Connection unit, unmanned conveyance vehicle, conveyance carriage, and conveyance system
Patent Information
- Application Number
- PCT/JP2025/012590
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-03-27
- Publication Date
- 2026-10-01
Smart Images
Figure JP2025012590_01102026_PF_FP_ABST
Abstract
Description
Coupling unit, automated guided vehicle, transport carriage and transport system
[0001] The invention disclosed in the present specification relates to a coupling unit, an automated guided vehicle, a transport carriage and a transport system.
[0002] Conventionally, as this type of coupling unit, one used in a transport system including a transport carriage on which a conveyed article is placed and an automated guided vehicle that moves while coupled to the transport carriage has been proposed (see, for example, Patent Document 1). This unit couples the transport carriage and the automated guided vehicle. Further, as this type of automated guided vehicle, one equipped with a magazine transfer machine for placing a magazine thereon has been proposed (see, for example, Patent Document 2).
[0003] International Publication No. 2023 / 037498 International Publication No. 2023 / 021577
[0004] In the above-described coupling unit, when a conveyed article is transported in a state where the transport carriage and the automated guided vehicle are coupled, vibration may occur in each of the transport carriage and the automated guided vehicle due to unevenness of a floor or the like. When such vibration occurs, the transport carriage and the automated guided vehicle interfere with each other, which may cause some inconvenience.
[0005] A main object of the coupling unit, the automated guided vehicle, the transport carriage and the transport system of the present disclosure is to suppress interference between the transport carriage and the automated guided vehicle during transport of a conveyed article.
[0006] The coupling unit, the automated guided vehicle, the transport carriage and the transport system of the present disclosure employ the following means to achieve the above-mentioned main object.
[0007] The coupling unit of this disclosure is used in a transport system comprising a transport cart for transporting mounting-related members related to a mounting process for placing parts on an object, and an automated guided vehicle (AGV) that moves in connection with the transport cart, and comprises an interference suppression unit for suppressing interference between the AGV and the transport cart, wherein the interference suppression unit has an air gap between itself and the transport cart or the AGV when the running surfaces of the AGV and the transport cart are the same in a coupled state, and contacts the contacted portion of the transport cart or the AGV when the running surfaces of the AGV and the transport cart are different in the coupled state.
[0008] The connecting unit of this disclosure includes an interference suppression unit that suppresses interference between the automated guided vehicle (AGV) and the transport trolley. When the transport trolley and the AGV are connected and their running surfaces are the same, the interference suppression unit has a gap between itself and the transport trolley or the AGV. When the running surfaces of the AGV and the transport trolley are different in the connected state, the interference suppression unit contacts the contacted portion of the transport trolley or the AGV. As a result, this connecting unit can suppress interference between the transport trolley and the AGV during the transport of goods. Here, "running surfaces are the same" includes both cases where the running surfaces are identical and cases where the difference in running surfaces is slight and can be considered identical. Furthermore, this connecting unit contributes to the realization of smart factories.
[0009] A schematic diagram showing an example of the implementation system 10. A diagram explaining the storage device 14 and the transport system 13. A perspective view showing an overview of the configuration of the transport system 13. A diagram explaining an overview of the configuration of the connecting unit 50 and the automated guided vehicle 90. A perspective view of the carriage portion 96 of the transport carriage 94 viewed from below. A diagram showing an example of the first connecting execution unit 51a that constitutes the connecting execution unit 51. A diagram showing an example of the second connecting execution unit 51b that constitutes the connecting execution unit 51. An enlarged side view of the main part of the connecting unit 50. A side view of the transport system 13 viewed from the left side with the transport carriage 94 seen through. A diagram to explain the state of the gap Ga. A side view of the transport system 13 when the inclination angle θt is angle θ1. A diagram to explain the state of the gap Ga when the inclination angle θt is angle θ1. A side view of the transport system 13 when the inclination angle θt is angle θ2. A diagram to explain the state of the gap Ga when the inclination angle θt is angle θ2.
[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 automated guided vehicle 90 and the transport trolley 94 before connection, and Figure 7B is an explanatory diagram of the connected state. Figure 8 is an enlarged side view of the main part of the connecting unit 50, viewed from the left side. Figure 9 is a side view of the transport system 13, viewed from the left side with the transport trolley 94 seen through, when the running surfaces of the automated guided vehicle 90 and the transport trolley 94 are the same. Figure 10 is an explanatory diagram to explain the state of the gap Ga when the running surfaces of the automated guided vehicle 90 and the transport trolley 94 are the same. In Figure 10, the center of the transport system 13, viewed with the transport trolley 94 seen through, is cut in the front-rear direction and viewed from the left side. In this embodiment, the left-right direction (X-axis), front-rear direction (Y-axis), and up-down direction (Z-axis) are as shown in Figures 1 to 7.
[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, the printing device 11, a transport device for transporting the substrate S, 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) solder as a viscous fluid onto a substrate S below through these pattern holes. Here, "objects to be processed" include, for example, a substrate S on which components P are mounted, or a three-dimensional base material. "Viscous fluid" includes solder paste, conductive paste, and adhesives. 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, a mask processing unit 23, a substrate processing unit 22, a work unit 30, a replacement unit 28, 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 includes a storage unit that stores print job information, including the conditions for executing the print job, and a print processing program that performs the print operation on the substrate S. The substrate processing unit 22 is located below the mask processing unit 23 and is a unit that loads the substrate S, positions and supports the loaded 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 includes a print head 25 equipped with 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, each used in the front-rear direction. The print head 25 is moved in the front-to-back direction of the device by the head moving unit during the printing process. 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 replacement 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 replacement 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 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. For example, the central control device 19 exchanges information with 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 where mounting-related materials used in the mounting system 10 are prepared. Preparation facility 17 is, for example, a warehouse where screen masks M and feeders F are stored. In preparation facility 17, worker W sets the feeder F in container 49 when it will be used in the mounting device 15 and registers this information in preparation device 40. As shown in Figure 1, preparation facility 17 is equipped with preparation device 40 and storage device 48. Preparation device 40 is a device that manages the work in 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 the preparation work of 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 communicating with external devices. The storage device 48 is a device for storing replenishment and used containers 49. The storage device 48 has the same configuration as the storage device 14. The container 49 is a storage case capable of accommodating multiple feeders F. The container 49 is placed on the transport trolley 94 and moved by the transport system 13. The worker W performs the task of connecting the automated guided vehicle 90 and the transport trolley 94 with the connecting unit 50, for example, at the preparation facility 17. The 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 replacement unit 28 of the printing device 11, and the storage device 48 of the preparation facility 17. The transport system 13 consists of a connecting unit 50, an automated guided vehicle 90, and a transport trolley 94.
[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 a 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 coupling unit 50. The mounting unit 91 may, for example, have an engaging part that engages with the mounting portion of the coupling unit 50. The power supply unit 92 is a battery that supplies power to the entire transport system 13. Power supplied from this power supply unit 92 enables the driving of the driving 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 device 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 bogie portion 96 has a first connecting member 86 and a second connecting member 87, which constitute the connecting member 85, arranged 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 the state in which the connecting member 85 is in the connection position of the connecting execution unit 51 (see Figures 6B and 7B). The connecting unit 50 is attached to the mounting part 91 of the automated guided vehicle 90 in a manner that allows it to be attached and detached. The connecting unit 50 comprises a connecting execution unit 51, an interference suppression unit 52, a communication unit 67, an operation panel 68, 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 unit body 54 of the connecting unit 50. The second connecting execution unit 51b is located in the center of the rear side of the unit body 54 relative to the first connecting execution unit 51a. As shown in Figure 10, the unit body 54 has a gap G between it and the transport trolley 94. The gap G allows the interference suppression unit 52 to pass without contacting the underside of the transport trolley 94 when the automated guided vehicle 90, which has been released from its connection with the transport trolley 94, is moving relative to the transport trolley 94. In other words, the connecting unit 50 can prevent the interference suppression unit 52 from contacting the transport trolley 94 when the connection between the transport trolley 94 and the automated guided vehicle 90 has been released and the automated guided vehicle 90 is moving relative to the transport trolley 94, thanks to this gap G. As shown in Figure 6, the first connecting execution unit 51a has a first guide unit 61 which constitutes the guide unit 60. 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. As shown in Figure 7, the second connecting execution unit 51b has a second guide unit 62 which constitutes the guide unit 60. The second connecting execution unit 51b receives the second connecting member 87 and restricts the lateral displacement of the transport trolley 94 relative to the automated guided vehicle 90.
[0020] The interference suppression section 52 is made of an elastic material. Four interference suppression sections 52 are arranged on the unit body 54. Two of the four interference suppression sections 52 are arranged on the left and right sides of the front of the unit body 54. The remaining two of the four interference suppression sections 52 are arranged on the left and right sides of the rear of the unit body 54. When the transport system 13 is connected, each interference suppression section 52 has a protrusion 52a that protrudes toward the transport trolley 94 between the automated guided vehicle 90 and the transport trolley 94. When the running surfaces of the automated guided vehicle 90 and the transport trolley 94 are the same, the protrusion 52a has an air gap Ga between it and the lower surface of the transport trolley 94, as shown in Figure 10.
[0021] 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 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 positioned 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 positioned behind and above the first guide section 61 of the automated guided vehicle 90 and guides the second connecting member 87 included in the connecting member 85.
[0022] The 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.
[0023] 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.
[0024] 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 for controlling the entire transport system 13, such as transport job information including information for transporting 49 to the storage device 14, a transport program that executes the transport process, and a coupling program that connects 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.
[0025] 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. 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.
[0026] Next, the state of the transport system 13 during transport will be described in its connected state. Figure 11 is a side view of the transport system 13, viewed from the left side, with a transparent view of the transport trolley 94 when the inclination angle θt of the transport trolley 94's running surface relative to the running surface of the automated guided vehicle 90 is angle θ1. Figure 12 is an explanatory diagram to explain the state of the gap Ga when the inclination angle θt is angle θ1. Angle θ1 is an angle in which the running surface of the automated guided vehicle 90 and the running surface of the transport trolley 94 can be considered the same, i.e., an angle within the allowable range. Figure 13 is a side view of the transport system 13, viewed from the left side, with a transparent view of the transport trolley 94 when the inclination angle θt is angle θ2, which is greater than angle θ1. Figure 14 is an explanatory diagram to explain the state of the gap Ga when the inclination angle θt is angle θ2. Angle θ2 is an angle outside the allowable range. In Figures 12 and 14, the center of the transport system 13, viewed through the transport trolley 94, is cut in the front-to-back direction along line AA in Figure 4 and viewed from the left side. When the transport system 13 is transporting objects in a connected state and the inclination angle θt is within the allowable range, a gap Ga exists between the protrusion 52a and the lower surface of the transport trolley 94, as shown in Figures 11 and 12. Therefore, in the transport system 13, the protrusion 52a and the contact portion 94a of the transport trolley 94 do not come into contact, and the transport trolley 94 and the automated guided vehicle 90 do not interfere with each other. When the transport system 13 is transporting objects in a connected state and the inclination angle θt is outside the allowable range, the protrusion 52a and the contact portion 94a of the transport trolley 94 come into contact, as shown in Figures 13 and 14, thus suppressing interference between the transport trolley 94 and the automated guided vehicle 90. Therefore, vibrations are generated in both the automated guided vehicle 90 and the transport trolley 94 due to the unevenness of the floor surface, and interference between the transport trolley 94 and the automated guided vehicle 90 is suppressed. In this way, the transport system 13 can suppress interference between the automated guided vehicle 90 and the transport trolley 94 during the transport of transported goods. Furthermore, since the interference suppression part 52 is formed of an elastic material, the interference suppression part 52 can absorb the shock when the convex part 52a of the interference suppression part 52 comes into contact with the contacted part 94a of the transport trolley 94. As a result, damage to the transport trolley 94 can be suppressed in this transport system 13.
[0027] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The transport trolley 94 of this embodiment is an example of a transport trolley of the present disclosure, the automated guided vehicle 90 is an example of an automated guided vehicle of the present disclosure, the transport system 13 of this embodiment is an example of a transport system of the present disclosure, the connecting unit 50 of this embodiment is an example of a connecting unit of the present disclosure, and the interference suppression unit 52 of this embodiment is an example of an interference suppression unit of the present disclosure.
[0028] The transport system 13 equipped with the connecting unit 50 of this embodiment described above is equipped with an interference suppression unit 52 that suppresses interference between the automated guided vehicle 90 and the transport trolley 94. When the transport trolley 94 and the automated guided vehicle 90 are connected and their running surfaces are the same, the interference suppression unit 52 has an air gap Ga between itself and the transport trolley 94. When the transport trolley 90 and the transport trolley 94 are connected and their running surfaces are different, the interference suppression unit 52 comes into contact with the contacted portion 94a of the transport trolley 94. As a result, this connecting unit 50 can suppress interference between the transport trolley 94 and the automated guided vehicle 90 during the transport of transported goods.
[0029] Furthermore, since the interference suppression unit 52 has a protrusion 52a that protrudes toward the transport trolley 94 side between the automated guided vehicle 90 and the transport trolley 94 when connected, this transport system 13 can suppress interference between the transport trolley 94 and the automated guided vehicle 90 during the transport of transported goods.
[0030] Furthermore, since the interference suppression part 52 is made of an elastic material, this transport system 13 can prevent damage to the transport trolley 94 when the interference suppression part 52 comes into contact with the transport trolley 94.
[0031] Furthermore, the connecting unit 50 includes a unit body 54 to which the interference suppression unit 52 is attached. The unit body 54 has an air gap G between it and the automated guided vehicle 90 that allows the interference suppression unit 52 to pass through without coming into contact with the transport trolley 94 when the automated guided vehicle 90, which has been released from its connection with the transport trolley 94, is moving relative to the transport trolley 94. Therefore, with this connecting unit 50, it is possible to suppress the interference suppression unit 52 from coming into contact with the transport trolley 94 when the connection between the transport trolley 94 and the automated guided vehicle 90 has been released and the automated guided vehicle 90 is moving relative to the transport trolley 94.
[0032] 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.
[0033] For example, in the above-described embodiment, the connecting unit 50 is attached to the automated guided vehicle 90 by the mounting portion 91, but it is not limited to this, and the connecting unit 50 may be attached to the transport trolley 94. The connecting unit 50B of another embodiment includes an interference suppression portion 52B that suppresses interference between the automated guided vehicle 90 and the transport trolley 94. When the transport system 13 is connected, the interference suppression portion 52B has a protrusion 52aB that protrudes toward the automated guided vehicle 90 side between the automated guided vehicle 90 and the transport trolley 94. When the running surfaces of the automated guided vehicle 90 and the transport trolley 94 are the same, the protrusion 52aB has an air gap GaB between it and the contact portion on the upper surface of the automated guided vehicle 90, and when the running surfaces of the automated guided vehicle 90 and the transport trolley 94 are different in the connected state, it is arranged to contact the contact portion of the automated guided vehicle 90. As a result, the connecting unit 50 can suppress interference between the transport cart 94 and the automated guided vehicle 90 during the transport of transported goods. Furthermore, if the interference suppression part 52B is formed of an elastic material, damage can be suppressed when the protrusion 52aB of the interference suppression part 52B comes into contact with the part of the automated guided vehicle 90 that is to be contacted. In addition, the unit body 54B of the connecting unit 50B may have an air gap GB between it and the automated guided vehicle 90 that allows the interference suppression part 52B to pass through without coming into contact with the automated guided vehicle 90 when the connection between the transport cart 94 and the automated guided vehicle 90 is released and the automated guided vehicle 90 is moving relative to the transport cart 94. In this way, the connecting unit 50B can suppress the interference suppression part 52B from coming into contact with the transport cart 94 or the automated guided vehicle 90 when the connection between the transport cart 94 and the automated guided vehicle 90 is released and the automated guided vehicle 90 is moving relative to the transport cart 94.
[0034] In the embodiment described above, the connecting unit 50 is equipped with four interference suppression units 52. However, the connecting unit 50 only needs to be equipped with at least one interference suppression unit 52, and may be equipped with, for example, three or fewer interference suppression units 52, or five or more interference suppression units 52. In the connecting unit 50, two of the four interference suppression units 52 are arranged on the left and right sides of the front of the unit body 54, and the remaining two of the four interference suppression units 52 are arranged on the left and right sides of the rear of the unit body 54. However, the four interference suppression units 52 are not limited to being arranged on the left and right sides of the front or rear of the unit body 54, and may be arranged in a line with spacing in the front-rear direction of the unit body 54, taking into consideration the configuration of the automated guided vehicle 90 and the configuration of the transport trolley 94.
[0035] In the embodiment described above, the connecting unit 50 is attached to the automated guided vehicle 90 by the mounting portion 91, and the interference suppression portion 52 is provided on the connecting unit 50. However, the invention is not limited to providing the interference suppression portion 52 on the connecting unit 50; the interference suppression portion 52 may also be provided on the automated guided vehicle 90 or on the transport trolley 94.
[0036] Herein, the automated guided vehicle, transport trolley, and transport system of the present disclosure may be configured as follows. For example, the automated guided vehicle of the present disclosure is an automated guided vehicle used in a transport system that includes a transport trolley for transporting mounting-related members related to a mounting process in which parts are placed on an object, and is equipped with an interference suppression unit that suppresses interference with the transport trolley, wherein when the transport trolley and the automated guided vehicle are connected and their running surfaces are the same, the interference suppression unit has an air gap between itself and the transport trolley, and when the transport trolley and the automated guided vehicle are connected and their running surfaces are different, the interference suppression unit contacts the contacted portion of the transport trolley.
[0037] The automated guided vehicle (AGV) of this disclosure is equipped with an interference suppression unit that suppresses interference with the transport trolley. When the transport trolley and the AGV are connected and their running surfaces are the same, the interference suppression unit has a gap between itself and the transport trolley, and when the transport trolley and the AGV are connected and their running surfaces are different, the interference suppression unit comes into contact with the part of the transport trolley that is to be contacted. As a result, this AGV can suppress interference with the transport trolley during the transport of transported goods. Here, "running surfaces are the same" includes both cases where the running surfaces are the same and cases where the difference in running surfaces is slight and can be considered as the same. In addition, various forms of the connecting unit described above may be adopted in this AGV.
[0038] The transport trolley of this disclosure is used in a transport system equipped with an automated guided vehicle (AGV) and is a transport trolley for transporting mounting-related members related to the mounting process of placing parts on an object, and is equipped with an interference suppression part that suppresses interference with the AGV, wherein when the transport trolley and the AGV are connected and their running surfaces are the same, the interference suppression part has an air gap between itself and the AGV, and when the running surfaces of the transport trolley and the AGV are different in the connected state, it contacts the contacted part of the AGV.
[0039] The transport trolley of this disclosure is equipped with an interference suppression unit to suppress interference with an automated guided vehicle (AGV). When the transport trolley and the AGV are connected and their running surfaces are the same, the interference suppression unit has a gap between it and the AGV. When the transport trolley and the AGV are connected and their running surfaces are different, the interference suppression unit contacts the contacted part of the AGV. As a result, this transport trolley can suppress interference with the AGV during the transport of goods. Here, "running surfaces are the same" includes both cases where the running surfaces are the same and cases where the difference in running surfaces is slight and can be considered as the same. In addition, various forms of the connecting unit described above may be adopted in this transport trolley.
[0040] The transport system of the present disclosure is a transport system comprising a transport cart for transporting mounting-related members related to a mounting process for placing parts on an object, and an automated guided vehicle (AGV) that moves in connection with the transport cart, and the gist of the gist of the gist of the transport system is a connecting unit of the present disclosure in any of the above embodiments, that is, a connecting unit used in a transport system comprising a transport cart for transporting mounting-related members related to a mounting process for placing parts on an object, and an AGV that moves in connection with the transport cart, wherein the connecting unit comprises an interference suppression part that suppresses interference between the AGV and the transport cart, and the interference suppression part has an air gap between the transport cart or the AGV when the running surfaces of the AGV and the transport cart are the same in a connected state, and when the running surfaces of the AGV and the transport cart are different in the connected state, the connecting unit comes into contact with the contacted part of the transport cart or the AGV.
[0041] The transport system of this disclosure includes a coupling unit of this disclosure in any of the embodiments described above, and therefore achieves the same effects as the coupling unit of this disclosure, such as the effect of suppressing interference between the transport cart and the automated guided vehicle during the transport of transported goods. Here, "identical running surfaces" includes both cases where the running surfaces are identical and cases where the differences in the running surfaces are slight and can be considered identical. In addition, various embodiments of the coupling unit described above may be adopted in this transport system.
[0042] This specification also discloses a technical concept in which "the connecting unit described in claim 1 or 2" in the original claim 4 was changed to "the connecting unit described in any one of claims 1 to 3", and a technical concept in which "the connecting unit described in claim 1 or 2" in the original claim 7 was changed to "the connecting unit described in any one of claims 1 to 4".
[0043] This disclosure is applicable to industries such as the manufacturing of connecting units, automated guided vehicles, transport carts, and transport systems.
[0044] 10 Mounting system, 11 Printing device, 12 Printing inspection device, 13 Transport system, 14 Storage device, 14a Management device, 15 Mounting device, 16 Mounting inspection device, 17 Preparation facility, 18 Loader, 19 Control device, 21 Control device, 22 Substrate processing unit, 23 Mask processing unit, 24 Printing unit, 25 Printing head, 26 Squeegee, 27 Communication unit, 28 Replacement unit, 29 Storage rack, 30 Work unit, 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 Connecting unit, 50B Connecting unit, 50a Control unit, 51 Connecting execution unit, 51a First connection execution unit, 51b Second connection execution unit, 52 Interference suppression unit, 52B Interference suppression unit, 52a Protrusion, 52aB Protrusion, 54 Unit body, 60 Guide unit, 61 First guide unit, 61a Support member, 62 Second guide unit, 67 Communication unit, 68 Operation panel, 80 Control unit, 82 Storage unit, 83 Identification information acquisition unit, 85 Connecting member, 86 First connecting member, 87 Second connecting member, 88 Identification information, 90 Automated guided vehicle, 91 Mounting unit, 92 Power supply unit, 93 Travel unit, 94 Transport trolley, 94a Contacted part, 95 Working device, 96 Trolley unit, 97 Caster, 99 Network, F Feeder, G Gap, Ga Gap, M Screen mask, P Component, S Substrate, W Worker.
Claims
1. A connecting unit used in a transport system comprising a transport cart for transporting mounting-related components related to a mounting process for placing components on an object, and an automated guided vehicle (AGV) that moves in connection with the transport cart, the connecting unit comprising an interference suppression part for suppressing interference between the AGV and the transport cart, wherein the interference suppression part has an air gap between it and the transport cart or the AGV when the AGV and the transport cart are the same in a connected state, and contacts the contacted part of the transport cart or the AGV when the AGV and the transport cart are different in the connected state.
2. A connecting unit according to claim 1, wherein the interference suppression portion has a protrusion that protrudes between the automated guided vehicle and the transport trolley in the connected state, either towards the transport trolley side or towards the automated guided vehicle side.
3. A connecting unit according to claim 1 or 2, wherein the interference suppression portion is formed of an elastic body.
4. A connecting unit according to claim 1 or 2, comprising a unit body to which the interference suppression part is attached, wherein the unit body has a gap between it and the transport trolley or the automated guided vehicle, allowing the interference suppression part to pass through without contacting the transport trolley or the automated guided vehicle when the automated guided vehicle, which has been released from the transport trolley, is moving relative to the transport trolley.
5. An automated guided vehicle (AGV) used in a transport system that includes a transport trolley for transporting mounting-related components related to the mounting process of placing components on an object, the AGV comprising an interference suppression unit for suppressing interference with the transport trolley, wherein the interference suppression unit has a gap between itself and the transport trolley when the transport trolley and the AGV are connected and their running surfaces are the same, and when the transport trolley and the AGV are connected and their running surfaces are different, the AGV abuts against the contacted portion of the transport trolley.
6. A transport trolley used in a transport system equipped with an automated guided vehicle (AGV) for transporting mounting-related components related to the mounting process of placing components on an object, the transport trolley comprising an interference suppression unit for suppressing interference with the AGV, wherein when the transport trolley and the AGV are connected and their running surfaces are the same, the interference suppression unit has a gap between itself and the AGV, and when the running surfaces of the transport trolley and the AGV are different in the connected state, the transport trolley comes into contact with the contacted portion of the AGV.
7. A transport system comprising a transport cart for transporting mounting-related components related to the mounting process of placing components on an object, and an automated guided vehicle that moves in connection with the transport cart, the transport system comprising the connecting unit according to claim 1 or 2.