Automated guided vehicles

Abstract

An automatic conveying vehicle (100) for conveying a conveying target object by means of automated travel comprises a transfer mechanism (10) for loading and unloading the conveying target object, and an inspecting unit (20) for inspecting the conveying target object.

Description

[Technical Field]

[0001] The present invention relates to an automated guided vehicle that transports an object by automatic travel. [Background technology]

[0002] BACKGROUND ART Automatic transport vehicles capable of transporting objects by automatic travel, such as AGVs (Automatic Guided Vehicles) and AMRs (Autonomous Mobile Robots), are known.

[0003] As one such automated guided vehicle, Patent Document 1 discloses a specimen transport vehicle that travels around stations arranged along a transport path and transports specimens. Patent Document 1 describes that the specimen transport vehicle stops in front of a station that functions as an inspection device, transfers multiple specimens to the station, inspects the specimens at the station, and then retrieves the inspected specimens back into the specimen transport vehicle and transports them to another station. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-278409 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the specimen transport vehicle described in Patent Document 1 must transport and transfer specimens to a station that functions as an inspection device, and then wait until the specimen inspection is completed, which results in inefficiency in specimen transport and inspection.

[0006] The present invention is intended to solve the above-mentioned problems, and has an object to provide an automatic guided vehicle that can efficiently transport and inspect objects to be transported. [Means for solving the problem]

[0007] The automated guided vehicle of the present invention is an automated guided vehicle that transports an object to be transported by automatic travel, a transfer mechanism for loading and unloading the object to be transported; an inspection unit that inspects the transported object; The present invention is characterized by comprising: [Effects of the Invention]

[0008] According to the automatic guided vehicle of the present invention, since it is equipped with an inspection unit, it is possible to inspect the objects being transported while they are traveling, thereby enabling the transport and inspection of the objects to be carried out efficiently. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view schematically showing an automatic guided vehicle according to a first embodiment. [Figure 2] 1 is a plan view schematically showing a plurality of electronic components accommodated in a carrier tray, which is an example of an object to be transported; [Figure 3] FIG. 2 is a perspective view schematically illustrating an example of the configuration of a main part of an inspection unit. [Figure 4] FIG. 10 is a plan view schematically showing an example of the arrangement position of the vibration-isolating member. [Figure 5] FIG. 1 is a perspective view schematically showing a wire rope vibration isolator, which is an example of a vibration-isolating member. [Figure 6] 10 is a side cross-sectional view for explaining a method for fixing the inspection unit by a positioning pin. FIG. [Figure 7] FIG. 10 is a perspective view schematically showing an automatic guided vehicle according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The features of the present invention will be specifically described below by showing embodiments of the present invention. First Embodiment 1 is a perspective view schematically illustrating an automated guided vehicle 100 according to the first embodiment. The automated guided vehicle 100 according to the first embodiment is an automated guided vehicle that transports an object 1 by automatic travel, and includes a transfer mechanism 10 that loads and unloads the object 1, and an inspection unit 20 that inspects the object 1.

[0011] The automated guided vehicle 100 is a vehicle capable of transporting an object 1 to be transported by automatic travel, and is, for example, either an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). The AGV is an unmanned vehicle capable of automatic travel along a transport path provided with magnetic tapes, magnetic bars, etc. For example, the width of the AGV is 500 mm to 2000 mm, the depth is 500 mm to 2000 mm, and the height is 500 mm to 2000 mm. For example, the movement speed of the AGV is 0.05 m / s to 1 m / s, and the transportable weight of the AGV is 100 kg to 500 kg. The AMR is an unmanned vehicle capable of automatic travel that grasps the surrounding situation using sensors, etc., without requiring physical guides such as magnetic tapes or magnetic bars.

[0012] The automated guided vehicle 100, for example, loads the transport object 1 at a loading position, travels, stops at an unloading position, and unloads the transport object 1.

[0013] The transfer mechanism 10 and the inspection unit 20 are mounted on a main body 100a of the automated guided vehicle 100. The main body 100a is a main body portion of a vehicle capable of autonomous driving. For example, the main body 100a is equipped with tires and wheels, or omni-wheels, crawlers, etc. for autonomous driving.

[0014] The transfer mechanism 10 may be of any configuration as long as it can load the transport object 1 onto the inspection unit 20 and unload the transport object 1 from the inspection unit 20. The transfer mechanism 10 is, for example, at least one of a vertical articulated robot and a horizontal articulated robot. When the transfer mechanism 10 is at least one of a vertical articulated robot and a horizontal articulated robot, the installation area of ​​the transfer mechanism 10 can be reduced, making it easier to secure a place to install the inspection unit 20 and also enabling the automated guided vehicle 100 to be made more compact. Furthermore, the vertical articulated robot and the horizontal articulated robot have a wide range of motion, which increases the degree of freedom in loading and unloading the transport object 1.

[0015] 1 shows a vertical articulated robot having a gripping unit 11 as the transfer mechanism 10. The transfer mechanism 10 shown in FIG. 1 is configured to be able to load the transport object 1 gripped by the gripping unit 11 onto the automatic guided vehicle 100, and to unload the transport object 1 loaded on the automatic guided vehicle 100 from the automatic guided vehicle 100. The transfer mechanism 10 places the loaded transport object 1 at a position where it can be inspected by the inspection unit 20.

[0016] There are no particular restrictions on the type of transport object 1 transported by the automated guided vehicle 100. For example, the transport object 1 is a plurality of electronic components 2 accommodated in a transport tray 3, as shown in Fig. 2. The transport tray 3 shown in Fig. 2 has a plurality of storage sections 4 arranged in a matrix, and each of the storage sections 4 accommodates an electronic component 2.

[0017] When the transport object 1 is an electronic component 2, the automated guided vehicle 100 is used, for example, in a factory that manufactures the electronic component 2. The electronic component 2, which is the transport object 1, is, for example, a multilayer ceramic capacitor having external electrodes. However, the electronic component 2 is not limited to a multilayer ceramic capacitor and may be a thermistor, inductor, EMI filter, or the like. The shape of the electronic component 2 is also arbitrary, and may be a chip or a plate. Furthermore, the electronic component 2 may be a single component, a module component consisting of multiple components, or a semi-finished electronic component before completion. Furthermore, the transport object 1 is not limited to an electronic component 2.

[0018] The inspection unit 20 inspects the transport object 1. More specifically, the inspection unit 20 inspects the transport object 1 while the automated guided vehicle 100 is traveling. There are no particular restrictions on the type of inspection of the transport object 1. For example, the inspection unit 20 performs at least one of an appearance inspection and an electrical characteristic inspection of the transport object 1. The appearance inspection of the transport object 1 is an inspection to detect appearance defects such as scratches on the surface of the transport object 1, adhesion of foreign matter, cracks, and chips. The electrical characteristic inspection of the transport object 1 is an inspection to confirm the characteristics of the electronic component 2 by applying or passing a voltage through the transport object 1, such as a current test of the electronic component 2, which is the transport object 1, a resistance measurement test of the electronic component 2, and a capacitance measurement test of a multilayer ceramic capacitor, which is the electronic component 2. Here, the description will be given assuming that the inspection unit 20 performs an appearance inspection of the transport object 1.

[0019] Fig. 3 is a perspective view schematically showing an example of the configuration of the main parts of the inspection unit 20. The inspection unit 20 shown in Fig. 3 includes an imaging device 21, an XYZ linear motion mechanism 22, and a processing device 23 (see Fig. 1).

[0020] The XYZ linear motion mechanism 22 is configured so that the portion to which the imaging device 21 is attached can move independently in the X-axis direction, the Y-axis direction, and the Z-axis direction. In this embodiment, the Z-axis direction is the vertical direction. Any two of the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

[0021] The imaging device 21 may be any device that can capture an image of the transport object 1. The imaging device 21 is attached to an XYZ linear motion mechanism 22, and can be moved in the X-axis direction, the Y-axis direction, and the Z-axis direction by the XYZ linear motion mechanism 22.

[0022] When performing an appearance inspection of the electronic component 2, which is the transported object 1, the XYZ linear motion mechanism 22 adjusts the position of the imaging device 21 in the Z-axis direction so that it is in focus on the electronic component 2, and moves the imaging device 21 in the X-axis and Y-axis directions to sequentially image multiple electronic components 2.

[0023] In this embodiment, the carrier tray 3 is placed on the placement table 24 so that the multiple storage sections 4 arranged in a matrix are aligned in the X-axis and Y-axis directions. The imaging device 21 moves in the X-axis and Y-axis directions to sequentially capture images of the electronic components 2 stored in each of the multiple storage sections 4 of the carrier tray 3. However, the imaging device 21 may be configured to capture images of two or more electronic components 2 at a time.

[0024] The image of the electronic component 2 captured by the imaging device 21 is sent to the processing device 23. In this embodiment, the processing device 23 is provided inside the main body 100a of the automated guided vehicle 100, as shown in Fig. 1. However, the processing device 23 may be provided on the surface of the main body 100a, or may be configured integrally with the imaging device 21 and the XYZ linear motion mechanism 22 so as to be attachable to and detachable from the main body 100a.

[0025] The processing device 23 performs an appearance inspection of the electronic components 2 based on the images of the electronic components 2 captured by the imaging device 21. For example, the processing device 23 detects appearance defects such as scratches on the surface of the electronic components 2, foreign matter attached to the surface of the electronic components 2, and cracks or chips in the electronic components 2, and classifies electronic components 2 having appearance defects as defective products and electronic components 2 without appearance defects as non-defective products. The processing device 23 also stores the results of the inspection by the inspection unit 20. The results of the inspection by the inspection unit 20 include, for example, the positions of electronic components 2 determined to be defective among the multiple electronic components 2 accommodated in the carrier tray 3, and the type of defect. The type of defect refers to the type of appearance defect, and includes, for example, scratches on the surface of the electronic components 2, foreign matter attached to the surface of the electronic components 2, cracks in the electronic components 2, chips in the electronic components 2, etc.

[0026] When the inspection unit 20 inspects the electrical characteristics of the transport object 1, the inspection unit 20 is provided with components necessary for the electrical characteristic inspection, such as a probe that comes into contact with the electronic component 2. The size of the inspection unit 20 excluding the processing device 23 in each of the X-axis direction, Y-axis direction, and Z-axis direction is, for example, 150 mm to 500 mm. The weight of the inspection unit 20 excluding the processing device 23 is, for example, 30 kg to 400 kg.

[0027] The inspection unit 20 may be configured to perform both an appearance inspection and an electrical characteristic inspection of the transport object 1, or may be configured to perform a plurality of types of inspection.

[0028] The automated guided vehicle 100 in this embodiment further includes a communication device 30 that transmits the results of the inspection by the inspection unit 20 to the outside of the automated guided vehicle 100 via wireless communication (see FIG. 1). As shown in FIG. 1, the communication device 30 is provided inside the main body 100a of the automated guided vehicle 100, but may also be provided on the surface of the main body 100a.

[0029] The inspection results by the inspection unit 20 transmitted by the communication device 30 are used, for example, in the process of recovering the plurality of electronic components 2 from the carrier tray 3. That is, when recovering the plurality of electronic components 2 from the carrier tray 3, the components are separated into non-defective and defective components based on the inspection results.

[0030] As described above, according to the automated guided vehicle 100 of this embodiment, the inspection unit 20 inspects the transport object 1 while the automated guided vehicle 100 is traveling, thereby enabling efficient transport and inspection of the transport object 1. In other words, unlike conventional automated guided vehicles that are not equipped with an inspection unit, there is no need to stop in front of an external inspection device to unload the transport object 1, inspect it with the inspection device, and then reload the transport object 1 after the inspection is complete, so the transport and inspection of the transport object 1 can be performed efficiently in a short time.

[0031] Furthermore, by providing the automated guided vehicle 100 with the communication device 30, the results of the inspection by the inspection unit 20 can be transmitted to the outside of the automated guided vehicle 100 accurately and quickly.

[0032] The automated guided vehicle 100 may communicate information related to the transport operation, such as the current location, destination, travel route, loading status of the transport target object 1, and details of loading and unloading operations at the destination, with an external party. In this case, the communication device 30 may be configured to further communicate information related to the transport operation with an external party. This allows the inspection result information and the information related to the transport operation to be handled as a single unit, facilitating collaboration such as changing the content of the transport operation depending on the progress and results of the inspection. The automated guided vehicle 100 may also be equipped with another communication device for communicating information related to the transport operation with an external party. This prevents a large amount of inspection result information transmitted by the communication device 30 from overwhelming the communication of information related to the transport operation transmitted by the other communication device, thereby stabilizing the transport operation.

[0033] <Second embodiment> In the second embodiment of the automated guided vehicle 100, at least a portion of the inspection unit 20 is detachably attached to the main body 100a of the automated guided vehicle 100, and a vibration-damping member 40 is arranged between at least a portion of the inspection unit 20 and the main body 100a of the automated guided vehicle 100 (see Figure 4).

[0034] In the automatic guided vehicle 100 of the first embodiment, at least a portion of the inspection unit 20 is configured to be separable from the main body 100a of the automatic guided vehicle 100, but it may also be configured integrally with the main body 100a.

[0035] In this embodiment, the inspection unit 20 also performs a visual inspection of the transport target object 1, and will be described as having the configuration shown in Fig. 3. As described above, the processing device 23 is provided inside the main body 100a of the automatic transport vehicle 100, and therefore at least a part of the inspection unit 20 that is separably attached to the main body 100a is the imaging device 21 and the XYZ linear motion mechanism 22.

[0036] The vibration-damping member 40 is arranged to suppress transmission of vibrations from the main body 100a to at least a part of the above-described inspection unit 20 when the automated guided vehicle 100 is traveling. By arranging the vibration-damping member 40 between at least a part of the inspection unit 20 and the main body 100a of the automated guided vehicle 100, it is possible to suppress transmission of vibrations to at least a part of the above-described inspection unit 20, and it is possible to improve the accuracy of inspection of the transported object 1 by the inspection unit 20.

[0037] Examples of vibration-isolating members 40 that can be used include wire rope vibration isolators, coil springs, gel buffers, metal spherical suspensions, and active vibration isolation tables. Commercially available wire rope vibration isolators and coil springs can be used. Gel buffers are buffers that use gel, such as silicone gel. Metal spherical suspensions are spherical suspensions made of metal that suppress the transmission of vibrations by dispersing them in all directions. Active vibration isolation tables detect vibrations and cancel them out by applying vibrations of the opposite phase to the detected vibrations. It is preferable to use an appropriate vibration-isolating member 40 depending on the frequency of the vibrations generated when the automated guided vehicle 100 is traveling.

[0038] The number of vibration-damping members 40 to be placed between at least a portion of the inspection unit 20 and the main body 100a of the automatic guided vehicle 100 is arbitrary, but by placing multiple members, vibrations transmitted to the inspection unit 20 can be more effectively suppressed.

[0039] FIG. 4 is a plan view showing an example of the arrangement position of the vibration-isolating member 40 when viewed vertically. More specifically, FIG. 4 is a view of the inspection unit 20 in which the vibration-isolating member 40 is arranged, viewed vertically from below. However, the inspection unit 20 in which the vibration-isolating member 40 is arranged does not include the processing device 23. Here, the vibration-isolating member 40 will be described as a wire rope vibration isolator 41 as shown in FIG. 5. The wire rope vibration isolator 41 shown in FIG. 5 has a structure in which a first holding member 42 and a second holding member 43 are connected by a spirally wound wire rope 44. The first holding member 42 is attached to the main body 100a of the automated guided vehicle 100, and the second holding member 43 is attached to the inspection unit 20 excluding the processing device 23.

[0040] 4, when viewed vertically, the inspection unit 20 excluding the processing device 23 has a rectangular shape, and wire rope vibration isolators 41, which are vibration-isolating members 40, are provided near each of the four corners of the rectangle. By arranging the four wire rope vibration isolators 41 near each of the four corners, the load of the inspection unit 20 can be received by the four wire rope vibration isolators 41 approximately evenly.

[0041] As shown in Fig. 4, each of the four wire rope vibration isolators 41 is provided such that the winding axis 45 of the wire rope 44 is inclined with respect to the linear direction S1 of the automated guided vehicle 100. "Inclined" means that the winding axis 45 of the wire rope 44 and the linear direction S1 of the automated guided vehicle 100 are not parallel. By providing the wire rope vibration isolators 41 such that the winding axis 45 of the wire rope 44 is inclined with respect to the linear direction S1 of the automated guided vehicle 100, it becomes possible to effectively suppress not only vibrations in the linear direction S1 of the automated guided vehicle 100, but also vibrations in a direction S2 perpendicular to the linear direction S1.

[0042] It is preferable that the winding axis 45 of the wire rope 44 has an angle of 30° or more and 60° or less with respect to the linear direction S1 of the automated guided vehicle 100. By having the winding axis 45 of the wire rope 44 have an angle of 30° or more and 60° or less with respect to the linear direction S1 of the automated guided vehicle 100, vibrations in the linear direction S1 and vibrations in the direction S2 perpendicular to the linear direction S1 can be more effectively suppressed. In the example shown in Fig. 4, the winding axis 45 of the wire rope 44 has an angle of 45° with respect to the linear direction S1 of the automated guided vehicle 100, which can most effectively suppress vibrations in the linear direction S1 and vibrations in the direction S2 perpendicular to the linear direction S1.

[0043] At least a portion of the inspection unit 20 is fixed to the main body 100a of the automated guided vehicle 100 by a positioning pin 50 (see FIG. 4). By fixing at least a portion of the inspection unit 20 to the main body 100a of the automated guided vehicle 100 by the positioning pin 50, at least a portion of the detachable inspection unit 20 can be attached to the main body 100a of the automated guided vehicle 100 in the same position. This makes it possible to maintain a constant relative positional relationship between the transfer mechanism 10 and the inspection unit 20, facilitating loading and unloading of the transported object 1 by the transfer mechanism 10. In other words, if the relative positional relationship between the transfer mechanism 10 and the inspection unit 20 changes, it is necessary to determine the loading position using an imaging device, a sensor, or the like when the transfer mechanism 10 loads the transported object 1 into the inspection unit 20. However, since the relative positional relationship between the transfer mechanism 10 and the inspection unit 20 is constant, the imaging device, the sensor, or the like is not required.

[0044] In order to more firmly securely fix the inspection unit 20, it is preferable that at least a portion of the inspection unit 20 be fixed to the automated guided vehicle 100 by a plurality of positioning pins 50. In the example shown in Fig. 4, the inspection unit 20 excluding the processing device 23 is fixed to the main body 100a by four positioning pins 50. However, the number of positioning pins 50 is not limited to four.

[0045] 6 is a side cross-sectional view for explaining a method for fixing at least a part of the inspection unit 20 by the positioning pin 50. The upper view of FIG. 6 shows a state in which the inspection unit 20 is not fixed, and the lower view of FIG. 6 shows a state in which the inspection unit 20 is fixed by the positioning pin 50.

[0046] The tip of the positioning pin 50 has a conical or truncated conical shape. The inspection unit 20 is provided with a hole 25 into which the positioning pin 50 fits. The hole 25 has a shape corresponding to the shape of the tip of the positioning pin 50.

[0047] As will be described later, when the inspection unit 20 excluding the processing device 23 is fixed by the positioning pin 50, one end of the positioning pin 50 is inserted into a hole 25 provided in the inspection unit 20, and the other end is connected to a lifting mechanism 60. The lifting mechanism 60 is, for example, an electric cylinder. Alternatively, the hole 25 into which one end of the positioning pin 50 fits may be provided in the lifting mechanism 60, and the other end of the positioning pin 50 may be connected to the inspection unit 20.

[0048] The automated guided vehicle 100 in this embodiment further includes a resin layer 61 and an expandable spring 62. As shown in the lower diagram of FIG. 6, the inspection unit 20 excluding the processing device 23 is fixed by the positioning pin 50, and the resin layer 61 abuts against the inspection unit 20 excluding the processing device 23. The resin layer 61 is made of, for example, urethane rubber. A through hole is provided in the resin layer 61, and the positioning pin 50 passes through the through hole. The spring 62 is, for example, a coil spring, and one end is attached to the lifting mechanism 60 and the other end is attached to the resin layer 61.

[0049] The positioning pin 50, the lifting mechanism 60, the resin layer 61, and the spring 62 are provided on the main body 100a of the automated guided vehicle 100. When the inspection unit 20 excluding the processing device 23 is attached and fixed to the main body 100a of the automated guided vehicle 100, the positioning pin 50 is lifted by the lifting mechanism 60, and at this time, the spring 62 attached to the lifting mechanism 60 and the resin layer 61 also lift. That is, although the positioning pin 50 and the resin layer 61 both lift, they are configured so that the resin layer 61 abuts against the inspection unit 20 excluding the processing device 23 before the positioning pin 50 contacts the inspection unit 20 excluding the processing device 23, as shown in the upper diagram of FIG. 6 .

[0050] When the lifting mechanism 60 is further raised in this state, the spring 62 expands and contracts, and the elastic force of the spring 62 is applied to the resin layer 61 in a direction that pushes the inspection unit 20 excluding the processing device 23. This absorbs the minute vibrations of the resin layer 61 and the positioning pin 50 that penetrates the resin layer 61. With the minute vibrations absorbed, the lifting mechanism 60 further raises the positioning pin 50, and the tip of the positioning pin 50 is inserted into and fitted into the hole 25 of the inspection unit 20 (lower diagram in FIG. 6). This fixes the inspection unit 20 excluding the processing device 23 to the main body 100a of the automatic guided vehicle 100.

[0051] In this way, when inserting the positioning pin 50 into the hole 25 of the inspection unit 20, the resin layer 61 is brought into contact with the inspection unit 20 and the elastic force of the spring 62 is applied, thereby suppressing vibration of the resin layer 61 and the positioning pin 50 penetrating the resin layer 61, before inserting the positioning pin 50 into the hole 25 of the inspection unit 20. This makes it possible to suppress wear and damage to the positioning pin 50 and the inspection unit 20 due to collision between the positioning pin 50 and the inspection unit 20 caused by vibration.

[0052] <Third embodiment> 7 is a perspective view schematically illustrating an automated guided vehicle 100 according to the third embodiment. The automated guided vehicle 100 according to the third embodiment further includes a combination vehicle 70 that can be connected to and disconnected from the main body 100a of the automated guided vehicle 100.

[0053] The vehicle combination 70 in this embodiment has wheels like the main body 100a, and when coupled to the main body 100a, can travel together with the main body 100a by the automatic travel of the main body 100a.

[0054] The transfer mechanism 10 is mounted on the main body 100a of the automated guided vehicle 100. Meanwhile, at least a portion of the inspection unit 20 is mounted on the articulated vehicle 70. In this embodiment as well, the inspection unit 20 is equipped with an imaging device 21, an XYZ linear motion mechanism 22, and a processing device 23, and of the inspection unit 20, the imaging device 21 and the XYZ linear motion mechanism 22 are mounted on the articulated vehicle 70. Also, of the inspection unit 20, the processing device 23 is mounted on the main body 100a. However, the entire inspection unit 20 including the processing device 23 may be mounted on the articulated vehicle 70.

[0055] In the third embodiment, like the automatic guided vehicle 100 in the first and second embodiments, the inspection unit 20 inspects the object 1 to be transported while the automatic guided vehicle 100 is traveling, thereby enabling efficient transportation and inspection of the object 1 to be transported.

[0056] Furthermore, in the automated guided vehicle 100 of this embodiment, at least a portion of the inspection unit 20 is mounted on the articulated vehicle 70, making it possible to easily change the type of inspection of the transported object 1. That is, by preparing in advance articulated vehicles 70 equipped with different inspection units 20 according to the type of inspection, the inspection unit 20 can be easily changed simply by changing the articulated vehicle 70 connected to the main body 100a, making it possible to easily change the type of inspection of the transported object 1. The inspection unit 20 mounted on the articulated vehicle 70 may be the entirety or a portion thereof.

[0057] Note that multiple articulated vehicles 70 equipped with different inspection units 20 may have the same configuration as each other except for the inspection units 20, or may have different configurations. In each of the multiple articulated vehicles 70 equipped with inspection units 20, the position at which the transfer mechanism 10 loads the transport object 1 may be the same or different. If the positions at which the transfer mechanism 10 loads the transport object 1 are different in each of the multiple articulated vehicles 70 equipped with inspection units 20, the main body 100a may further include a loading position adjustment mechanism. The loading position adjustment mechanism may recognize the articulated vehicle 70 coupled to the main body 100a and change the position at which the transfer mechanism 10 loads the transport object 1.

[0058] The present invention is not limited to the above-described embodiments, and various applications and modifications can be made within the scope of the present invention. For example, the characteristic configurations of the above-described embodiments can be combined as appropriate.

[0059] The automated guided vehicle in this application is as follows. <1> An automated guided vehicle that transports an object by automatic driving, a transfer mechanism for loading and unloading the object to be transported; an inspection unit that inspects the transported object while the automatic transport vehicle is traveling; An automated guided vehicle comprising: <2> The present invention is characterized in that the present invention further comprises a communication device that transmits the results of the inspection by the inspection unit to the outside of the automatic guided vehicle by wireless communication. <1> The automated guided vehicle described in <3> At least a part of the inspection unit is detachably attached to the main body of the automatic guided vehicle; a vibration-isolating member is disposed between at least a part of the inspection unit and the main body of the automatic guided vehicle. <1> or <2> The automated guided vehicle described in <4> The vibration-isolating member is a wire rope vibration isolator having a structure in which a first holding member attached to the main body of the automatic guided vehicle and a second holding member attached to the inspection unit are connected by a spirally wound wire rope, The wire rope vibration isolator is characterized in that the winding axis of the wire rope is inclined with respect to the straight direction of the automatic guided vehicle. <3> The automated guided vehicle described in <5> The winding axis of the wire rope is inclined at an angle of 30° to 60° with respect to the straight direction of the automatic guided vehicle. <4> The automated guided vehicle described in <6> At least a part of the inspection unit is fixed to the main body of the automatic guided vehicle by a positioning pin. <1> ~ <5> 10. An automated guided vehicle according to claim 9, wherein: <7> One end of the positioning pin is inserted into a hole provided in the inspection unit, and the other end is connected to a lifting mechanism; a resin layer in contact with the inspection unit; an expandable spring, one end of which is attached to the lifting mechanism and the other end of which is attached to the resin layer; Further characterized by comprising <6> The automated guided vehicle described in <8> The transfer mechanism is at least one of a vertical articulated robot and a horizontal articulated robot. <1> ~ <7> 10. An automated guided vehicle according to claim 9, wherein: <9> The inspection unit is characterized in that it performs at least one of an appearance inspection and an electrical characteristic inspection of the transported object. <1> ~ <8> 10. An automated guided vehicle according to claim 9, wherein: <10> Further provided is a connecting vehicle that can be connected to and disconnected from the main body of the automatic guided vehicle, At least a part of the inspection unit is mounted on the combination vehicle. <1> ~ <9> 10. An automated guided vehicle according to claim 9, wherein: <11> The object to be transported is any one of a multilayer ceramic capacitor, a thermistor, an inductor, an EMI filter, a module component, and a semi-finished electronic component. <1> ~ <10> 10. An automated guided vehicle according to claim 9, wherein: <12> The automated guided vehicle is either an AGV or an AMR. <1> ~ <11> 10. An automated guided vehicle according to claim 9, wherein: [Explanation of symbols]

[0060] 1. Transported objects 2. Electronic Components 3 Transport tray 4. Storage section 10 Transfer mechanism 20 Inspection Unit 21 Imaging device 22 XYZ linear motion mechanism 23 Processing equipment 24 Mounting table 25 holes 30 Communication equipment 40 Vibration-isolating member 41 Wire rope vibration isolator 42 first holding member 43 Second holding member 44 Wire Rope 45 Winding shaft 50 Locating Pin 60 Lifting mechanism 61 Resin layer 62 Spring 70 Consolidated car 100 Automated Guided Vehicles 100a Main body of the automatic guided vehicle

Claims

1. An automated guided vehicle that transports an object to be transported by automatic travel, a transfer mechanism for loading and unloading the object to be transported; an inspection unit that inspects the transported object while the automatic transport vehicle is traveling; An automated guided vehicle comprising:

2. 2. The automated guided vehicle according to claim 1, further comprising a communication device that transmits the results of the inspection by the inspection unit to an outside of the automated guided vehicle by wireless communication.

3. At least a part of the inspection unit is detachably attached to a main body of the automatic guided vehicle; 2. The automated guided vehicle according to claim 1, wherein a vibration-isolating member is disposed between at least a part of the inspection unit and the main body of the automated guided vehicle.

4. the vibration-isolating member is a wire rope vibration isolator having a structure in which a first holding member attached to the main body of the automatic guided vehicle and a second holding member attached to the inspection unit are connected by a spirally wound wire rope, 4. The automated guided vehicle according to claim 3, wherein the wire rope vibration isolator is provided such that the winding axis of the wire rope is inclined with respect to the linear direction of the automated guided vehicle.

5. 5. The automated guided vehicle according to claim 4, wherein the winding axis of the wire rope is inclined at an angle of 30 degrees to 60 degrees relative to the linear direction of the automated guided vehicle.

6. 2. The automated guided vehicle according to claim 1, wherein at least a portion of the inspection unit is fixed to the main body of the automated guided vehicle by a positioning pin.

7. One end of the positioning pin is inserted into a hole provided in the inspection unit, and the other end is connected to a lifting mechanism; a resin layer in contact with the inspection unit; an expandable spring, one end of which is attached to the lifting mechanism and the other end of which is attached to the resin layer; The automated guided vehicle according to claim 6, further comprising:

8. 2. The automatic guided vehicle according to claim 1, wherein the transfer mechanism is at least one of a vertical articulated robot and a horizontal articulated robot.

9. 2. The automated guided vehicle according to claim 1, wherein the inspection unit performs at least one of an appearance inspection and an electrical characteristic inspection of the transported object.

10. further comprising a combination vehicle that can be connected to and disconnected from the main body of the automated guided vehicle; 2. The automated guided vehicle according to claim 1, wherein at least a part of the inspection unit is mounted on the articulated vehicle.

11. 2. The automated guided vehicle according to claim 1, wherein the object to be transported is any one of a multilayer ceramic capacitor, a thermistor, an inductor, an EMI filter, a module component, and a semi-finished electronic component.

12. 12. The automated guided vehicle according to claim 1, wherein the automated guided vehicle is one of an AGV and an AMR.

Images