Transfer system, conveyance carriage, and unmanned conveyance vehicle

Abstract

A transfer system according to the present disclosure is used in a mounting system for performing a mounting process for placing components on a substrate, and comprises a first transfer device and a second transfer device that moves in conjunction with the first transfer device. The transfer system also comprises: a wireless power-receiving unit that is disposed in the first transfer device, constitutes a wireless power unit, and faces a wireless power-supply unit disposed in the second transfer device and constituting a wireless power unit; a power receiving side contact unit that is disposed in the first transfer device and contacts a power supply side contact unit disposed in the second transfer device; and a biasing unit that biases the wireless power-receiving unit and the wireless power-supply unit in opposing directions.

Description

Moving System, Transport Cart and Automated Guided Vehicle

[0001] The present specification discloses a moving system, a transport cart, and an automated guided vehicle.

[0002] Conventionally, as a moving system for transporting articles, for example, there has been proposed one that includes an automated guided vehicle driven by electric power stored in a power storage unit and a transport cart, and further includes a power feeding unit that supplies the electric power stored in the power storage unit to the transport cart, a power receiving unit that receives electric power from the power feeding unit, and an actuator driven by the electric power received by the power receiving unit, wherein the operation of the actuator is controlled by controlling power feeding from the power feeding unit to the power receiving unit (see, for example, Patent Document 1). In this moving system, it is stated that an increase in the total weight of the transport cart can be suppressed as much as possible by supplying electric power from the automated guided vehicle.

[0003] Japanese Unexamined Patent Publication No. 2023-088458

[0004] By the way, in the moving system of Patent Document 1 mentioned above, sufficient power feeding may not be performed depending on, for example, the facing state between the power feeding unit and the power receiving unit.

[0005] The present disclosure has been made in view of such problems, and a main object thereof is to provide a moving system, a transport cart, and an automated guided vehicle that can perform wireless power supply more stably.

[0006] The moving system, transport cart and automated guided vehicle disclosed in the present specification adopt the following means to achieve the above-mentioned main object.

[0007] The moving system of the present disclosure is a moving system used in a mounting system that performs a mounting process of arranging components on a base material, comprising a first moving device and a second moving device that moves in connection with the first moving device, the moving system comprising: a wireless power receiving unit disposed on the first moving device, constituting a wireless power unit, and facing a wireless power feeding unit disposed on the second moving device that constitutes the wireless power unit; a power-receiving-side contact portion disposed on the first moving device and contacting a power-feeding-side contact portion disposed on the second moving device; and a biasing portion that biases the wireless power receiving unit and the wireless power feeding unit in a facing direction.

[0008] In this mobile system, the first mobile device is biased to face the wireless power receiving unit, and the receiving side contact part contacts the power supply side contact part, thereby further suppressing misalignment between the wireless power receiving unit and the wireless power supply unit in the opposing direction. Therefore, this mobile system can provide more stable wireless power supply.

[0009] A schematic diagram showing an example of the implementation system 10. A diagram illustrating the transport system 13 and the storage device 14. A perspective view illustrating the schematic configuration of the transport system 13. A schematic diagram illustrating the schematic configuration of the coupling unit 50 and the automated guided vehicle 90. A perspective view of the carriage section 96 of the transport carriage 94, viewed from below. A diagram illustrating an example of the first coupling execution unit 51a. A diagram illustrating an example of the second coupling execution unit 51b. A diagram illustrating an example of the release mechanism 59. A diagram illustrating an example of the wireless power unit 70. A partial cross-sectional view illustrating an example of the wireless power unit 70. A flowchart illustrating an example of the coupling processing routine. A diagram illustrating an example of the opposing operation of the wireless power unit 70. A diagram illustrating an example of another wireless power unit 70B. A diagram illustrating an example of another coupling unit 50B.

[0010] This embodiment will be described below with reference to the drawings. Figure 1 is a schematic diagram showing an example of the mounting system 10. Figure 2 is an explanatory diagram of the storage device 14 and the transport system 13. Figure 3 is a perspective view showing the schematic configuration of the connecting unit 50, the automated guided vehicle 90, and the transport trolley 94 that constitute the transport system 13. Figure 4 is an explanatory diagram showing the schematic configuration of the connecting unit 50 and the automated guided vehicle 90, where Figure 4A is a perspective view of the connecting unit 50 and Figure 4B is a perspective view of the transport system 13 with the transport trolley 94 viewed through it. Figure 5 is a perspective view of the trolley portion 96 of the transport trolley 94 viewed from below. Figure 6 is an explanatory diagram showing an example of the first connecting execution unit 51a that constitutes the connecting execution unit 51, where Figure 6A is an explanatory diagram of the automated guided vehicle 90 and the transport trolley 94 before connection and Figure 6B is an explanatory diagram of the connection. Figure 7 is an explanatory diagram showing an example of a second connecting execution unit 51b that constitutes the connecting execution unit 51, where Figure 7A is an explanatory diagram of the unmanned transport vehicle 90 and the transport trolley 94 before connection, and Figure 7B is an explanatory diagram of the connection. Figure 8 is an explanatory diagram showing an example of a release mechanism 59, where Figure 8A is an explanatory diagram of the release mechanism 59 with the fixing member 53 in the fixed position, and Figure 8B is an explanatory diagram of the release mechanism 59 with the fixing member 53 in the fixed release position. Figure 9 is an explanatory diagram showing an example of a wireless power unit 70 when the wireless power supply unit 71 and the wireless power receiving unit 72 are facing each other. Figure 10 is a partially cross-sectional view showing an example of the wireless power receiving unit 72 of the wireless power unit 70 viewed from below. In this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as shown in Figures 1 to 10, 12, and 13.

[0011] The mounting system 10 includes a printing device 11, a printing inspection device 12, a transport system 13, a storage device 14, a management device 14a, a mounting device 15, a mounting inspection device 16, a loader 18, a reflow device (not shown), and a control device 19. The mounting system 10 is configured as a production line in which, for example, a mounting device 15 for mounting components P onto a substrate S, which is the material to be processed, is arranged downstream of the printing device 11 in the transport direction of the substrate S. In the mounting system 10, mounting-related equipment related to the mounting process includes, for example, a printing device 11, a transport device for transporting the substrate S, a printing device 11, a printing inspection device 12, a storage device 14, a management device 14a, a mounting device 15, a mounting inspection device 16, a loader 18, a reflow device, and the like.

[0012] The printing apparatus 11 is a device that uses a squeegee 26 to press solder on a screen mask M into pattern holes formed in the screen mask M, thereby applying (printing) the solder, which is a viscous fluid, onto a substrate S, which is a target object below, through the pattern holes. Here, "target object" can be, for example, a substrate S on which components P are mounted, or a three-dimensional base material. "Viscous fluid" can be solder paste, conductive paste, or adhesive. As shown in Figure 1, the printing apparatus 11 comprises a control device 21, a substrate processing unit 22, a mask processing unit 23, a printing unit 24, a communication unit 27, a replacement unit 28, a storage rack 29, and an operation panel. The control device 21 is configured as a microprocessor centered on a CPU as a control unit, and controls the entire printing apparatus 11. The control device 21 exchanges signals with each unit, as well as information with external devices such as a management device 14a and a control unit 19. The control device 21 has a storage unit that stores print job information, including the conditions for executing printing, and a print processing program that performs printing on the substrate S. The substrate processing unit 22 is located below the mask processing unit 23 and is a unit that receives the substrate S, positions and supports the received substrate S, and brings it into contact with and separates it from the screen mask M. A conveyor is provided in the substrate processing unit 22, and the substrate S is transported by this conveyor. The mask processing unit 23 is located between the printing unit 24 and the substrate processing unit 22 in the vertical direction and is a unit that fixes and holds the screen mask M. The printing unit 24 is a unit that prints a viscous fluid onto the substrate S using the screen mask M as part of the mounting process. The printing unit 24 is equipped with a print head 25 that includes a squeegee 26. The squeegee 26 is located on the lower side of the print head 25 and is raised and lowered by a squeegee lifting unit. The printing unit 24 has two squeegees 26, one for use in the front-rear direction and the other for use in the front-rear direction. During the printing process, the print head 25 is moved in the front-rear direction of the device by a head moving unit. The communication unit 27 is an interface for communication with external devices. The replacement unit 28 is a unit that automatically replaces mounting-related components used by the printing device 11, such as the screen mask M, support members for the substrate S, cleaning members for the screen mask M, and cartridges for viscous fluid.The exchange unit 28 is located on the left and right sides of the housing of the printing device 11, and receives the storage rack 29 in the receiving space formed between them, moving the storage rack 29 between the exchange position and the standby position. The storage rack 29 is a storage unit that houses mounting-related components. The storage rack 29 is equipped with casters and is moved by the operator W as well as by the transport system 13.

[0013] The printing inspection device 12 is a device that inspects the state of viscous fluids such as solder paste printed on the substrate S by the printing device 11. The transport system 13 is a device that automatically transports mounting-related materials between, for example, the preparation facility 17 and the mounting system 10. The storage device 14 is a temporary storage location for feeders holding components P. The storage device 14 houses containers 49 containing feeders F to be used, and containers 49 for collecting used feeders F. The storage device 14 is equipped with a wireless communication unit that communicates with the transport system 13 and the loader 18, and exchanges information with them. The management device 14a is configured as a server that manages the mounting system 10. The management device 14a manages the usage status of mounting-related materials for each device included in the mounting system 10. The mounting inspection device 16 is a device that inspects the state of components P mounted on the substrate S. The loader 18 is configured as a mobile work device and moves left and right along the X-axis rail on the front side of the mounting device 15. The loader 18 is a device that automatically attaches, detaches, collects, and replenishes mounting-related components used in the mounting device 15, such as the feeder F. The mounting inspection device 16 is a device that inspects the condition of the components P placed by the mounting device 15. The reflow device is a device that reflows a substrate S on which solder has been printed and components P have been placed. The central control device 19 is a device that manages information about each device in the mounting system 10 via a network 99 such as the Internet. The central control device 19 exchanges information with, for example, one or more mounting systems 10 via the network 99 and manages this information.

[0014] The mounting device 15 is a device that picks up components P and mounts them onto a substrate S. The mounting device 15 includes a control device 31, a substrate processing unit 32, a component supply unit 33, a mounting unit 34, a communication unit 37, and a mounting imaging unit. The control device 31 is configured as a microprocessor centered on a CPU as the control unit and controls the entire mounting device 15. The control device 31 exchanges signals with each unit and also exchanges information with external devices. The control device 31 has a storage unit that stores mounting job information, including the conditions for executing the mounting process, and mounting processing programs. The substrate processing unit 32 is a unit that loads, fixes, and unloads substrates S. A conveyor is provided in the substrate processing unit 32, and the substrates S are transported by this conveyor. The component supply unit 33 is a unit that supplies components P. The component supply unit 33 has multiple feeders F and a tray unit that contains components P, and is detachably attached to the front side of the mounting device 15. The feeder F is a device that feeds a tape holding components P to a collection position where the components will be collected by the collection member 36. The tray unit has a tray on which multiple components P are arranged and placed, and moves this tray in and out to a predetermined collection position. The mounting imaging unit is a unit that captures images of one or more components P that have been collected and held by the mounting head 35. The mounting unit 34 is a unit that collects components P from the component supply unit 33 and places them on a substrate S fixed to the substrate processing unit 32. The mounting unit 34 is equipped with a mounting head 35 on which the collection member 36 is attached. The mounting head 35 moves in the XY direction by a head moving unit. One or more collection members 36 are detachably attached to the lower surface of the mounting head 35, and multiple components P can be collected at once. The collection member 36 may be a suction nozzle that collects components using negative pressure, or a mechanical chuck that grips components P. The communication unit 37 is an interface for communication with external devices.

[0015] Preparation facility 17 is an area for preparing mounting-related components to be used in the mounting system 10. Examples of mounting-related components include feeders F used in the mounting device 15, reels that hold components P and are attached to the feeder F, trays on which components P are placed, substrates S, and backup members that support the substrate S from below. Mounting-related components are transported by the transport system 13 to the storage device 14 or to the mounting-related device to which they will be replaced, or they may be transported by the transport system 13 to a work position near the mounting-related device to which they will be replaced. Reels, trays, substrates S, backup members, etc., may be stored in a magazine in an orderly fashion, or they may be stacked in storage containers such as plastic boxes. Workers W may perform preparation and replacement work on these mounting-related components near the mounting-related device. Preparation facility 17 is, for example, a warehouse where screen masks M and feeders F are stored. In the preparation facility 17, worker W sets the feeder F into the container 49 when it will be used with the mounting device 15, and registers this information in the preparation device 40. As shown in Figure 1, the preparation facility 17 is equipped with a preparation device 40 and a storage device 48. The preparation device 40 is a device that manages the work in the preparation facility 17 and comprises a control device 41, a storage unit 42, a display device 43, an input device 44, and a communication unit 47. The control device 41 is configured as a microprocessor centered on a CPU as the control unit and is in charge of controlling the entire device. The storage unit 42 stores information used for preparing the container 49. The display device 43 is a liquid crystal screen that displays various information. The input device 44 includes a keyboard and mouse, etc., for worker W to input various commands. The communication unit 47 is an interface for communication with external devices. The storage device 48 is a device that stores replenishment and used containers 49. The storage device 48 has the same configuration as the storage device 14. Container 49 is a storage case capable of accommodating multiple feeders F. Container 49 is placed on a transport trolley 94 and moved by a transport system 13. Worker W performs the task of connecting the automated guided vehicle 90 and the transport trolley 94 using a connecting unit 50, for example, at a preparation facility 17. Worker W also performs the task of attaching identification information 88 to the transport trolley 94.The identification information 88 includes the identification number of the transport trolley 94 and information such as the type of mounting-related components to be transported.

[0016] As shown in Figures 1 and 2, the transport system 13 automatically transports mounting-related components used in the mounting system 10, such as feeders F and screen masks M, between the storage device 14, the exchange unit 28 of the printing device 11, and the storage device 48 of the preparation facility 17. The transport system 13 is composed of a connecting unit 50, an automated guided vehicle 90, and a transport trolley 94. This transport system 13 is a mobile system and may be composed of, for example, an automated guided vehicle 90 as a first mobile device and a transport trolley 94 as a second mobile device.

[0017] The automated guided vehicle (AGV) 90 is configured as, for example, an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). The AGV 90 moves in conjunction with the transport trolley 94. As shown in Figures 3 and 4, the AGV 90 includes a mounting unit 91, a power supply unit 92, a driving unit 93, and a control device (not shown). The mounting unit 91 is a mechanism for mounting and unmounting the connecting unit 50. The mounting unit 91 may, for example, have an engaging part that engages with the mounting portion of the connecting unit 50, and a locking mechanism that moves the engaging part between a mounting position and an unmounting position. The power supply unit 92 is a storage battery that supplies power to the entire transport system 13. Power supplied from this power supply unit 92 enables the driving of the running unit 93, control of the coupling unit 50, communication between the coupling unit 50 and the transport trolley 94, and the driving of the work devices 95 on the transport trolley 94. The running unit 93 is the unit that drives the automated guided vehicle 90 and includes drive wheels, driven wheels, and a drive motor. The drive motor drives the drive wheels and controls the direction of travel of the vehicle body. The control device is a controller equipped with a control unit and a memory unit, and controls the entire system of the automated guided vehicle 90.

[0018] The transport trolley 94 transports mounting-related components for the mounting process. The transport trolley 94 comprises a work device 95, a trolley section 96, and casters 97. The work device 95 is a device that performs predetermined work on the mounting-related equipment. This work device 95 may be, for example, a conveyor device that exchanges the storage device 14 and the container 49. The conveyor device may be, for example, a plurality of conveyor rollers that move the loaded material and a conveyor motor that drives the conveyor rollers. Alternatively, the work device 95 may be a loading platform device that transfers the storage rack 29 to the exchange unit 28. The trolley section 96 is equipped with casters 97 and supports the work device 95 for movement. The casters 97 are running wheels that do not have a drive unit. The trolley section 96 is equipped with four casters 97. As shown in Figure 5, the trolley section 96 is equipped with a second wireless communication unit 66 which constitutes the wireless communication unit 64, a wireless power receiving unit 72 which constitutes the wireless power unit 70, and a first connecting member 86 and a second connecting member 87 which constitute the connecting member 85, on its lower surface.

[0019] The connecting unit 50 is a unit that connects a transport trolley 94 that transports mounting-related components with an automated guided vehicle 90 that moves the transport trolley 94. The connected state of the transport system 13 refers to a state in which the connecting member 85 is in the connecting position of the connecting execution unit 51 (see Figures 6B and 7B), the fixing member 53 of the fixing unit 52 is positioned in a fixed position, and the movement of the connecting member 85 relative to the fixing unit 52 is restricted by the fixing member 53. The connecting unit 50 is attached to the mounting section 91 of the automated guided vehicle 90 in a manner that allows for attachment and detachment. The connecting unit 50 comprises a connecting execution unit 51, a first wireless communication unit 65 constituting the wireless communication unit 64, a storage communication unit 67, an operation panel 68, a wireless power supply unit 71 constituting the wireless power unit 70, and a control unit 50a. The connecting execution unit 51 is composed of a first connecting execution unit 51a and a second connecting execution unit 51b. As shown in Figure 4, the first connecting execution unit 51a is located in the center of the front side of the connecting unit 50. The second connecting execution unit 51b is located in the center of the rear side relative to the first connecting execution unit 51a. As shown in Figure 6, the first connecting execution unit 51a comprises a first guide portion 61 which constitutes the guide portion 60, a support member 61a, and a connecting member detection portion 63. The first connecting execution unit 51a is a unit that receives the first connecting member 86 and restricts the lateral displacement of the transport trolley 94 relative to the automated guided vehicle 90. When the automated guided vehicle 90 moves forward, the first connecting execution unit 51a supports the first connecting member 86 with the support member 61a and moves the transport trolley 94 forward. As shown in Figure 7, the second connecting execution unit 51b comprises a second guide portion 62 which constitutes the guide portion 60, a fixing unit 52, and a release mechanism 59. The second coupling execution unit 51b is a unit that receives the second coupling member 87 and restricts the lateral displacement of the transport trolley 94 relative to the automated guided vehicle 90 90, as well as maintaining and releasing the coupling state between the automated guided vehicle 90 and the transport trolley 94. The second coupling execution unit 51b fixes the second coupling member 87 with a fixing member 53, and when the automated guided vehicle 90 moves backward, the fixing member 53 supports the second coupling member 87, causing the transport trolley 94 to move backward.

[0020] The fixing unit 52 is a unit that switches between a connected state and a disconnected state between the automated guided vehicle 90 and the transport trolley 94 by fixing and releasing a connecting member 85 disposed on the transport trolley 94. When the connecting member 85 is in the connection position of the guide section 60, the fixing unit 52 places a fixing member 53 in the fixed position to connect the automated guided vehicle 90 and the transport trolley 94. The fixing unit 52 is disposed near the second guide section 62 of the second connection execution section 51b. The fixing unit 52 may be disposed in the first guide section 61 of the first connection execution section 51a instead of or in addition to the second connection execution section 51b. The fixing unit 52 includes a fixing member 53, a fixing drive section 54, a drive member 55, a connecting member 56, a biasing member 57, a fixing member detection section 58, and a release mechanism 59. As shown in Figure 7, the fixing member 53 is a member that moves between the unlocked position (Figure 7A) and the fixed position (Figure 7B). The fixing member 53 may be, for example, a cylindrical fixing pin. The fixing member 53 is positioned in front of the connection position of the second connecting member 87 and contacts the second connecting member 87 when the automated guided vehicle 90 moves. The fixing member 53 is biased toward the fixed position by the biasing member 57 and is driven by the fixing drive unit 54 to move to the unlocked position only when unlocking. The fixing drive unit 54 is a linear drive unit that moves the fixing member 53 between the fixed position and the unlocked position. The fixing drive unit 54 may be, for example, a solenoid or a linear motor. The fixing drive unit 54 moves the drive member 55 by power supply, for example. The drive member 55 may be the drive shaft of the fixing drive unit 54 that constitutes the fixing drive unit 54. The connecting member 56 is a member that connects the drive member 55, which is directly moved by the fixed drive unit 54, and the fixed member 53. The connecting member 56 is formed in an L shape, with the tip of the drive member 55 positioned at one end and the rear end of the fixed member 53 positioned at the other end. The connecting member 56 moves the fixed member 53 within a range of movement at a height different from the range of movement of the drive member 55. In addition, a tab member is provided on the connecting member 56, and this tab member moves along the X-axis direction together with the fixed member 53.

[0021] As shown in Figure 8, the biasing member 57 is disposed on the tip side of the drive member 55 and biases the tip of the drive member 55 so as to bias the fixing member 53 to the fixed position. The biasing member 57 may be, for example, a compression spring. The fixing member detection unit 58 is a sensor that detects the position of the fixing member 53. The fixing member detection unit 58 is disposed at the fixed position and the unlocked position and indirectly detects the position of the fixing member 53 by detecting the position of the tab member disposed on the drive member 55. The fixing member detection unit 58 may be, for example, a non-contact type sensor that detects light blocking or reflection or magnetism, or a contact type sensor that outputs a signal when a member is in contact or separated. Each detection unit of the transport system 13 employs a non-contact type sensor that detects light irradiation, blocking or reflection, and a detailed explanation thereafter will be omitted.

[0022] The release mechanism 59 is a mechanism for manually moving the fixed member 53 to the release position in the event of a power outage in the transport system 13. As shown in Figure 8, the release mechanism 59 has a release member 59a, a support shaft 59b, and a contact portion 59c. The release member 59a is an L-shaped member and has a lever portion formed by extending in the left-right direction and a release portion formed by extending in a direction perpendicular to the longitudinal direction of the lever portion. The support shaft 59b is disposed at the connection between the lever portion and the release portion and supports the release member 59a so that it can swing between a standby position and a manual release position. The contact portion 59c is formed on the tip side of the release portion and is in contact with the tip side of the drive member 55. The release mechanism 59 is disposed on the lower side of the control unit 50a, and the lever portion is positioned near an opening formed on its lower surface. When the operator W puts their hand into the opening and pulls the lever portion backward, the contact portion 59c presses the drive member 55 toward the release side. Since the fixing member 53 is constantly biased toward the fixed position by the biasing member 57, it is not easy to uncouple the transport trolley 94 when the fixed drive unit 54 is inoperable. By manually releasing the release mechanism 59, the fixing member 53 moves to the release position, allowing the transport trolley 94 to be easily uncoupled manually.

[0023] The guide section 60 is a member that guides the connecting member 85 to the connection position. The guide section 60 is composed of a first guide section 61 and a second guide section 62 (see Figure 4). The second guide section 62 has a fixing unit 52 disposed nearby and is configured to fix and release the connecting member 85. The first guide section 61 and the second guide section 62 may be the same shape and size, or they may be different shapes and sizes. The guide section 60 has a wider width than the connecting member 85 on the inlet side in the insertion direction of the connecting member 85, and at the connection position, it has a width that restricts the movement of the connecting member 85 in a direction perpendicular to the insertion direction. The first guide section 61 is disposed on the front side of the automated guided vehicle 90 and guides the first connecting member 86 included in the connecting member 85. The second guide section 62 is disposed rear and above the automated guided vehicle 90 relative to the first guide section 61 and guides the second connecting member 87 included in the connecting member 85. The connecting member detection unit 63 is a sensor that detects the connecting member 85, and may be a non-contact type sensor. The connecting member detection unit 63 is located on the rear end side of the connection position of the first guide portion 61 of the first connecting execution unit 51a (see Figure 6B). Alternatively, the connecting member detection unit 63 may be located on the second guide portion 62 side of the second connecting execution unit 51b, instead of being located on the first guide portion 61 side, or in addition to being located on the first guide portion 61 side. Furthermore, the connecting member detection unit 63 may directly detect the presence of the connecting member 85, or it may indirectly detect the presence of the connecting member 85 by detecting a movable member that moves in conjunction with the contact of the connecting member 85.

[0024] The wireless communication unit 64 is a unit that transmits and receives signals with the transport trolley 94 on which the connecting member 85 is arranged when the transport system 13 is connected. This wireless communication unit 64 is composed of a first wireless communication unit 65 arranged in the connecting unit 50 corresponding to the automated guided vehicle 90 side and a second wireless communication unit 66 arranged in the transport trolley 94. When the transport system 13 is connected, the first wireless communication unit 65 and the second wireless communication unit 66 face each other in the front-rear direction of the automated guided vehicle 90. The wireless communication unit 64 may be, for example, an optical communication unit. The storage communication unit 67 is a unit that transmits and receives signals with the wireless communication unit of the storage device 14 or the storage device 48. Compared to wired communication using connectors that are inserted and removed, the wireless communication unit 64 and the storage communication unit 67 avoid the possibility of the connector being partially inserted or the contact pins being damaged due to insertion and removal errors, and there is no limit to the number of insertions and removals, making maintenance easy.

[0025] The control panel 68 has the functions of an operation unit that receives input from the operator W and a notification unit that notifies the operator W of information. The control panel 68 is located at the rear end of the control unit 50a. The notification unit may be, for example, a light-emitting tape that emits light and notifies the status of the transport system 13 by the color of the light. The notification unit may also have a display unit that displays characters, symbols, etc., or a speaker that outputs sound.

[0026] The wireless power unit 70 is a unit that exchanges power between the automated guided vehicle 90 and the transport trolley 94 when the transport system 13 is connected. The wireless power unit 70 is composed of, for example, a wireless power supply unit 71 disposed on the connecting unit 50 corresponding to the automated guided vehicle 90 side, and a wireless power receiving unit 72 disposed on the transport trolley 94. In addition to the wireless power supply unit 71 and the wireless power receiving unit 72, the wireless power unit 70 also has a power supply side housing 71b, a power receiving side housing 72b, a contact part 73, and a biasing part 76. When the transport system 13 is connected, the power supply surface 71a of the wireless power supply unit 71 and the power receiving surface 72a of the wireless power receiving unit 72 face each other in the vertical direction (see Figures 4 and 9). The wireless power unit 70 may be, for example, a non-contact type power supply unit using electromagnetic induction. The wireless power unit 70 may incorporate a circuit that starts supplying power when it detects the opposing positions of the wireless power supply unit 71 and the wireless power receiving unit 72. Compared to supplying power via a wired connection using a connector that is inserted and removed, the wireless power supply unit 71 and the wireless power receiving unit 72 avoid the possibility of the connector being only partially inserted or the contact pins being damaged due to incorrect insertion and removal, and there is no limit to the number of insertions and removals, making maintenance easy.

[0027] As shown in Figure 4, the wireless power supply unit 71 is located on the upper surface of the connecting unit 50, behind the first connecting execution unit 51a and in front of the second connecting execution unit 51b, in the central region including the center line (see the dashed line in Figure 4A). The upper surface of the wireless power supply unit 71 is the power supply surface 71a. The wireless power supply unit 71 is electrically connected to the power supply device 92 and receives power from the power supply device 92. The wireless power supply unit 71 is housed in a power supply side housing 71b, which is a box-shaped body with an open top. As shown in Figures 5, 9, and 10, the wireless power receiving unit 72 is located on the lower surface of the trolley unit 96, in the central region of the trolley unit 96. The lower surface of the wireless power receiving unit 72 is the power receiving surface 72a. The wireless power receiving unit 72 is housed in a power receiving side housing 72b, which is a box-shaped body with an open bottom.

[0028] The contact portion 73 is provided on the connecting unit 50 and the transport trolley 94 corresponding to the automated guided vehicle 90 side, and is a member that separates the power supply surface 71a of the wireless power supply unit 71 and the power receiving surface 72a of the wireless power receiving unit 72 by a distance D that is greater than a predetermined distance when they face each other. The distance D is set to a distance that is based on, for example, the allowable distance at which the wireless power supply unit 70 can perform power supply, and adds a predetermined margin to this allowable distance as needed. The contact portion 73 is composed of a power supply side contact portion 74 provided on the connecting unit 50 corresponding to the automated guided vehicle 90 side, and a power receiving side contact portion 75 provided on the transport trolley 94. The contact portion 73 is formed to extend along the connecting direction C (see Figures 6 and 7) of the transport system 13. The connecting direction C is the direction along the Y-axis, which is the front-rear direction. The power supply side contact portion 74 and the power receiving side contact portion 75 of the contact portion 73 have a tapered surface 73a and a contact surface 73b. The power supply side contact portion 74 and the power receiving side contact portion 75 may have the same shape or different shapes. The tapered surface 73a is a slope formed such that when the contact surface 73b of the contact portion 73 is facing upward, the end side along the connection direction C of the transport system 13 is lower and the central region 73c is higher. The contact surface 73b is the upper surface formed horizontally on the power supply side contact portion 74 and the lower surface formed horizontally on the power receiving side contact portion 75. The contact surface 73b is formed in the central region 73c of the contact portion 73. The power supply side contact portion 74 contacts the power receiving side contact portion 75 which is arranged on the transport trolley 94. The power supply side contact portions 74 are located one at each of the left and right ends of the wireless power supply unit 71. The power supply side contact portions 74 are located together with the wireless power supply unit 71 in the power supply side housing 71b. The power receiving side contact portions 75 contact the power supply side contact portions 74 located on the connecting unit 50 mounted on the automated guided vehicle 90. The power receiving side contact portions 75 are located one at each of the left and right ends of the wireless power receiving unit 72. The power receiving side contact portions 75 are located together with the wireless power receiving unit 72 in the power receiving side housing 72b. The biasing portion 76 biases the wireless power receiving unit 72 in the direction opposite to the wireless power unit 70 (up and down direction). The biasing portion 76 is located on the transport trolley 94 and is a support mechanism that supports the power receiving side housing 72b in a suspended state. As shown in Figure 10, the biasing member 76 has a support member 76a and a pressing member 76b.The support member 76a is a screw member composed of a stopper to prevent the receiving side housing 72b from falling and a support column that allows the receiving side housing 72b to move vertically. The pressing member 76b is a spring member that biases the wireless power receiving unit 72 downward toward the wireless power supply unit 71. The biasing member 76 has a clearance longer than the upward distance when the power supply side contact part 74 contacts the power receiving side contact part 75 and pushes up the entire receiving side housing 72b. The receiving side housing 72b is supported by the biasing member 76 so as to be movable along the vertical direction, and together with the biasing member 76, constitutes the support mechanism for the wireless power receiving unit 72. The wireless power receiving unit 72 and the power receiving side contact part 75 are housed in the receiving side housing 72b, supported so as to be movable along the opposing direction, and biased toward the opposing wireless power supply unit 71 by the biasing member 76. As shown in Figure 9, the wireless power supply unit 71 and the wireless power receiving unit 72 face each other with a predetermined distance D between them, by the contact portion 74 on the power supply side and the contact portion 75 on the power receiving side of the contact portion 73 coming into contact.

[0029] The control unit 50a is a unit that includes an interface for controlling the entire transport system 13. The control unit 50a is located at the rear of the coupling unit 50. The control unit 50a includes an operation panel 68, a control unit 80, a storage unit 82, and an identification information acquisition unit 83. The control unit 80 is configured as a microprocessor centered on a CPU and is responsible for controlling the entire device. The storage unit 82 stores information that controls the entire transport system 13, such as transport job information including information on containers 49 to be transported to the storage device 14, transport programs that execute transport processing, and coupling programs that connect the automated guided vehicle 90 and the transport trolley 94. The identification information acquisition unit 83 acquires identification information 88 associated with the transport trolley 94 on which the coupling member 85 is attached. As shown in Figure 4B, the identification information acquisition unit 83 is located at a position opposite the rear of the transport trolley 94 to which the identification information 88 is attached, in this case at the front center of the control unit 50a. The identification information acquisition unit 83 may, for example, be a code reader that reads two-dimensional codes or barcodes, or it may be a device that reads wireless tags such as RFID.

[0030] The connecting member 85 is a member that connects the automated guided vehicle 90 and the transport trolley 94 by being fixed at the connection position by the guide portion 60 and the fixing unit 52. As shown in Figure 5, the connecting member 85 is composed of a first connecting member 86 that is guided to the connection position of the first guide portion 61 and a second connecting member 87 that is guided to the connection position of the second guide portion 62. The connecting member 85 may be, for example, a cylindrical member. The first connecting member 86 is disposed facing downward on the front lower surface of the transport trolley 94. The second connecting member 87 is disposed facing downward on the rear lower surface of the transport trolley 94, above the first connecting member 86.

[0031] Next, an overview of the printing process of the printing apparatus 11 configured in this way will be described. When an execution command for production processing is input from the operator W, the control unit of the control device 21 starts the printing process routine. When this routine starts, the control unit transports and fixes the substrate S using the substrate processing unit 22, and adjusts the position of the screen mask M using the mask processing unit 23 based on the printing job information to align the pattern holes with the substrate S. Subsequently, the control unit dispenses solder from the cartridge onto the screen mask M, moves the print head 25 and lowers the squeegee 26 to bring the squeegee 26 into contact with the upper surface of the screen mask M, and moves it in the back-and-forth direction to print the solder onto the substrate S. After printing, the control unit unloads the substrate S and repeats the above process until there are no more substrates S left. In the printing apparatus 11, for each production of substrate S, the screen mask M and support members are replaced by the replacement unit 28 using the storage rack 29. The transport system 13 moves the storage rack 29 between the preparation facility 17 and the printing apparatus 11.

[0032] Next, the mounting process of the mounting device 15 will be described. When an execution command for production processing is input from the worker W, the control unit of the control device 31 starts the mounting process routine. When this routine starts, the control unit transports and fixes the substrate S using the substrate processing unit 32. Next, the control unit has the mounting head 35 collect the parts P to be collected, which have been set based on the mounting job information, and has the mounting imaging unit image the collected parts P to confirm the state of the parts P and place them on the substrate S. Once all the parts P have been placed on the substrate S, the control unit has the substrate processing unit 32 unload the substrate S and repeats the above process until there are no more substrates S left. In the mounting device 15, the loader 18 is used to automatically replace the feeder F and support members, etc., for each production of substrate S or when parts run out. The transport system 13 moves the container 49 between the preparation facility 17 and the storage device 14.

[0033] Next, the coupling process between the automated guided vehicle (AGV) 90 and the transport trolley 94, executed by the control unit 80 of the coupling unit 50, will be described. Figure 11 is a flowchart showing an example of a coupling process routine executed by the control unit 80. This routine is stored in the storage unit 82 and executed at a predetermined coupling timing, such as after a request for transport of mounting-related components is received. As preparation, the worker W attaches the coupling unit 50 to the mounting section 91 of the AGV 90. The worker W also places the work device 95 on the upper part of the trolley section 96 of the transport trolley 94. When this routine is executed, the control unit 80 reads and acquires coupling job information from the storage unit 82 (S100). The control unit 80 may acquire this information from a device such as the preparation device 40. Next, the control unit 80 moves the AGV 90 to the coupling standby position where the transport trolley 94 is waiting and stops it (S110). The coupling standby position may be, for example, a position behind the transport trolley 94, away from the transport trolley 94.

[0034] Next, the control unit 80 drives the fixing drive unit 54 to move the fixing member 53 from the fixed position to the unlocked position (S120), and determines whether or not an unlocked state where the fixing member 53 has reached the unlocked position has been detected, based on the detection signal from the fixing member detection unit 58 (S130). If an unlocked state of the fixing member 53 is detected, the control unit 80 moves the automated guided vehicle 90 to the coupling position (S140), and determines whether or not a coupling member 85 has been detected at the coupling position, based on the detection signal from the coupling member detection unit 63 (S150). If a coupling member 85 has been detected at the coupling position, the control unit 80 drives the fixing drive unit 54 to move the fixing member 53 from the unlocked position to the fixed position, and fixes the coupling member 85 at the coupling position (S160). Next, the control unit 80 determines whether or not a locked state where the fixing member 53 has reached the fixed position has been detected, based on the detection signal from the fixing member detection unit 58 (S170). When the locked state of the fixing member 53 is detected, the connection between the automated guided vehicle 90 and the transport trolley 94 is completed, the wireless power supply unit 71 and the wireless power receiving unit 72 face each other, the first wireless communication unit 65 and the second wireless communication unit 66 face each other, and the automated guided vehicle 90 and the transport trolley 94 are in a state where power supply and communication are possible. The control unit 80 supplies power from the power supply device 92 via the wireless power supply unit 71 to the wireless power receiving unit 72 and starts communication of the wireless communication unit 64 (S180).

[0035] Figure 12 is an explanatory diagram showing an example of the opposing operation of the wireless power unit 70. Figure 12A is an explanatory diagram of the positional relationship of the wireless power unit 70 in the connection standby position, Figure 12B is an explanatory diagram of the positional relationship of the wireless power unit 70 when the power supply side contact portion 74 and the power receiving side contact portion 75 of the contact portion 73 come into contact, and Figure 12C is an explanatory diagram of the positional relationship of the wireless power unit 70 in the connection state. The power receiving side housing portion 72b is biased downward by the biasing portion 76 in a state where it can move upward (Figure 12A). When the automated guided vehicle 90 moves in the connection direction C, the tapered surface 73a on the front side of the power supply side contact portion 74 comes into contact with the tapered surface 73a on the rear side of the power receiving side contact portion 75 (Figure 12B). As the automated guided vehicle 90 moves in the coupling direction C, the power supply side contact portion 74 pushes up the power receiving side contact portion 75, causing the power receiving side housing portion 72b to rise together with the wireless power receiving portion 72. When the automated guided vehicle 90 reaches the coupling position, the contact surface 73b of the power supply side contact portion 74 and the contact surface 73b of the power receiving side contact portion 75 come into contact, and these contact portions 73 hold the power supply surface 71a of the wireless power supply portion 71 and the power receiving surface 72a of the wireless power receiving portion 72 at a distance D. Since the automated guided vehicle 90 and the transport trolley 94 travel on their respective wheels, if only one of them shifts vertically during travel, the wireless power supply portion 71 and the wireless power receiving portion 72 may come into contact or separate beyond the allowable distance. In this wireless power unit 70, when the automated guided vehicle 90 rises or when the transport trolley 94 lowers, the contact portion 73 prevents contact between the wireless power supply unit 71 and the wireless power receiving unit 72, and the biasing portion 76 cancels out any separation.

[0036] After S180, the control unit 80 determines whether communication with the wireless communication unit 64 has been established by sending a signal from the first wireless communication unit 65 and receiving a signal from the second wireless communication unit 66 (S190). If communication with the wireless communication unit 64 has been established, the control unit 80 obtains the identification information 88 of the transport cart 94 using the identification information acquisition unit 83 (S200), and determines whether the correct transport cart 94 has been connected based on the connection job information (S210). If the correct transport cart 94 has been connected, the control unit 80 stores information in the storage unit 82 indicating that the connection between the automated guided vehicle 90 and the transport cart 94 has been completed, and outputs it to external devices such as the preparation device 40 (S220), and terminates this routine.

[0037] On the other hand, if the unlocked state of the fixing member 53 is not detected in S130, if the connecting member 85 is not detected in S150, if the locked state of the fixing member 53 is not detected in S170, if communication with the wireless communication unit 64 fails in S190, or if the correct transport trolley 94 is not connected in S210, the control unit 80 notifies the operator W of the error, stops the operation of the transport system 13 (S230), and terminates this routine. In S230, the control unit 80 outputs a message on the operation panel 68 indicating that an error has occurred. The operation panel 68 may, for example, light up a red light. The control unit 80 may also output information about the error, such as the inability to unlock the fixing member 53, the failure to detect the connecting member 85, the inability to lock the fixing member 53, the failure of communication with the wireless communication unit 64, or the mismatch of the transport trolley 94, to the preparation device 40 or the management device 14a. Operator W deals with the connection error state that has occurred in the transport system 13 based on the reported information. If the state of the fixing member 53 is not detected in S130 or S170, the control unit 80 may perform multiple retry operations without immediately reporting an error. This is because the fixing member 53 may have poor sliding or be stuck, and the normal state can sometimes be restored with simple repeated operations. Also, if the acquisition of the identification information 88 of the transport trolley 94 in S200 fails, the control unit 80 may report an error in the same way as in S210 when the correct transport trolley 94 is not connected. In this case, the control unit 80 may perform multiple reading retries, taking into account the possibility of a simple reading error.

[0038] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The connecting unit 50 of this embodiment is an example of a connecting unit, the automated guided vehicle 90 is an example of an automated guided vehicle, the transport trolley 94 is an example of a transport trolley, the transport system 13 is an example of a transport system, the fixing member 53 is an example of a fixing member, and the fixed drive unit 54 is an example of a fixed drive unit. Furthermore, the connecting execution unit 51 is an example of a connecting execution unit, the connecting member 85 is an example of a connecting member, the wireless power unit 70 is an example of a wireless power unit, the wireless power supply unit 71 is an example of a wireless power supply unit, the wireless power receiving unit 72 is an example of a wireless power receiving unit, the wireless communication unit 64 is an example of a wireless communication unit, the first wireless communication unit 65 is an example of a first wireless communication unit, and the second wireless communication unit 66 is an example of a second wireless communication unit. Furthermore, the mounting portion 91 is an example of a mounting portion, the connecting member 56 is an example of a connecting member, the biasing member 57 is an example of a biasing member, the release mechanism 59 is an example of a release mechanism, the guide portion 60 is an example of a guide portion, the first guide portion 61 is an example of a first guide portion, the second guide portion 62 is an example of a second guide portion, the first connecting member 86 is an example of a first connecting member, and the second connecting member 87 is an example of a second connecting member. Moreover, the fixing member detection portion 58 is an example of a fixing member detection portion, the connecting member detection portion 63 is an example of a connecting member detection portion, the identification information acquisition portion 83 is an example of an identification information acquisition portion, the component P is an example of a component, the substrate S is an example of a substrate, and the feeder F and screen mask M are examples of mounting-related components. In addition, in this embodiment, by describing the transport system 13, an example of the automated guided vehicle, transport trolley, and their control method of the present disclosure is also revealed.

[0039] The transport system 13 described above as a moving system is used in a mounting system 10 that performs a mounting process in which components P are placed on a substrate S as a base material, and has a transport cart 94 as a first moving device and an automated guided vehicle 90 as a second moving device that moves in connection with the transport cart 94. This transport system 13 has a wireless power receiving unit 72 which is disposed on the transport cart 94 and constitutes a wireless power unit 70 and is opposed to a wireless power supply unit 71 which is disposed on the automated guided vehicle 90 and constitutes a wireless power unit 70, a power receiving side contact unit 75 which is disposed on the transport cart 94 and contacts a power supply side contact unit 74 which is disposed on the automated guided vehicle 90, and a biasing unit 76 which biases the wireless power receiving unit 72 and the wireless power supply unit 71 in the opposite direction. In this transport system 13, the wireless power receiving unit 72 is biased to face the wireless power supply unit 71 on the transport trolley 94, and the power receiving side contact part 75 contacts the power supply side contact part 74, thereby further suppressing misalignment between the wireless power receiving unit 72 and the wireless power supply unit 71 in the opposing direction. Therefore, this transport system 13 can provide more stable wireless power supply.

[0040] Furthermore, the transport system 13 is installed on the automated guided vehicle 90 and constitutes a wireless power unit 70. It includes a wireless power supply unit 71 that faces a wireless power receiving unit 72 installed on the transport trolley 94, and a power supply side contact unit 74 installed on the automated guided vehicle 90 that contacts a power receiving side contact unit 75 installed on the transport trolley 94. In this transport system 13, the power supply side contact unit 74 contacts the power receiving side contact unit 75 on the automated guided vehicle 90, thereby further suppressing misalignment between the wireless power supply unit 71 and the wireless power receiving unit 72 in the opposing direction, and enabling more stable wireless power supply. Furthermore, the transport trolley 94 carries the mounting-related components used in the mounting system 10 and moves in connection with the automated guided vehicle 90. The biasing unit 76 is located on the transport trolley 94 side and biases the wireless power receiving unit 72 and the power receiving side contact unit 75 toward the wireless power supply unit 71 and the power supply side contact unit 74. In this transport system 13, in the transport system 13 in which the automated guided vehicle 90 and the transport trolley 94 are connected, the wireless power unit 70 can be biased from the transport trolley 94 side to provide more stable wireless power supply. Moreover, the power supply side contact unit 74 and the power receiving side contact unit 75 have a central region 73c with a high tapered surface 73a along the connection direction C of the transport trolley 94 and the automated guided vehicle 90, and are formed to extend along the connection direction C. In this transport system 13, when the wireless power units 70 move between a state where they are not facing each other and a state where they are facing each other, the power supply side contact portion 74 and the power receiving side contact portion 75, which are biased in the opposing direction, can move smoothly by contacting each other via the tapered surface 73a. Furthermore, in this transport system 13, the power supply side contact portion 74 and the power receiving side contact portion 75 extend in the connecting direction C, that is, they have a longitudinal direction along the connecting direction C, so they can move while in contact with each other. The wireless power receiving portion 72 and the power receiving side contact portion 75 are supported by the power receiving side housing portion 72b so as to be movable together along the opposing direction and are biased by the biasing portion 76, so that the spacing D of the wireless power units 70 can be made more constant, and wireless power supply can be made more stable.

[0041] Furthermore, the wireless power supply unit 71 and the wireless power receiving unit 72 face each other with a predetermined distance D between them, due to the contact portion 74 on the power supply side and the contact portion 75 on the power receiving side being in contact with each other. The power supply side contact portion 74 and the power receiving side contact portion 75 are formed on both ends of the wireless power unit 70 along the connection direction C of the transport trolley 94 and the automated guided vehicle 90. In this transport system 13, the wireless power supply unit 71 and the wireless power receiving unit 72 are spaced at a constant distance D by the wireless power unit 70 and the contact portion 73, so that wireless power supply can be performed more stably. In addition, in this transport system 13, the contact portion 73 is formed on both ends of the wireless power unit 70, so that the wireless power unit 70 can be stably biased. Furthermore, since the wireless power supply unit 71 and the wireless power receiving unit 72 face each other in the vertical direction, and the power supply side contact part 74 and the power receiving side contact part 75 have a contact surface 73b in the horizontal direction, this transport system 13 can also utilize gravity to bias the wireless power unit 70. Moreover, since the transport system 13 is equipped with a coupling execution unit 51 that connects and disconnects the transport cart 94 and the automated guided vehicle 90, the coupling execution unit 51 can further suppress lateral positional displacement between the transport cart 94 and the automated guided vehicle 90, and wireless power supply can be performed more stably.

[0042] The coupling unit 50 described above is used in a transport system 13 that includes a transport cart 94 for transporting mounting-related members related to the mounting process of placing components P on a substrate S as a base material, and an automated guided vehicle 90 that moves in connection with the transport cart 94. The coupling unit 50 is disposed on the automated guided vehicle 90 side and includes a fixing drive unit 54 that moves a fixing member 53 between a fixed position and a release position, and a coupling execution unit 51 that places the fixing member 53 in the fixed position when the coupling member 85 disposed on the transport cart 94 is in the coupling position, thereby connecting the transport cart 94 and the automated guided vehicle 90; a wireless power unit 70 disposed on the automated guided vehicle 90 side that exchanges power with the transport cart 94 on which the coupling member 85 is disposed when the coupling member 85 is in the coupling position and connected by the fixing member 53 in the fixed position; and a wireless communication unit 64 disposed on the automated guided vehicle 90 side that sends and receives signals with the transport cart 94 on which the coupling member 85 is disposed when the coupling state is reached. In this connecting unit 50, the connecting member 85 at the connecting position is fixed by the fixing member 53, allowing the transport cart 94 and the automated guided vehicle 90 to be connected. Furthermore, the transport cart 94 and the automated guided vehicle 90 can receive power and communicate information wirelessly. In addition, the connecting mechanism for connecting the transport system 13 is integrated into the connecting unit 50, and the connecting mechanism can be realized by attaching it to the automated guided vehicle 90. In this way, the connecting unit 50 allows for a further simplification of the connecting mechanism.

[0043] Furthermore, the coupling unit 50 has a wireless power supply unit 71 that supplies power as a wireless power unit 70 and a first wireless communication unit 65 as a wireless communication unit 64, and is mounted on a mounting unit 91 provided on the automated guided vehicle 90. The transport trolley 94 includes a coupling member 85, a wireless power receiving unit 72 that receives power from the wireless power supply unit 71 when coupled, and a second wireless communication unit 66 that transmits and receives signals with the first wireless communication unit 65 when coupled. With this coupling unit 50, the coupling mechanism can be further simplified by mounting the coupling unit 50, which integrates the detection unit, drive unit, etc., on the automated guided vehicle 90 side, which has fewer automated guided vehicles 90 than the transport trolley 94 and has the main power supply unit 92. Furthermore, the coupling execution unit 51 includes a fixed member 53 that contacts the coupling member 85 when the automated guided vehicle 90 moves, a fixed drive unit 54 having a drive member 55 that is driven when the fixed member 53 moves, and a connecting member 56 that connects the drive member 55 and the fixed member 53. In this coupling unit 50, the load on the drive member 55 can be further suppressed by using the connecting member 56 to support the load on the fixed member 53. Moreover, the coupling execution unit 51 has a biasing member 57 that biases the fixed member 53 to a fixed position, and the fixed drive unit 54 moves the fixed member 53 to a release position by power supply. In this coupling unit 50, power is only required when the fixing is released, so power consumption can be reduced compared to those that require power when fixing. Furthermore, since the coupling execution unit 51 is equipped with a release mechanism 59 that allows the fixed member 53 to be manually moved to the release position, the coupling state can be released even when the power supply is stopped.

[0044] Further, since the connection unit 50 includes a guide portion 60 that guides the connection member 85 to the connection position, in this connection unit, the guide portion 60 can guide the connection member to the connection position. Furthermore, the guide portion 60 has a width wider than that of the connection member 85 on the inlet side in the insertion direction of the connection member 85, and has a shape that restricts movement of the connection member 85 in a direction orthogonal to the insertion direction at the connection position. In this connection unit 50, the connection member 85 is easily guided to the connection position, and positional deviation in the left-right direction at the connection position can be further suppressed. Furthermore, the guide portion 60 includes a first guide portion 61 disposed on the front side of the automated guided vehicle 90 and configured to guide a first connection member 86 included in the connection member 85, and a second guide portion 62 disposed rearward of the automated guided vehicle 90 and at an upper stage relative to the first guide portion 61 and configured to guide a second connection member 87 included in the connection member 85. In this connection unit 50, the connection mechanism can be further simplified by the two sets of configurations of the first and second guide portions and the first and second connection members. Then, the wireless power portion 70 faces in the vertical direction in the connected state of the transport system 13, and the wireless communication portion 64 faces in the front-rear direction of the automated guided vehicle in the connected state of the transport system 13. In this connection unit 50, the wireless power portion 70 can tolerate positional deviation in a direction orthogonal to the facing direction, and the wireless communication portion 64 can tolerate positional deviation in a direction along the facing direction, so that the connected state of power and communication can be easily maintained.

[0045] Furthermore, the coupling unit 50 includes a control unit 80 that moves the fixing member 53 to the fixed position after it has been moved to the release position, and then moves the fixing member 53 to the fixed position when the transport trolley 94 reaches the coupling position. With this coupling unit 50, the control unit 80 can perform the coupling of the transport trolley 94 and the automated guided vehicle 90. The control unit 80 can also control the movement of the automated guided vehicle 90. In addition, the coupling unit 50 includes a fixing member detection unit 58 that detects the fixing member 53, and when the control unit 80 performs the coupling of the transport trolley 94 and the automated guided vehicle 90, if the fixing member 53 is not in the set fixed position or release position, it outputs information to that effect. With this coupling unit 50, position errors of the fixing member 53 can be detected. Furthermore, the coupling unit 50 includes an operation panel 68 that displays information and notifies the operator W of the error information, making it easier for the operator W to deal with the error condition. Furthermore, the coupling unit 50 includes a coupling member detection unit 63 that detects the coupling member 85, and the control unit 80 outputs information to that effect if, when coupling is performed between the transport cart 94 and the automated guided vehicle 90, the coupling member 85 is not in the coupling position of the guide unit 60. With this coupling unit 50, the operator W can grasp the coupling status error. Also, the control unit 80 outputs information to that effect if, after coupling, communication from the wireless communication unit 64 cannot be confirmed, thus allowing the operator W to grasp the wireless communication error. Furthermore, the coupling unit 50 includes an identification information acquisition unit 83 that acquires identification information 88 associated with the transport cart 94 on which the coupling member 85 is installed from the transport cart 94, and the control unit 80 outputs information to that effect if, after coupling, the identification information 88 acquired by the identification information acquisition unit 83 indicates an error where the coupling should not be performed. With this coupling unit 50, the operator W can grasp the target error for coupling. Furthermore, the control unit 80 stops the operation of the automated guided vehicle 90 and the transport trolley 94 in the event of an error. This allows the operator W to easily perform corrective actions in response to the error by stopping the operation of the connecting unit 50.

[0046] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present invention.

[0047] For example, in the above-described embodiment, the automated guided vehicle 90 side is provided with the power feeding side contact portion 74, and the transport carriage 94 is provided with the power receiving side contact portion 75, but at least one of them may be omitted. If any one contact portion 73 is provided, for example, the other side such as a wall surface does not particularly need to be a contact portion. FIG. 13 is an explanatory diagram showing an example of another wireless power unit 70B, FIG. 13A is an explanatory diagram of the positional relationship of the wireless power unit 70 at the connection standby position, and FIG. 13B is an explanatory diagram of the positional relationship of the wireless power unit 70 in the connected state. The wireless power unit 70B includes a contact portion 73B in which the power feeding side contact portion 74 is omitted. Also in this contact portion 73B, the distance D can be maintained by the power receiving side contact portion 75 coming into contact with the wall surface on the automated guided vehicle 90 side. Similarly, the same applies even if the power receiving side contact portion 75 is omitted from the contact portions 73.

[0048] In the above-described embodiment, the tapered surface 73a is formed on both the power feeding side contact portion 74 and the power receiving side contact portion 75, but the present invention is not particularly limited thereto, and one tapered surface 73a may be omitted. If the other contact portion 73 has the tapered surface 73a, the connection of the transport system 13 can be performed. From the viewpoint of smooth connection operation, it is preferable that both the opposing power feeding side contact portion 74 and power receiving side contact portion 75 have the tapered surface 73a. Further, in the above-described embodiment, the contact portions are described as having contact surfaces extending along the connection direction, but the present invention is not limited thereto. Cam followers arranged in the moving direction may travel along the contact surface or the wall surface, or a plurality of members each having a spherical tip with a defined height may be arranged in the moving direction.

[0049] In the above-described embodiment, the biasing unit 76 is provided in the power receiving side housing 72b, but the system is not limited to this, and the biasing unit 76 may also be provided in the power supply side housing 71b. Also, in the above-described embodiment, the wireless power receiving unit 72 is supported by being suspended in mid-air, but the system is not limited to this, and the wireless power supply unit 71 may be supported by being suspended in mid-air or by being biased from below, or both the wireless power supply unit 71 and the wireless power receiving unit 72 may be supported by being suspended in mid-air and by being biased from below. Furthermore, from the viewpoint of utilizing gravity, it is more preferable to have the upper wireless power unit 70 as a suspension mechanism.

[0050] In the embodiment described above, the first moving device is a transport cart 94 and the second moving device is an automated guided vehicle (AGV) 90, but the invention is not limited to this, and the first moving device may be an AGV 90 and the second moving device may be a transport cart 94. Furthermore, although the moving system is configured with an AGV 90 and a transport cart 94 connected, other moving devices such as an AGV 90 or a transport cart 94 may also be used. In this moving system as well, the contact portion 73 can be used to provide more stable wireless power supply.

[0051] In the embodiment described above, the wireless power receiving unit 72 and the power receiving side contact unit 75 are housed in the power receiving side housing unit 72b and move together as a single unit. However, the invention is not limited to this, and the power receiving side housing unit 72b may be omitted. In this case, for example, the power receiving side contact unit 75 may be disposed on the wireless power receiving unit 72, so that the wireless power receiving unit 72 and the power receiving side contact unit 75 move together as a single unit. Furthermore, in the embodiment described above, the wireless power receiving unit 72 and the power receiving side contact unit 75 are housed in the power receiving side housing unit 72b and move together as a single unit. However, the invention is not limited to this, and the wireless power receiving unit 72 and the power receiving side contact unit 75 may move separately.

[0052] In the embodiment described above, the connecting unit 50 is attached to the automated guided vehicle 90 by a mounting part 91, but it is not limited to this, and the connecting unit 50 may be attached to the transport trolley 94. Figure 14 is an explanatory diagram showing an example of another connecting unit 50B. That is, the connecting unit 50 has, for example, a wireless power receiving unit 72 and a first wireless communication unit 65 and is attached to a mounting part provided on the transport trolley 94B, and the automated guided vehicle 90B may be equipped with a connecting member 85, a wireless power supply unit 71 that faces the wireless power receiving unit 72 and supplies power when connected, and a second wireless communication unit 66 that transmits and receives signals with the first wireless communication unit 65 when connected. The transport trolley 94B is equipped with a mounting part that can attach and detach the connecting unit 50B. The connecting unit 50B is equipped with a guide part 60B and a fixing unit 52B disposed adjacent to the guide part 60B. The guide section 60B and the fixing unit 52B have the same configuration as the guide section 60 and the fixing unit 52 described above, so a detailed explanation thereof is omitted. The automated guided vehicle 90B has a connecting member 85B, which includes a first connecting member 86B and a second connecting member 87b, disposed on its upper surface. This connecting unit 50B is equipped with a wireless power receiving unit 72, and the automated guided vehicle 90B is equipped with a wireless power supply unit 71. In this connecting unit 50B as well, by attaching the connecting unit 50B to the transport trolley 94 side, the connecting mechanism can be further simplified, similar to the connecting unit 50 described above.

[0053] In the above-described embodiment, a wireless power supply unit 71 is provided on the automated guided vehicle 90 and a wireless power receiving unit 72 is provided on the transport trolley 94. However, the invention is not limited to this, and the wireless power receiving unit 72 may be provided on the automated guided vehicle 90 and the wireless power supply unit 71 may be provided on the transport trolley 94. In this case, the transport trolley 94 may be equipped with a power supply device 92. Furthermore, in the above-described embodiment, a guide unit 60 is provided on the automated guided vehicle 90 and a connecting member 85 is provided on the transport trolley 94. However, the invention is not limited to this, and the connecting member 85 may be provided on the automated guided vehicle 90 and the guide unit 60 may be provided on the transport trolley 94. Moreover, in the transport system 13, the guide unit 60 and the connecting member 85 may be provided on the automated guided vehicle 90, and the connecting member 85 and the guide unit 60 may be provided on the transport trolley 94. Furthermore, in the above-described embodiment, the fixing unit 52 is provided in the second connecting execution unit 51b, but the invention is not limited to this, and the fixing unit 52 may be provided in the first connecting execution unit 51a, or in both the first connecting execution unit 51a and the second connecting execution unit 51b.

[0054] In the embodiment described above, the guide section 60 is composed of two first guide sections 61 and a second guide section 62, and the connecting member 85 is composed of two first connecting members 86 and a biasing member 57. However, the embodiment is not limited to this, and the guide section 60 may be composed of three or more guide sections, and the connecting member 85 may be composed of a number of connecting members corresponding to the guide section 60. With this connecting mechanism, the wireless power unit 70 and the wireless communication unit 64 can further simplify the connecting mechanism. It is preferable from the viewpoint of simplifying the configuration that the guide section 60 and the connecting member 85 be composed of two.

[0055] In the above-described embodiment, the control unit 50a was described as being installed on the connecting unit 50, but the invention is not limited to this, and the control unit 50a may be installed on the automated guided vehicle 90 or on the transport trolley 94. In this case, it is preferable that the control unit 50a is equipped with a power supply device such as a storage battery.

[0056] In the above-described embodiment, the mounting system 10 includes a storage device 14 and a loader 18, and the transport system 17 moves the container 49 to the storage device 14. However, the system is not limited to this, and the mounting system 10 may not include a storage device 14 and a loader 18, and the container 49 may be moved directly to the mounting section of the mounting device 15. In this case, the transport system 13 may communicate with the mounting device 15 via a storage communication unit 67.

[0057] In the above-described embodiment, the connecting execution unit 51 is provided with a fixing unit 52 adjacent to the guide unit 60, but it is not limited to this, and the fixing unit 52 that fixes the guide unit 60 and the connecting member 85 with a fixing member 53 may be arranged in a different location. In this connecting unit 50 as well, since the wireless communication unit 64 and the wireless power unit 70 do not require connectors, there is no need for a mechanism to position the connectors or to avoid incomplete connections between connectors, and the connecting mechanism can be further simplified.

[0058] In the above-described embodiment, the identification information acquisition unit 83 in the connecting unit 50 reads and acquires the identification information 88 of the transport trolley 94. However, it is not limited to this, and the identification information 88 may be acquired via the network as needed from the management device 14a, preparation device 40, control device 19, etc., through communication by the wireless communication unit.

[0059] In the above-described embodiment, the fixing unit 52 is provided with a release mechanism 59, but it is not limited to this, and the release mechanism 59 may be omitted. Also, the connecting unit 50 is provided with a fixing member detection unit 58, a connecting member detection unit 63, an identification information acquisition unit 83, etc., but it is not limited to this, and one or more of these may be omitted. Furthermore, in the transport system 13, it is more preferable to provide the detection unit and the acquisition unit from the viewpoint of confirming the connected state of the transport system 13.

[0060] In the embodiments described above, the work device 95 was a conveyor device for transferring containers 49 and a loading platform device for placing storage racks 29, but it is not limited to these and may be a device for transporting other mounting-related components.

[0061] In the above-described embodiment, the wireless power units 70 are positioned opposite each other in the vertical direction, but the system is not limited to this, and they may also be positioned opposite each other in the front-to-back direction or in the left-to-right direction. Similarly, in the above-described embodiment, the wireless communication units 64 are positioned opposite each other in the front-to-back direction, but the system is not limited to this, and they may also be positioned opposite each other in the vertical direction or in the left-to-right direction.

[0062] Furthermore, although the above-described embodiments have explained the application of this disclosure to the forms of a connecting unit 50, an automated guided vehicle 90, a transport trolley 94, and a transport system 13, this disclosure may also be used as a control method for the transport system 13, or as a program that causes a computer to execute each step of this control method.

[0063] Herein, the mobile system, automated guided vehicle, and transport trolley of the present disclosure may be configured as follows. For example, the mobile system of the present disclosure is used in a mounting system that performs a mounting process of placing components onto a substrate, and is a mobile system having a first mobile device and a second mobile device that moves in connection with the first mobile device, comprising: a wireless power unit having a wireless power supply unit disposed on the first mobile device or the second mobile device and a wireless power receiving unit disposed on the second mobile device or the first mobile device; a contact unit disposed on at least one of the first mobile device and the second mobile device that separates the power supply surface and the power receiving surface of the wireless power supply unit by a predetermined distance or more when the power supply surface and the power receiving surface of the wireless power receiving unit face each other; and a biasing unit disposed on at least one of the first mobile device and the second mobile device that biases the wireless power supply unit or the wireless power receiving unit in the opposing direction.

[0064] In this mobile system, the wireless power receiving unit and the wireless power supply unit are biased to face each other in the first mobile device, and the contact portion on the receiving side and the contact portion on the supply side come into contact with each other, thereby further suppressing misalignment between the wireless power receiving unit and the wireless power supply unit in the opposing direction. Therefore, this mobile system can provide more stable wireless power supply.

[0065] The transport trolley of this disclosure is used in a mounting system that performs a mounting process of placing components onto a base material, and is a transport trolley of a mobile system that moves in conjunction with an automated guided vehicle, and comprises: a wireless power unit comprising a wireless power receiving unit that constitutes a wireless power unit and is disposed on the automated guided vehicle and faces a wireless power supply unit that constitutes the wireless power unit; and a power receiving side contact unit that contacts a power supply side contact unit disposed on the automated guided vehicle; or comprising a wireless power supply unit comprising a wireless power unit and is disposed on the automated guided vehicle and faces a wireless power receiving unit that constitutes the wireless power unit; and a power supply side contact unit that contacts a power receiving side contact unit disposed on the automated guided vehicle, and comprising a biasing unit that biases the wireless power supply unit and the wireless power receiving unit in the opposing direction.

[0066] Similar to the mobile system described above, this transport trolley can further suppress positional misalignment between the wireless power receiving unit and the wireless power supply unit in the opposing direction, enabling more stable wireless power supply. The transport trolley of this disclosure may adopt any of the configurations of the mobile system described above.

[0067] The automated guided vehicle of the present disclosure is an automated guided vehicle of a mobile system used in a mounting system that performs a mounting process of placing components onto a substrate, and moves in conjunction with a transport trolley, comprising: a wireless power supply unit which constitutes a wireless power unit and is disposed on the transport trolley and faces a wireless power receiving unit which constitutes the wireless power unit; and a power supply side contact unit which contacts a power receiving side contact unit which is disposed on the transport trolley; or comprising: a wireless power receiving unit which constitutes a wireless power unit and is disposed on the transport trolley and faces a wireless power supply unit which constitutes the wireless power unit; and a power receiving side contact unit which contacts a power supply side contact unit which is disposed on the transport trolley, and comprising a biasing unit which biases the wireless power supply unit and the wireless power receiving unit in the opposite direction.

[0068] Similar to the mobile system described above, this automated guided vehicle (AGV) can further suppress positional misalignment between the wireless power receiving unit and the wireless power supply unit in the opposing direction, enabling more stable wireless power supply. The AGV of this disclosure may adopt any of the configurations of the mobile system described above.

[0069] This specification also discloses the following technical concepts: in claim 4 of the original application, "the moving system described in claim 1 or 2" is changed to "the moving system described in any one of claims 1 to 3"; in claim 5 of the original application, "the moving system described in claim 1 or 2" is changed to "the moving system described in any one of claims 1 to 4"; in claim 6 of the original application, "the moving system described in claim 1 or 2" is changed to "the moving system described in any one of claims 1 to 5"; in claim 7 of the original application, "the moving system described in claim 1 or 2" is changed to "the moving system described in any one of claims 1 to 6"; in claim 8 of the original application, "the moving system described in claim 1 or 2" is changed to "the moving system described in any one of claims 1 to 7"; in claim 9 of the original application, "the connecting unit described in claim 1 or 2" is changed to "the moving system described in any one of claims 1 to 8"; and in claim 10 of the original application, "the moving system described in claim 1 or 2" is changed to "the moving system described in any one of claims 1 to 9".

[0070] This disclosure is applicable to the technical field of equipment that performs processes such as sampling and placement of parts.

[0071] 10 Mounting system, 11 Printing device, 12 Printing inspection device, 13, 13B Transport system, 14 Storage device, 14a Management device, 15 Mounting device, 16 Mounting inspection device, 17 Preparation facility, 18 Loader, 18a X-axis rail, 19 Control unit, 21 Control device, 22 Substrate processing unit, 23 Mask processing unit, 24 Printing unit, 25 Printing head, 26 Squeegee, 27 Storage rack, 27 Communication unit, 28 Replacement unit, 29 Storage rack, 31 Control device, 32 Substrate processing unit, 33 Parts supply unit, 34 Mounting unit, 35 Mounting head, 36 Sample material, 37 Communication unit, 40 Preparation device, 41 Control device, 42 Storage unit, 43 Display device, 44 Input device, 47 Communication unit, 48 Storage device, 49 Container, 50, 50B Connecting unit, 50a Control unit, 51 52, 52B Connection execution unit, 53 Fixing unit, 54 Fixing drive unit, 55 Drive member, 56 Connecting member, 57 Biasing member, 58 Fixing member detection unit, 59 Release mechanism, 59a Release member, 59b Support shaft, 59c Contact part, 60, 60B Guide part, 61 First guide part, 61a Support member, 62 Second guide part, 63 Connection member detection unit, 64 Wireless communication unit, 65 First wireless communication unit, 66 Second wireless communication unit, 67 Storage communication unit, 68 Operation panel, 70, 70B Wireless power unit, 71 Wireless power supply unit, 71a Power supply surface, 71b Power supply side housing unit, 72 Wireless power receiving unit, 72a Power receiving surface, 72b Power receiving side housing unit, 73, 73B Contact part, 73a Tapered surface, 73b Contact surface, 73c Central area, 74 Power supply side contact part, 75 Power receiving side contact part, 76 Biasing part, 76a Support member, 76b Pressing member, 80 Control unit, 82 Storage unit, 83 Identification information acquisition unit, 85, 85B Connecting member, 86, 86B First connecting member, 87, 87B Second connecting member, 88 Identification information, 90, 90B Automated guided vehicle, 91 Mounting unit, 92 Power supply unit, 93 Travel unit, 94, 94B Transport trolley, 95 Work device, 96 Trolley unit, 97 Caster, 99 Network, C Connection direction, D Spacing, F Feeder, M Screen mask, P Parts, S Substrate, W Worker.

Claims

1. A mobile system used in a mounting system that performs a mounting process of placing components onto a substrate, comprising a first mobile device and a second mobile device that moves in connection with the first mobile device, the mobile system comprising: a wireless power receiving unit disposed on the first mobile device and constituting a wireless power unit, and facing a wireless power supply unit disposed on the second mobile device and constituting the wireless power unit; a power receiving side contact unit disposed on the first mobile device and in contact with a power supply side contact unit disposed on the second mobile device; and a biasing unit that biases the wireless power receiving unit and the wireless power supply unit in opposing directions.

2. The mobile system according to claim 1, comprising: a wireless power supply unit disposed on the second mobile device, constituting a wireless power unit and facing the wireless power receiving unit disposed on the first mobile device; and a power supply side contact unit disposed on the second mobile device and in contact with the power receiving side contact unit disposed on the first mobile device.

3. A mobile system used in a mounting system that performs a mounting process of placing components onto a substrate, comprising a first mobile device and a second mobile device that moves in connection with the first mobile device, the mobile system comprising: a wireless power unit having a wireless power supply unit disposed on the first mobile device or the second mobile device and a wireless power receiving unit disposed on the second mobile device or the first mobile device; a contact unit disposed on at least one of the first mobile device and the second mobile device, which separates the power supply surface and the power receiving surface of the wireless power supply unit by a predetermined distance or more when the power supply surface and the power receiving surface of the wireless power receiving unit face each other; and a biasing unit disposed on at least one of the first mobile device and the second mobile device, which biases the wireless power supply unit or the wireless power receiving unit in the opposing direction.

4. The moving system according to claim 1 or 2, wherein the first moving device is an automated guided vehicle, the second moving device is a transport trolley on which mounting-related components used in the mounting system are placed and which is connected to the automated guided vehicle for movement, and the biasing unit is disposed on the transport trolley side and biases the wireless power receiving unit and the power receiving side contact unit toward the wireless power supply unit and the power supply side contact unit.

5. The moving system according to claim 1 or 2, wherein the first moving device is an automated guided vehicle, the second moving device is a transport trolley on which mounting-related components used in the mounting system are placed and which is connected to the automated guided vehicle for movement, and the biasing unit is disposed on the side of the automated guided vehicle and biases the wireless power supply unit and the power supply side contact unit toward the wireless power receiving unit and the power receiving side contact unit.

6. The mobile system according to claim 1 or 2, wherein at least one of the power supply side contact portion and the power receiving side contact portion has a tapered surface with a high central region along the connection direction of the first mobile device and the second mobile device, and is formed to extend along the connection direction.

7. The mobile system according to claim 1 or 2, wherein the wireless power receiving unit and the power receiving side contact unit are supported integrally so as to be movable along the opposing direction and are biased by the biasing unit, and / or the wireless power supply unit and the power supply side contact unit are supported integrally so as to be movable along the opposing direction and are biased by the biasing unit.

8. The mobile system according to claim 1 or 2, wherein the wireless power supply unit and the wireless power receiving unit face each other with a predetermined distance between them by the contact of the power supply side contact portion and the power receiving side contact portion, and at least one of the power supply side contact portion and the power receiving side contact portion is formed on both ends of the wireless power unit along the connection direction of the first mobile device and the second mobile device.

9. The mobile system according to claim 1 or 2, wherein the wireless power supply unit and the wireless power receiving unit face each other in the vertical direction, and the power supply side contact unit and the power receiving side contact unit have contact surfaces in the horizontal direction.

10. A mobile system according to claim 1 or 2, comprising a coupling execution unit for coupling and uncoupling the first mobile device and the second mobile device.

11. A transport trolley for a mobile system used in a mounting system that performs a mounting process of placing components onto a substrate, and which moves in conjunction with an automated guided vehicle (AGV), comprising: a wireless power unit comprising a wireless power receiving unit that constitutes a wireless power unit and is disposed on the AGV and faces a wireless power supply unit that constitutes the wireless power unit; and a power receiving side contact unit that contacts a power supply side contact unit disposed on the AGV; or a transport trolley comprising a wireless power supply unit comprising a wireless power unit and is disposed on the AGV and faces a wireless power receiving unit that constitutes the wireless power unit; and a power supply side contact unit that contacts a power receiving side contact unit disposed on the AGV, and a biasing unit that biases the wireless power supply unit and the wireless power receiving unit in opposing directions.

12. An automated guided vehicle (AGV) for a mobile system used in a mounting system that performs a mounting process of placing components onto a substrate, and which moves in conjunction with a transport trolley, comprising: a wireless power supply unit that constitutes a wireless power unit and is disposed on the transport trolley and facing a wireless power receiving unit that constitutes the wireless power unit; and a power supply side contact unit that contacts a power receiving side contact unit disposed on the transport trolley; or an AGV comprising: a wireless power receiving unit that constitutes a wireless power unit and is disposed on the transport trolley and facing a wireless power supply unit that constitutes the wireless power unit; and a power receiving side contact unit that contacts a power supply side contact unit disposed on the transport trolley, and a biasing unit that biases the wireless power supply unit and the wireless power receiving unit in opposing directions.

Images