second embodiment, and each of the first elastic body 145 provided on the first suspension device 141, the second elastic body 146 provided on the second suspension device 142, and the third elastic body 147 provided on the third suspension device 143 has a spring force set so that when the processing device 130 is placed on a horizontal floor surface 300, the working device 110 side faces downward when the processing device 130 is attached to the working device 110, the guide member 150 has a pitch guide portion 152 that determines the pitch angle around the width of the main body portion 139, and the guided member 160 has a pitch abutment portion 163 that abuts against the pitch guide portion 152 at least two points spaced apart from each other in the vertical direction.

[0052] According to the working system 100 of the fourth aspect, the processing device 130 is transported in a posture in which the main body 139 is tilted so that the side of the main body 139 opposite to the side on which the automatic guided vehicle 200 is attached faces downward, so that the traveling state can be stabilized. Furthermore, when the processing device 130 is attached to the working device 110, the posture of the main body 139 is corrected by the pitch guide portion 152 and the pitch abutment portion 163.

[0053] The working system 100 of the fifth aspect includes the working system of the fourth aspect, and the pitch contact portions 163 are a plurality of rollers whose rotation axes extend in the width direction and which are arranged side by side in the vertical direction.

[0054] This can reduce friction that occurs between the guide member 150 and the guided member 160 during posture correction.

[0055] The sixth aspect of the work system 100 includes the fourth or fifth aspect, and the guide member 150 has a roll guide portion that determines the roll angle of the main body portion 139, and the guided member 160 has a roll abutment portion that abuts against the roll guide portion at least two points that are spaced apart from each other in the vertical direction, and the height position of the highest part of the pitch abutment portion 163 is higher than the height position of the highest part of the roll abutment portion.

[0056] According to the working system 100 of the sixth aspect, the attitude of the main body 139 in the pitch direction can be easily corrected.

[0057] The working system 100 of the seventh aspect includes the working system of the sixth aspect, and the roll contact portion is a plurality of rollers arranged side by side in the vertical direction, the rotation axes of which extend in the vertical direction.

[0058] According to the working system 100 of the seventh aspect, the posture of the main body 139 in the roll direction can be corrected with low friction.

[0059] The eighth aspect of the working system 100 includes any of the first to seventh aspects, and the guide member 150 has a yaw guide portion that determines the yaw angle around the vertical direction of the main body portion 139, and the guided member 160 has a yaw abutment portion that abuts the yaw guide portion at at least two points that are spaced apart from each other in the attachment / detachment direction.

[0060] The working system 100 of the ninth aspect includes the working system of the eighth aspect, and the yaw contact portion is a plurality of rollers whose rotation axes extend in the vertical direction and are arranged side by side in the attachment / detachment direction.

[0061] According to the working system 100 of the ninth aspect, the posture of the main body 139 in the yaw direction can be corrected with low friction.

[0062] The processing device 130 of the tenth aspect is a processing device 130 that is transported on a floor surface 300 on which the working device 110 is installed, and is attached and detached to the working device 110, and is equipped with a main body 139, a guided member 160 that engages with a guide member 150 that guides the movement of the processing device 130 when the processing device 130 is attached to the working device 110, and determines the position of the main body 139 relative to the working device 110, a plurality of wheels that support the main body 139, and a first wheel 131 that is a wheel that is arranged apart from each other in a width direction perpendicular to the horizontal plane to the attachment / detachment direction of the processing device 130 to / from the working device 110, and a first suspension device 141 and a second suspension device 142 that are suspension devices that suspend the second wheel 132.

[0063] 8, when processing device 130 is attached to working device 110 and the posture of main body 139 is corrected, even if floor surface 300 below processing device 130 is tilted, each suspension device allows the wheels to abut against floor surface 300 and each wheel supports the load of main body 139. Therefore, the load of main body 139 applied to guide member 150, which corrects the posture of main body 139, can be reduced, and problems such as distortion of guide member 150 can be avoided.

[0064] The mounting method of the eleventh aspect is a mounting method for mounting a processing device 130, which is transported on a floor surface 300 on which the processing device 110 is placed and is attached to and detached from the processing device 110, to the processing device 110, the processing device 110 is provided with a guide member 150 that guides the movement of the processing device 130 when the processing device 130 is attached to the processing device 110, the processing device 130 is provided with a main body portion 139, a guided member 160 that engages with the guide member 150 to determine the position of the main body portion 139 relative to the processing device 110, and a guided member 160 that supports the main body portion 139. The processing device 130 is equipped with a plurality of wheels supporting the processing device 130, a first wheel 131 which is a wheel arranged at a distance from each other in a width direction perpendicular to the horizontal plane to the direction in which the processing device 130 is attached to the working device 110, and a first suspension device 141 and a second suspension device 142 which are suspension devices for suspending the second wheel 132. The processing device 130 is attached to the working device 110 while determining the position of the main body 139 relative to the working device 110 by abutting the guided member 160 of the processing device 130 against the guide member 150 of the working device 110.

[0065] 8, when processing device 130 is attached to working device 110 and the attitude of main body 139 is corrected, even if floor surface 300 below processing device 130 is tilted, each suspension device allows the wheels to abut against floor surface 300 and each wheel supports the load of main body 139. Therefore, the load of main body 139 applied to guide member 150, which corrects the attitude of main body 139, can be reduced, and problems such as distortion of guide member 150 can be avoided. [Industrial Applicability]

[0066] The present invention can be used in a processing device that travels on a floor on which a substrate-related work line made up of working devices is installed and performs work on the attached working devices, and in a work system that includes the processing device. [Explanation of symbols]

[0067] 100 Working Systems 110 Work equipment 111 Work device body 112 Secondary work equipment 113 Auxiliary work device body 114 Trolley 130 Processing equipment 131 First wheel 132 Second wheel 133 Third wheel 134 Fourth wheel 139 Main body 141 First suspension system 142 Second suspension system 143 Third suspension system 144 Fourth suspension system 145 First Elastic Body 146 Second Elastic Body 147 Third Elastic Body 148 The Fourth Elastic Body 150 Guide member 151 First member 152 Pitch guide section 153 Tapered surface 160 Guided member 161 Contact part 162 Holding part 163 Pitch contact part 171 First Damper 200 Automated Guided Vehicle 300 Floor

Claims

1. A working device; A processing device that is transported on a floor surface on which the working device is installed and is attached to and detached from the working device; a guide member that guides the movement of the processing device when the processing device is attached to the working device, The processing device includes: A main body portion, a guided member that engages with the guide member to determine a position of the main body with respect to the working device; A plurality of wheels supporting the main body; the first wheel, which is the wheel, and the second wheel, which are arranged apart from each other in a width direction perpendicular to a horizontal plane and a direction in which the processing device is attached to and detached from the working device, and a first suspension device and a second suspension device, which are suspension devices for suspending the first wheel and the second wheel, respectively, are provided. Working system.

2. The wheel is a third wheel disposed spaced apart from the first wheel and the second wheel in a mounting / removal direction; The suspension device comprises: a third suspension device that suspends the third wheel relative to the main body portion The work system according to claim 1 .

3. The first elastic body of the first suspension device, the second elastic body of the second suspension device, and the third elastic body of the third suspension device each have a spring force set so as to keep the main body horizontal when the processing device is placed on a horizontal floor surface. The work system according to claim 2 .

4. a spring force is set for each of the first elastic body of the first suspension device, the second elastic body of the second suspension device, and the third elastic body of the third suspension device so that, when the processing device is placed on a horizontal floor surface, the working device side of the processing device is oriented downward when the processing device is attached to the working device; The guide member is a pitch guide portion for determining a pitch angle around the width direction of the main body portion, The guided member is The pitch contact portion is provided in at least two positions spaced apart from each other in the vertical direction and contacts the pitch guide portion. The work system according to claim 2 .

5. The pitch abutment portion is A plurality of rollers whose rotation axes extend in the width direction and are arranged side by side in the vertical direction. The operating system according to claim 4.

6. The guide member is a roll guide portion that determines a roll angle around the mounting and demounting direction of the main body portion, The guided member is a roll contact portion that contacts the roll guide portion at at least two points spaced apart from each other in the vertical direction; The height position of the highest part of the pitch contact portion is higher than the height position of the highest part of the roll contact portion. The operating system according to claim 4.

7. The roll contact portion is A rotation axis extends in the vertical direction, and the rollers are arranged in a line in the vertical direction. The operating system according to claim 6.

8. The guide member is a yaw guide portion for determining a yaw angle about the vertical direction of the main body portion, The guided member is a yaw contact portion that contacts the yaw guide portion at at least two points spaced apart from each other in the attachment / detachment direction; The operating system according to claim 1 or 2.

9. The yaw contact portion is The rotation shaft extends in the vertical direction, and the rollers are arranged side by side in the attachment / detachment direction. The operating system according to claim 8.

10. A processing device that is transported on a floor surface on which a work device is installed and is attached to and detached from the work device, A main body portion, a guided member that engages with a guide member that guides the movement of the processing device when the processing device is attached to the working device to determine a position of the main body with respect to the working device; A plurality of wheels supporting the main body; a first suspension device and a second suspension device which are suspension devices for suspending the first wheel and the second wheel, the first wheel being the wheels arranged apart from each other in a width direction perpendicular to a horizontal plane and a direction in which the processing device is attached to and detached from the working device; Processing unit.

11. A method for attaching a processing device to a work device, the processing device being transported on a floor surface on which the work device is installed and being detachably attached to the work device, comprising the steps of: The working device is a guide member for guiding the movement of the processing device when the processing device is attached to the working device; The processing device includes: A main body portion, a guided member that engages with the guide member to determine a position of the main body with respect to the working device; A plurality of wheels supporting the main body; a first suspension device and a second suspension device which are suspension devices for suspending the first wheel and the second wheel, the first wheel being the wheels arranged at a distance from each other in a width direction perpendicular to a horizontal plane and a direction in which the processing device is attached to and detached from the working device; The guided member of the processing device is brought into contact with the guide member of the working device, thereby determining the position of the main body with respect to the working device while attaching the processing device to the working device. How to install?

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