JP7653669B2 - Gripping structure, conveying method, conveying device, and manufacturing system - Google Patents

Description

The present disclosure relates to a gripping structure, a conveying method, a conveying device, and a manufacturing system. More specifically, the present disclosure relates to a gripping structure, a conveying method, a conveying device, and a manufacturing system for a conveying device moving on a moving surface to hold a conveying target.

Patent Document 1 discloses a transport device for transporting a cart. The cart is provided with a horizontal bar extending horizontally in a direction intersecting the traveling direction, ahead of the traveling direction of the cart. The transport device is provided with a pair of hooks positioned behind the horizontal bar, which enable the cart (object to be transported) to be towed.

JP 2019-107964 A

The object of the present disclosure is to provide a gripping structure, a conveying method, a conveying device, and a manufacturing system that are capable of gripping a transport object even if the relative position or orientation of the transport object with respect to the conveying device changes.

The gripping structure according to one aspect of the present disclosure includes a plurality of gripped parts, a plurality of gripping parts, and a displacement allowing part. The plurality of gripped parts are provided on a transport target traveling on a moving surface. The plurality of gripping parts are provided on a main body of a transport device traveling on the moving surface, each corresponding to the plurality of gripped parts. Each of the plurality of gripping parts is capable of holding a corresponding one of the plurality of gripped parts. The displacement allowing part, in a gripping state in which the plurality of gripping parts respectively hold the plurality of gripped parts, allows a relative displacement of the transport target with respect to the main body in a first direction intersecting the moving surface, and allows a relative rotation of the transport target with respect to the main body around a first rotation axis along the moving surface. Each of the plurality of gripping parts is capable of being held by contacting a corresponding one of the plurality of gripped parts.

A transport method according to one aspect of the present disclosure is a transport method in which a transport device transports an object to be transported, and includes a contact step, a holding step, and a transport step. The transport device is provided with a plurality of gripping parts corresponding to a plurality of gripped parts of the object to be transported. In the contact step, the plurality of gripping parts are brought into contact with the plurality of gripped parts. In the second direction holding step, the transport device holds the object to be transported in a state in which the object to be transported is allowed to be displaced relative to the transport device in a first direction intersecting a moving surface along which the transport device and the object to be transported move, and the object to be transported is allowed to rotate relative to the transport device around a first rotation axis along the moving surface. In the second direction transport step, the transport device moves while holding the object to transport, thereby transporting the object to be transported. In the holding step, each of the plurality of gripping parts holds a corresponding one of the plurality of gripped parts by contacting the corresponding one of the plurality of gripped parts.

A transport device according to an aspect of the present disclosure includes a main body of the transport device and a displacement allowance unit. The main body is provided with a plurality of gripping units corresponding to a plurality of gripped units of a transport target. In a gripping state in which the gripping units respectively hold the plurality of gripped units, the displacement allowance unit allows relative displacement of the transport target with respect to the main body in a first direction intersecting a moving surface along which the transport device and the transport target move. In the gripping state, the displacement allowance unit allows relative rotation of the transport target with respect to the main body around a first rotation axis along the moving surface. Each of the plurality of gripping units can be held by contacting a corresponding one of the plurality of gripped units.
The gripping structure according to one aspect of the present disclosure includes a plurality of gripped parts and a plurality of gripping parts. The plurality of gripped parts are provided on a transport target traveling on a moving surface. The plurality of gripping parts are provided on a main body of a transport device traveling on the moving surface, each corresponding to the plurality of gripped parts. The plurality of gripped parts include two gripped parts arranged in a second direction along the moving surface. The plurality of gripping parts include two gripping parts corresponding to the two gripped parts, respectively. The two gripping parts are movable along the moving surface between a first position where the two gripping parts are separated from the two gripped parts, respectively, and a second position where the two gripping parts hold the two gripped parts, respectively, by moving so that the distance between the two gripping parts changes. Even in a gripping state in which the multiple gripping portions are respectively holding the multiple gripped portions, each of the two gripped portions can move relative to the corresponding one of the two gripping portions in the opposite direction from the direction in which the corresponding gripping portion comes into contact with the corresponding one of the two gripping portions.

A manufacturing system according to one embodiment of the present disclosure includes a manufacturing device that performs a predetermined operation on a substrate, and a functional module that provides a predetermined function to the manufacturing device. The functional module is the transport target that is transported to the manufacturing device by the transport device.

FIG. 1 is a schematic plan view of a conveying device according to an embodiment of the present disclosure in a state before the conveying device holds an object to be conveyed. FIG. 2 is a schematic block diagram of the entire system including the above-mentioned conveying device. FIG. 3 is a schematic plan view of the conveying device conveying an object to be conveyed. FIG. 4 is a schematic side view of the conveying device conveying an object to be conveyed. FIG. 5 is a schematic perspective view of the above conveying device. FIG. 6 is a schematic explanatory diagram of a drive unit provided in the above-mentioned conveying device. FIG. 7 is a plan view showing a schematic diagram of the transport device and the component mounting system. FIG. 8 is a flowchart illustrating the first gripping operation by the transport device. 9A to 9E are schematic plan views illustrating each step of the first gripping operation by the transport device. 10A to 10E are schematic plan views illustrating each step of the second gripping operation by the transport device. 11A to 11D are schematic plan views illustrating each step of the third gripping operation by the transport device. FIG. 12 is a schematic plan view of a conveying device according to a first modification of an embodiment of the present disclosure in a state before the conveying device holds an object to be conveyed. FIG. 13 is an explanatory diagram of a drive unit included in a transport device according to a second modification of an embodiment of the present disclosure. FIG. 14 is a plan view showing a first mode of a gripper included in a conveying device according to a third modification of an embodiment of the present disclosure. FIG. 15 is a plan view showing a second mode of the gripper included in the transport device according to the third modification of the embodiment of the present disclosure. FIG. 16 is a plan view showing a second mode of the gripper included in the transport device according to the third modification of the embodiment of the present disclosure. FIG. 17 is a plan view showing a second mode of the gripper included in the transport device according to the third modification of the embodiment of the present disclosure. FIG. 18 is a schematic perspective view showing a gripping structure provided in a transport device according to an embodiment of the present disclosure. FIG. 19 is a schematic side view of the conveying device holding the conveying target by the gripping structure. FIG. 20 is a schematic side view of the conveying device holding the conveying target by the gripping structure. FIG. 21 is a conceptual diagram showing a state in which the transport device holds a transport object by the gripping structure as viewed from the front side. FIG. 22 is a top view of the main part of the gripping structure. FIG. 23 is a schematic plan view of the conveying device in a state before the conveying object is held by the gripping structure. FIG. 24 is a schematic plan view of the conveying device holding the conveying target by the gripping structure. FIG. 25 is a schematic perspective view of the conveying device holding the conveying target by the gripping structure. FIG. 26 is a schematic side view of the gripping structure of the above in a state where a gripping portion holds a gripped portion. FIG. 27 is a schematic side view showing a gripped portion of the gripping structure. FIG. 28 is a schematic side view of the gripping structure of the above in which the gripping portion holds a gripped portion. FIG. 29 is a schematic cross-sectional view of a gripping portion of the gripping structure. FIG. 30 is a schematic cross-sectional view of a gripping portion of the gripping structure. FIG. 31 is a schematic plan view showing a gripping structure according to Modification 4 of an embodiment of the present disclosure, in a state before the gripping portion holds the gripped portion. FIG. 32 is a schematic plan view showing a gripping structure according to the fourth modification, in which the gripping portion holds the gripped portion. FIG. 33 is a schematic plan view showing a gripping structure according to the fourth modification example, in which an external force in a second direction is applied in the gripped state. FIG. 34 is a schematic plan view showing a gripping structure according to the fourth modification example, in which an external force is applied in the front-rear direction in a gripped state. FIG. 35 is a schematic plan view of a gripping portion included in a gripping structure according to the fourth modification. FIG. 36 is a schematic plan view of a gripping portion included in a gripping structure according to Modification 4. As shown in FIG. FIG. 37 is a schematic plan view of a gripping portion included in a gripping structure according to the fourth modification. FIG. 38 is a schematic plan view showing a gripping structure according to Modification 5 of an embodiment of the present disclosure, in a state before the gripping portion holds the gripped portion. FIG. 39 shows a gripping structure according to Modification 5, and is a schematic side view of a state in which a gripping portion holds a gripped portion. FIG. 40 shows a gripping structure according to the fifth modification, and is a schematic plan view of a state in which the gripping portion is in the middle of holding the gripped portion. FIG. 41 shows a gripping structure according to the fifth modification, and is a schematic plan view of a state in which a gripping portion holds a gripped portion. FIG. 42 shows a gripping structure according to the fifth modification, and is a schematic plan view of a state in which a gripping portion holds a gripped portion.

First Embodiment
(1) Overview Each drawing described in the following embodiments is a schematic drawing, and the ratio of sizes and thicknesses of each component in each drawing does not necessarily reflect the actual dimensional ratio.

The gripping structure H1 of this embodiment is applied to a structure in which the conveying device X1 grips (holds) the conveying object A1, as shown in FIG. 1. In the following description, in FIG. 1, FIG. 3, FIG. 4, FIG. 18, etc., the X-axis direction is defined as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction, with the positive direction in the X-axis direction being the right side, the positive direction in the Y-axis direction being the front side, and the positive direction in the Z-axis direction being the top side. These directions are defined when the conveying device X1 is traveling while towing the conveying object A1, and are not intended to limit the directions of the conveying device X1 when in use to these directions. Also, the arrows indicating each direction in the drawings are merely indicated for explanatory purposes and do not have any substance.

As shown in FIG. 18, the gripping structure H1 includes a plurality of gripped parts 71 (two in this embodiment), a plurality of gripping parts 40 (two in this embodiment), and a displacement allowing part 90. The plurality of gripped parts 71 are provided on the transport target A1 traveling on the moving surface B1. The plurality of gripping parts 40 are provided on the main body 10 of the transport device X1 traveling on the moving surface B1, corresponding to the plurality of gripped parts 71, respectively. Each of the plurality of gripping parts 40 is capable of holding a corresponding one of the plurality of gripped parts 71. In the gripping state, the displacement allowing part 90 allows the relative displacement of the transport target A1 with respect to the main body 10 in a first direction DR11 (the up-down direction in FIG. 18) intersecting the moving surface B1. In addition, in the gripping state, the displacement allowing portion 90 allows the transport target A1 to rotate relative to the main body 10 around a first rotation axis (e.g., a rotation axis Ax along the left-right direction and a rotation axis Ay along the front-rear direction) along the moving plane B1. The gripping state is a state in which the multiple gripping portions 40 each hold the multiple gripped portions 71.

The transport device X1 of this embodiment also includes a main body 10 of the transport device X1 and a displacement allowance unit (the above-mentioned first displacement allowance unit 91). The main body 10 is provided with a plurality of gripping units 40 corresponding to the plurality of gripped parts 71 of the transport target A1. The displacement allowance unit (first displacement allowance unit 91) allows relative displacement of the transport target A1 with respect to the main body 10 in a first direction DR11 intersecting with the moving plane B1 along which the transport device X1 and the transport target A1 move in a gripping state in which the plurality of gripping units 40 respectively hold the plurality of gripped parts 71. The displacement allowance unit (first displacement allowance unit 91) also allows relative rotation of the transport target A1 with respect to the main body 10 around a first rotation axis (rotation axes Ax and Ay) along the moving plane B1 in a gripping state.

The transport method performed by the transport device X1 of this embodiment is a transport method in which the transport device X1 transports the transport target A1, and includes a contact step, a holding step, and a transport step. The transport device X1 is provided with a plurality of gripping parts 40 corresponding to the plurality of gripped parts 71 of the transport target A1. In the contact step, the plurality of gripping parts 40 are brought into contact with the plurality of gripped parts 71. In the holding step, the transport device X1 holds the transport target A1 in a state in which the transport target A1 is allowed to be displaced relative to the transport device X1 in a first direction DR11 intersecting with the moving plane B1 along which the transport device X1 and the transport target A1 move, and the transport device X1 is allowed to rotate relative to the transport device X1 around a first rotation axis along the moving plane B1. In the transport step, the transport device X1 moves while holding the transport target A1, thereby transporting the transport target A1.

Here, the gripping state is also a state in which the conveying phase value X1 holds the conveying target A1 by the multiple gripping parts 40 holding the multiple gripped parts 71, respectively. The first direction DR11 is a direction intersecting the moving plane B1, and in this embodiment, for example, is a direction perpendicular to the moving plane B1. Note that the direction perpendicular to the moving plane B1 is not limited to a direction intersecting at a right angle with the moving plane B1, and the intersection angle with the moving plane B1 may be slightly (several degrees) deviated from 90 degrees. In addition, the first rotation axis along the moving plane B1 is a direction parallel to the moving plane B1 in this embodiment, but may be slightly (several degrees) deviated from the direction parallel to the moving plane B1. Note that the first rotation axis includes a rotation axis Ax along the left-right direction (the second direction DR1 in which the two gripping parts 40 are lined up), and the displacement allowing part 90 allows the conveying target A1 to rotate relative to the conveying device X1 (main body 10) around the rotation axis Ax along the second direction. Furthermore, the first rotation axis includes a rotation axis Ay along a direction perpendicular to the first direction DR11 and the second direction DR1, respectively (i.e., the front-to-rear direction), and the displacement allowing portion 90 allows relative rotation of the transport object A1 with respect to the transport device X1 around the rotation axis Ay.

The gripping structure H1 of this embodiment includes a displacement allowance portion 90, which allows relative displacement of the transport target A1 with respect to the main body 10 in the first direction DR11. Therefore, as shown in FIG. 19, even if there is a step dZ in the first direction DR11 between an area B11 of the moving surface B1 where the transport device X1 is present and an area B12 of the moving surface B1 where the transport target A1 is present, the gripping portion 40 can hold the gripped portion 71 as long as this step dZ is within the tolerance range allowed by the displacement allowance portion 90.

In addition, the displacement permitting unit 90 permits relative rotation of the transport target A1 with respect to the main body 10 (transport device X1) around the first rotation axis in the gripped state. Specifically, the displacement permitting unit 90 permits relative rotation of the transport target A1 with respect to the main body 10 around a rotation axis Ax along the left-right direction, for example, and permits relative rotation of the transport target A1 with respect to the main body 10 around a rotation axis Ay along the front-rear direction.

Therefore, as shown in FIG. 20, even if the area B12 on the moving surface B1 where the transport object A1 is located is inclined relative to the area B11 where the transport device X1 is located and the transport object A1 rotates by an angle θx relative to the transport device X1 around the rotation axis Ax, the gripping portion 40 can hold the gripped portion 71 as long as this angle θx is within the allowable angle range allowed by the displacement allowance portion 90.

Also, as shown in Figure 21, even if the right drive wheel 2 fits into a recess 200 formed in the moving surface B1 and the transport object A1 rotates relative to the transport device X1 by an angle θy around the rotation axis Ay, the gripping portion 40 can hold the gripped portion 71 as long as this angle θy is within the allowable angle range allowed by the displacement allowance portion 90.

In this way, the displacement allowing unit 90 allows the relative displacement of the transport target A1 with respect to the transport device X1 in the first direction DR11 and the relative rotation around the first rotation axis along the moving plane B1 in the gripping state, so that the transport device X1 can hold the transport target A1 even if the relative position or posture of the transport target A1 with respect to the transport device X1 changes. Note that in this embodiment, the displacement allowing unit 90 allows the relative rotation of the transport target A1 with respect to the transport device X1 around each of the two mutually orthogonal rotation axes Ax and Ay, but may allow the relative rotation around either one of the rotation axes.

Here, the displacement allowing portion 90 is realized by a first displacement allowing portion 91 provided on the gripping portion 40 and a second displacement allowing portion 92 provided on the gripped portion 71. The first displacement allowing portion 91 is realized by a cylindrical roller portion 42 or the like provided on the gripping portion 40. The second displacement allowing portion 92 is realized by a plate-like member 79 or the like provided with a recess 74 into which the roller portion 42 is inserted.

As shown in FIG. 1, the conveying device X1 of this embodiment includes a main body 10 of the conveying device X1, a moving mechanism (for example, a drive wheel unit 20 in this embodiment), a drive unit 50, and a control unit 11 (see FIG. 2). The main body 10 of the conveying device X1 is provided with a plurality of gripping parts 40 that are movably mounted to correspond to a plurality of gripped parts 71 of the conveying target A1. The moving mechanism moves the main body 10. The drive unit 50 drives the plurality of gripping parts 40. The control unit 11 controls the moving mechanism and the drive unit 50. When the control unit 11 is in a ready state in which the plurality of gripping parts 40 can hold the plurality of gripped parts 71, the control unit 11 controls the moving mechanism to bring the conveying device X1 closer to the conveying target A1 along an approach direction DR2 that intersects with the second direction DR1 in which the plurality of gripped parts 71 are arranged. The control unit 11 controls the drive unit 50 to move the multiple gripping parts 40 along the second direction DR1 when the transport device X1 approaches the transport target A1 to a position where the transport device X1 can hold the transport target A1. The control unit 11 causes the transport device X1 to hold the transport target A1 by bringing each of the multiple gripping parts 40 into contact with a corresponding one of the multiple gripped parts 71. The control unit 11 controls the movement mechanism to move the main body 10 while the transport device X1 holds the transport target A1, thereby transporting the transport target A1.

The transport method performed by the transport device X1 of this embodiment includes an approaching step, a holding step, and a transporting step. The transport device X1 has a plurality of gripping parts 40 that respectively correspond to a plurality of gripped parts 71 of the transport target A1. In the approaching step, the transport device X1 is brought close to the transport target A1 along the approaching direction DR2 in a ready state in which the plurality of gripping parts 40 can hold the plurality of gripped parts 71. In the holding step, the gripping parts 40 are moved along the second direction DR1 in a state in which the transport device X1 has approached the transport target A1 to a position in which the transport device X1 can hold the transport target A1. In the holding step, each of the plurality of gripping parts 40 is brought into contact with a corresponding one of the plurality of gripped parts 71, thereby causing the transport device X1 to hold the transport target A1. In the transporting step, the transport device X1 moves in a state in which it holds the transport target A1, thereby transporting the transport target A1.

The transport device described in Patent Document 1 can only tow carts whose horizontal bars are shorter than the distance between the pair of hooks. This creates a problem in that the length of the horizontal bar (gripped part) of the cart is restricted by the distance between the pair of hooks (gripping parts) of the transport device.

The multiple gripped parts 71 of the transport target A1 are lined up in the second direction DR1. The preparation state in which the multiple gripping parts 40 can hold the multiple gripped parts 71 is, for example, a state in which each of the multiple gripping parts 40 is in a position that avoids interference with the corresponding gripped part 71 among the multiple gripped parts 71 in the approach direction DR2. Therefore, even if the transport device X1 approaches the transport target A1 along the approach direction DR2, the gripping parts 40 and the gripped parts 71 can be prevented from interfering with each other (contacting each other), thereby preventing the movement of the transport device X1. Then, by approaching the transport target A1 to a position where the transport device X1 can hold the transport target A1, each of the multiple gripping parts 40 is brought into contact with the corresponding gripped part 71 among the multiple gripped parts 71, and the transport device X1 can hold the transport target A1. The preparation state is not limited to a state in which each of the multiple gripping parts 40 is in a position that avoids interference with the corresponding gripped part 71 among the multiple gripped parts 71 in the approach direction DR2. The preparation state may include a state in which the gripping part 40 is not holding the gripped part 71 when the gripping part 40 holds the gripped part 71 by a method other than contact, and the gripping part 40 is able to hold the gripped part 71 when the transport device X1 approaches to a position where it can hold the transport target A1. Then, in the holding step, the gripping part 40 is moved along the second direction DR1, and each of the multiple gripping parts 40 is brought into contact with the corresponding gripped part 71 among the multiple gripped parts 71, thereby causing the transport device X1 to hold the transport target A1.

In this way, the multiple gripping parts 40 move along the second direction DR1, and the multiple gripping parts 40 come into contact with the corresponding gripped parts 71, thereby causing the transport device X1 to hold the transport target A1. This has the advantage of increasing the degree of freedom in the position of the multiple gripped parts 71 of the transport target A1. In other words, the transport device X1 becomes able to transport a variety of transport targets A1 with gripped parts 71 in various positions.

In the following, an example will be described in which the transport device X1 has multiple wheels (drive wheels 2 and auxiliary wheels 3) and is configured to be able to run on the moving surface B1 using the wheels. The transport object A1 also has wheels A11 (see Figures 3 and 4) and is configured to be able to run on the moving surface B1 together with the transport device X1 using the wheels A11.

The conveying device X1 is introduced into facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals. The moving surface B1 is the surface on which the conveying device X1 moves. When the conveying device X1 moves within a facility, the floor surface of the facility becomes the moving surface B1, and when the conveying device X1 moves outdoors, the ground becomes the moving surface B1. In the following, an example will be described in which the conveying device X1 is used in a factory in which a component mounting system W1 (FIG. 7), which is an example of a manufacturing system, is installed. The component mounting system W1 will be described in "(2.3) Component Mounting System". In the following description, the arrows in the drawings indicate the direction in which objects (such as the gripped portion 71) are lined up or the direction in which objects (such as the gripper 40, the conveying device X1, or the conveyed object A1) move, and do not have any substance.

(2) Details Hereinafter, the transport device X1 according to this embodiment and the component mounting system W1 (see FIG. 7) including the transport device X1 will be described in detail with reference to the drawings.

(2.1) Overall Configuration The transport device X1 of this embodiment is configured to be able to communicate with, for example, a host system 100 (see FIG. 2). In this disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a network NT1 or a repeater R1, etc., by an appropriate communication method such as wired communication or wireless communication. In this embodiment, the host system 100 and the transport device X1 can communicate with each other bidirectionally, and both the transmission of information from the host system 100 to the transport device X1 and the transmission of information from the transport device X1 to the host system 100 are possible.

The host system 100 is a system for centrally controlling one or more transport devices X1, and is realized, for example, by a server device. The host system 100 indirectly controls the multiple transport devices X1 by issuing instructions to each of the multiple transport devices X1. Specifically, when the host system 100 issues an instruction to the transport device X1 to transport the object A1, the transport device X1 autonomously receives the instruction and moves the object A1 to the target position.

In this embodiment, the host system 100 is mainly configured as a computer system having one or more processors and a memory. Therefore, the functions of the host system 100 are realized by one or more processors executing a program recorded in the memory. The program may be pre-recorded in the memory, may be provided via a telecommunications line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card. Note that in this embodiment, the host system 100 is not a required component and can be omitted as appropriate, and the conveying device X1 may autonomously perform the conveying work of the conveying object A1 based on a conveying instruction input directly or via an operation terminal.

(2.2) Conveying Device As shown in FIGS. 3 and 4, the conveying device X1 travels unmanned to convey the object A1 to be conveyed.

As shown in Figures 3 and 5, the conveying device X1 has multiple drive wheels 2 (a pair in this embodiment) aligned in the left-right direction of the conveying device X1. The "left-right direction" in this disclosure refers to the longitudinal direction of the conveying device X1, which is the X-axis direction in Figure 3. The front-rear direction of the conveying device X1 is a direction perpendicular to each of the left-right direction and the up-down direction (the normal direction of the moving plane B1), that is, the short side direction of the conveying device X1, which is the Y-axis direction in Figure 3.

When the conveying device X1 conveys the object A1, a gripping portion 40 for holding (grasping) the object A1 is provided on one side of the conveying device X1 in the front-to-rear direction. The gripping portion 40 holds the gripped portion 71 of the object A1, whereby the conveying device X1 holds the object A1. The conveying device X1 moves together with the object A1 held by the conveying device X1.

Here, when the conveying device X1 moves in the forward and backward directions, the direction in which the conveying device X1 advances (the direction of travel) is called the front, and the opposite direction is called the rear. When the conveying device X1 conveys the object A1 to be conveyed, there are two types of travel: the conveying device X1 is at the front and pulls the object A1 to be conveyed, and the conveying device X1 is at the front and pushes the object A1 to be conveyed. Generally, the travel state is more stable in the travel mode in which the conveying device X1 pulls the object A1 to be conveyed, compared to the travel mode in which the conveying device A1 is pushed from the rear, so the conveying device X1 usually moves by pulling the object A1 to be conveyed. When the conveying device X1 moves by pulling the object A1 to be conveyed, the positive direction in the Y-axis direction is the front side, and the positive direction in the X-axis direction is the right side. In the following, the positive direction in the Y-axis direction is the front side, and the positive direction in the X-axis direction is the right side. However, these directions are only examples, and are not intended to limit the directions in which the conveying device X1 is used. Moreover, arrows indicating the various directions in the drawings are merely shown for the purpose of explanation and have no substance.

Here, the transport target A1 has a main body 70 having a rectangular shape in a plan view. A plurality of wheels A11 are provided on the underside of the main body 70, and the transport target A1 is configured to be able to run on the moving surface B1 with the wheels A11. On one surface of the main body 70 (the front surface when towed by the transport device X1), two gripped parts 71 are provided side by side in the second direction DR1. As shown in FIG. 1 and FIG. 22, each of the two gripped parts 71 has a base 72 protruding forward from the main body 70 and a hook part 73 protruding diagonally forward from the tip of the base 72. In other words, each of the two gripped parts 71 is composed of a plate-shaped member 79 having the base 72 and the hook part 73 integrally therewith. Here, the distance between the two hook parts 73 of the two gripped parts 71 becomes narrower toward the front. The gripped portion 71 is provided with a recess 74 that straddles the base portion 72 and the hook portion 73 and into which the roller portion 42 of the gripping portion 40 fits. Each of the two gripped portions 71 is provided with a straight portion 85 that is continuous with the front opening edge of the recess 74 and extends along the second direction DR1. Each of the two gripped portions 71 is provided with inclined portions 86, 87 that extend outward from the tip of the straight portion 85 and the rear opening edge of the recess 74 (see FIG. 1 ).

As described above, the transport device X1 includes a main body 10 provided with a plurality of gripping parts 40, a drive wheel unit 20 that is a moving mechanism, a drive part 50, and a control part 11. The transport device X1 also includes at least one drive wheel 2 (e.g., two in this embodiment) and a plurality of auxiliary wheels 3 (e.g., two in this embodiment).

As shown in Figs. 1, 3 to 5, the main body 10 of the conveying device X1 is formed in a rectangular parallelepiped shape. Two drive wheels 2 and two auxiliary wheels 3 are arranged on the lower part of the main body 10. In this embodiment, the two drive wheels 2 are arranged so as to be aligned in the left-right direction with respect to the main body 10. On the main body 10, one auxiliary wheel 3 is arranged on each of the front and rear sides of the two drive wheels 2. In the following description, of the pair of drive wheels 2, the drive wheel 2 located on the left side of the main body 10 may be referred to as the left drive wheel 2L, and the drive wheel 2 located on the right side of the main body 10 may be referred to as the right drive wheel 2R. In addition, of the two auxiliary wheels 3 on the front and rear of the main body 10, the auxiliary wheel 3 located on the front side of the main body 10 may be referred to as the front auxiliary wheel 31, and the auxiliary wheel 3 located on the rear side of the main body 10 may be referred to as the rear auxiliary wheel 32.

In this embodiment, the left driving wheel 2L and the right driving wheel 2R each serve as a steering wheel. The drive mechanism that drives the left driving wheel 2L and the steering mechanism that changes the direction of the left driving wheel 2L are integrated as a left driving wheel unit 20L (see Figures 2 and 5). The drive mechanism that drives the right driving wheel 2R and the steering mechanism that changes the direction of the right driving wheel 2R are integrated as a right driving wheel unit 20R (see Figures 2 and 5). In other words, the above driving wheel unit 20 includes the left driving wheel unit 20L and the right driving wheel unit 20R.

The left driving wheel unit 20L controls the rotation and steering angle of the left driving wheel 2L. As shown in Figs. 2 and 5, the left driving wheel unit 20L includes a drive motor 21L that rotates the left driving wheel 2L in a circumferential direction, and a steering motor 23L that changes the direction (rolling direction) of the left driving wheel 2L. The steering motor 23L is attached to the left end of a flat fixed plate 24 that is provided along the underside of the main body 10. The steering motor 23L changes the direction of the left driving wheel 2L by rotating the bracket 22L to which the drive motor 21L is fixed in a plane parallel to the moving plane B1. In other words, the left driving wheel unit 20L and the left driving wheel 2L supported by the left driving wheel unit 20L are fixed to the main body 10 via the fixed plate 24, etc. Here, the left driving wheel unit 20L receives a control command from the control unit 11, and the steering motor 23L changes the direction of the left driving wheel 2L to the direction indicated by the control command, and the drive motor 21L rotates the left driving wheel 2L with the rotational torque or rotational speed indicated by the control command.

The right driving wheel unit 20R controls the rotation and steering angle of the right driving wheel 2R. As shown in Figures 2 and 5, the right driving wheel unit 20R is equipped with a drive motor 21R that rotates the right driving wheel 2R in the circumferential direction, and a steering motor 23R that changes the direction (rolling direction) of the right driving wheel 2R. The steering motor 23R is attached to the right end of the fixed plate 24. The steering motor 23R changes the direction of the right driving wheel 2R by rotating the bracket 22R to which the drive motor 21R is fixed in a plane parallel to the moving plane B1. In other words, the right driving wheel unit 20R and the right driving wheel 2R supported by the right driving wheel unit 20R are fixed to the main body 10 via the fixed plate 24, etc. Here, the right driving wheel unit 20R receives a control command from the control unit 11, and the steering motor 23R changes the right driving wheel 2R to the direction instructed by the control command, and the drive motor 21R rotates the right driving wheel 2R with the rotational torque or rotational speed instructed by the control command.

In addition, in this embodiment, the control unit 11 controls the right drive wheel unit 20R to drive the right drive wheel 2R individually, and controls the left drive wheel unit 20L to drive the left drive wheel 2L individually. That is, since each of the pair of drive wheels 2 (right drive wheel 2R and left drive wheel 2L) can be driven individually, the pair of drive wheels 2 can be rotated with a rotational torque or rotational speed instructed by a control command, and the pair of drive wheels 2 can be directed in a direction supported by the control command, thereby moving the conveying device X1 in a desired direction. Note that, in this embodiment, each of the pair of drive wheels 2 also serves as a steering wheel, and the number of wheels provided by the conveying device X1 can be reduced compared to the case where steering wheels are provided separately from the drive wheels 2.

In addition, two auxiliary wheels 3 are provided for the support 4 fixed to the main body 10. The two auxiliary wheels 3 are driven wheels whose orientation changes in accordance with the moving direction of the transport device X1. The two auxiliary wheels 3 include a swivel wheel whose axle 3A (see FIG. 5) has a variable orientation. That is, each of the two auxiliary wheels 3 is, for example, a swivel wheel (so-called swivel caster) whose axle 3A, which rotatably supports the wheel, can move in all directions of 360 degrees in a plane parallel to the moving plane B1. The swivel wheel used as the auxiliary wheel 3 is not limited to a swivel wheel whose axle 3A has a variable orientation, and may be a ball caster whose sphere, which serves as the wheel, can rotate in any direction.

In this embodiment, the transport device X1 has two drive wheels 2, but the number of drive wheels 2 may be one or three or more. Also, in this embodiment, the transport device X1 has two auxiliary wheels 3, but the number of auxiliary wheels 3 is not limited to two and may be one or three or more. In other words, as long as the transport device X1 is in contact with the moving surface B1 with three or more wheels including the drive wheels 2 and auxiliary wheels 3, the number of drive wheels 2 and auxiliary wheels 3 can be changed as appropriate.

Next, the gripping unit 40 for holding the gripped portion 71 of the transport target A1 and the drive unit 50 for driving the gripping unit 40 will be described. On the rear surface of the main body 10, two gripping units 40 for holding the two gripped portions 71 of the transport target A1 are provided in a movable state relative to the main body 10. The main body 10 is provided with two drive units 50 for moving the two gripping units 40, respectively. As shown in FIG. 6, each of the two drive units 50 includes a feed screw 51 arranged along the second direction DR1, a motor 52 such as a servo motor for rotating the feed screw 51, and a reducer 53 for transmitting the rotation of the motor 52 to the feed screw 51. The two drive units 50 are housed inside a case 55 provided in the main body 10. The feed screw 51 holds a slider 54 that moves along the axial direction of the feed screw 51 in response to the rotation of the feed screw 51. The feed screw 51 is, for example, a sliding screw (trapezoidal screw), but may also be a ball screw, etc. The slider 54 is supported in a movable state by two guide rods arranged in parallel to the feed screw 51, and slides along the axial direction of the feed screw 51 when the feed screw 51 rotates. Here, the slider 54 moves to the right or left depending on the rotation direction of the feed screw 51. The gripping portion 40 is provided on the slider 54, and moves together with the slider 54 along the axial direction of the feed screw 51 (a direction parallel to the second direction DR1) in response to the rotation of the feed screw 51.

1, 3, and 4, the gripping portion 40 includes a pair of arms 41 that protrude diagonally rearward from the slider 54, and a roller portion 42 that is held between the tips of the pair of arms 41. The gripping portion 40 protrudes to the outside of the case 55 through an opening provided in the case 55.

In the following description, when distinguishing between the two gripping units 40, the gripping unit 40 provided on the right side of the main body 10 is referred to as the first gripping unit 40R, and the gripping unit 40 provided on the left side of the main body 10 is referred to as the second gripping unit 40L. When distinguishing between the two driving units 50, the driving unit 50 that drives the first gripping unit 40R is referred to as the first driving unit 50R, and the driving unit 50 that drives the second gripping unit 40L is referred to as the second driving unit 50L.

In this embodiment, the control unit 11 controls the two drive units 50 (the first drive unit 50R and the second drive unit 50L) to move the two grip units 40 (the first grip unit 40R and the second grip unit 40L) along the second direction DR1. That is, the first drive unit 50R and the second drive unit 50L move the corresponding first grip unit 40R and second grip unit 40L along the second direction DR1 based on a control command from the control unit 11.

In the approaching step, the control unit 11 controls the two drive units 50 to move the two gripping units 40 so that the distance between the two gripping units 40 is narrower than the distance between the two gripped units 71, and controls the drive wheel unit 20 to bring the transport device X1 closer to the transport target A1. In the holding step, the control unit 11 controls the two drive units 50 to move the two gripping units 40 in a direction that widens the distance between them, thereby bringing the two gripping units 40 into contact with the two corresponding gripped units 71. In other words, in the holding step, at least two of the multiple gripping units 40 (the first gripping unit 40R and the second gripping unit 40L) move in opposite directions to each other in the second direction DR1. Specifically, the two gripping parts 40 move in opposite directions (outward in this embodiment) in the second direction DR1, and in the holding step, the multiple gripping parts 40 located between the multiple gripped parts 71 move to increase the distance between them, thereby contacting the corresponding gripped parts 71 among the multiple gripped parts 71. As a result, each of the two gripping parts 40 pushes the corresponding gripped parts 71 outward, allowing the transport device X1 to hold the transport target A1.

In addition, in this embodiment, the two drive units 50 move the corresponding gripping units 40 linearly along the second direction DR1. As a result, in the holding process, each of the multiple gripping units 40 moves linearly along the second direction DR1, so that each of the multiple gripping units 40 contacts the corresponding gripped unit 71 among the multiple gripped units 71. In this way, the multiple gripping units 40 move linearly along the second direction DR1, and when the roller unit 42 of each gripping unit 40 contacts the hook unit 73, the roller unit 42 pushes the hook unit 73 outward, so that the transport target A1 moves in a direction approaching the transport device X1. Then, when the roller unit 42 fits into the recess 74 of the gripped unit 71, the gripping unit 40 cannot move outward any more, and the transport target A1 is held by the transport device X1 with the gripped unit 71 gripped by the gripping unit 40. In this way, in the gripping state, the multiple gripping parts 40 of the transport device X1 and the multiple gripped parts 71 of the transport target A1 are lined up along the second direction DR1 along the moving surface B1. In this embodiment, the number of gripping parts 40 and the number of gripped parts 71 are two, and in the gripping state, the two gripping parts 40 and the two gripped parts 71 are lined up along the second direction DR1 along the moving surface B1. The two gripping parts 40 can move along the moving surface B1 between a first position (see FIG. 1) and a second position (see FIG. 3) by moving so that the interval between the two gripping parts 40 changes. The first position is a position where the two gripping parts 40 are separated from the two gripped parts 71. The second position is a position where the two gripping parts 40 hold the two gripped parts 71, respectively.

Here, when the roller portion 42 hits the inclined portion 86 or 87 provided on the plate-like member 79, the roller portion 42 moves along the inclined portion 86 or 87 to be guided into the recess 74, and the gripping portion 40 holds the gripped portion 71 with the roller portion 42 fitted into the recess 74. For example, even if the position of the transport device X1 before starting the holding process (position in FIG. 23 ) is displaced in the X direction and Y direction from the position in the gripping state holding the transport target A1 (position in FIG. 24 ) and further rotates around the first direction DR11 (around the Z axis), the position of the transport device X1 changes relatively to the position of the transport target A1 in the process of the roller portion 42 gripping the gripped portion 71. 23, when the roller portion 42 of the first gripping portion 40R is in contact with the inclined portion 86 of the gripped portion 71 on the right side and the roller portion 42 of the second gripping portion 40L is in contact with the inclined portion 87 of the gripped portion 71 on the left side, the roller portions 42 of the first gripping portion 40R and the second gripping portion 40L move in directions away from each other, and the roller portions 42 of the first gripping portion 40R and the second gripping portion 40L push the inclined portions 86 and 87, respectively, and the transport device X1 receives a reaction force from the transport target A1 and displaces in the X-axis direction and the Y-axis direction while rotating around the Z-axis. As a result, even if the transport device X1 is shifted in the X-axis direction and the Y-axis direction with respect to the transport target A1 and is in a position rotated around the Z-axis before the holding step is started, the position and posture of the transport device X1 change relative to the transport target A1 during the process in which the gripping portion 40 holds the gripped portion 71, so that the transport device X1 can hold the transport target A1.

Here, in the gripping state, the roller parts 42 of the first gripping part 40R and the second gripping part 40L each fit into the recessed parts 74 of the corresponding gripped parts 71, and by pushing the corresponding gripped parts 71 outward, the position of the transport device X1 relative to the transport object A1 is constrained in the X-axis direction, and the rotation of the transport device X1 about the Z-axis relative to the transport object A1 is also constrained. In addition, the roller parts 42 of the first gripping part 40R and the second gripping part 40L each fit into the recessed parts 74 of the corresponding gripped parts 71, and the position of the transport device X1 relative to the transport object A1 is also constrained in the Y-axis direction.

When the conveying device X1 pushes the conveying target A1 from behind while the gripping part 40 is holding the gripped part 71, the roller part 42 comes into contact with the straight part 85 that continues from the opening edge of the recess 74, so the roller part 42 is unlikely to come off the recess 74. Therefore, when the conveying device X1 pushes the conveying target A1 from behind to convey it, the gripping part 40 is unlikely to come off from its hold on the gripped part 71.

In the gripping state in which the gripping portion 40 holds the gripped portion 71, the displacement allowing portion 90 allows the relative displacement of the conveying device X1 with respect to the conveying target A1 in the first direction DR11 and the relative rotation of the conveying device X1 with respect to the conveying target A1 around the first rotation axis (rotation axis Ax and rotation axis Ay).

Here, in the gripping state, the displacement allowing portion 90 allows in-phase displacement in which the displacements of the two gripped portions 71 in the first direction DR11 relative to the two gripping portions 40 are in the same direction. By allowing such in-phase displacement by the displacement allowing portion 90, displacement in the first direction DR11 relative to the transport target A1 of the transport device X1 is allowed.

25, in the gripping state, the displacement allowing portion 90 allows for anti-phase displacement in which the displacements of the two gripped portions 71 in the first direction DR11 relative to the two gripping portions 40 are opposite to each other. By allowing such anti-phase displacement by the displacement allowing portion 90, relative rotation of the conveying device X1 with respect to the conveying target A1 around a first rotation axis along the Y-axis direction (rotation axis Ay that passes through the midpoint between the left and right gripped portions 71 and is parallel to the Y-axis) is allowed.

The roller portion 42 of the gripping portion 40 is made of a synthetic resin (such as a polyamide resin or a fluorine-based resin such as polytetrafluoroethylene) that has a larger elastic coefficient than metal, and the plate-shaped member 79 slides easily against the roller portion 42. That is, each of the multiple gripping portions 40 is provided with a roller portion 42 as a sliding member for reducing the friction coefficient in the first direction DR11, and the displacement allowing portion 90 includes the roller portion 42 that is a sliding member. This makes it easier for the gripped portion 71 to slide against the gripping portion 40 in the first direction DR11, and allows the relative displacement of the transport target A1 with respect to the transport device X1. Note that a sliding member may be provided on each of the multiple gripped portions 71, and allows the relative displacement of the transport target A1 with respect to the transport device X1 in the first direction DR11. In other words, it is preferable that the displacement allowing portion 90 includes a sliding member (e.g., a roller portion 42) for reducing the coefficient of friction, and that the sliding member is provided on at least one of each of the multiple gripping portions 40 and each of the multiple gripped portions 71.

Furthermore, the elastic deformation of the roller portion 42 allows the transport device X1 to rotate relative to the transport target A1. That is, each of the multiple gripping portions 40 is provided with a roller portion 42 as an elastic deformation portion that is elastically deformable in a direction along the moving surface B1. Here, the elastic deformation of the roller portion 42 allows the transport target A1 to be displaced relative to the transport device X1 in the first direction DR11. Furthermore, the elastic deformation of the roller portion 42 allows the transport target A1 to rotate relative to the transport device X1 around the first rotation axis.

In addition, an elastic deformation portion may be provided on each of the multiple gripped parts 71. For example, the plate-like member 79 of the gripped part 71 may be the elastic deformation portion, and the elastic deformation portion can elastically deform to allow displacement in the first direction DR11 with respect to the transport target A1 of the transport device X1 and relative rotation around the first rotation axis. In other words, it is preferable that the displacement allowing portion 90 includes an elastic deformation portion (e.g., a roller portion 42) that is elastically deformable in the second direction DR1, and that the elastic deformation portion is provided on at least one of each of the multiple gripping parts 40 and each of the multiple gripped parts 71.

26, it is preferable to form the curved surface portion 74A on the plate-shaped member 79 by performing R-chamfering on the upper and lower edges of the recess 74. By forming the curved surface portion 74A on the upper and lower edges of the recess 74, the dimension T1 of the contact portion in contact with the roller part 42 in the first direction DR11 becomes smaller than the thickness dimension T2 of the plate-shaped member 79. As a result, in the gripped state, the roller part 42 inserted into the recess 74 can tilt with the contact portion with the plate-shaped member 79 as a fulcrum, and the conveying device X1 can tilt relatively to the conveying object A1 within the range in which the roller part 42 can tilt. In addition, by forming the curved surface portion 74A on the upper and lower edges of the recess 74, the roller part 42 becomes more easily elastically deformed, and the conveying device X1 can tilt relatively to the conveying object A1 even due to the elastic deformation of the roller part 42. Here, in order to allow a relative inclination of the conveying device X1 with respect to the conveying object A1 of up to 0.01 [rad], it is preferable that the dimension T1 of the contact area be 10 mm or less, and it is more preferable that the dimension T1 of the contact area be 5 mm or less.

In order to reduce the dimension T1 of the contact area between the plate-like member 79 and the roller portion 42, a tapered portion 74B (see Figure 27) may be formed by C-chamfering the upper and lower edges of the recess 74, or the inner surface of the recess 74 may be formed into a curved shape (see Figure 28).

In this way, it is preferable that the dimension T1 in the first direction DR11 of the contact portion where each of the multiple gripping parts 40 comes into contact with a corresponding one of the multiple gripped parts 71 is smaller than the allowable dimension of the relative displacement of the transport target A1 relative to the transport device X1 in the first direction DR11. By making the dimension T1 smaller than the allowable dimension of the relative displacement in the first direction DR11, the gripping part 40 becomes more likely to tilt relative to the gripped part 71.

The roller part 42 is a cylindrical member supported by a pair of arms 41, but as shown in FIG. 29, the gripping part 40 may have a cylindrical roller part 42A inserted into a metal rod 46 supported at the tip of the pair of arms 41. The roller part 42A is cylindrical, and the dimensions of the roller part 42A and the rod 46 are set so that a gap is formed between the inner circumferential surface of the roller part 42A and the rod 46. As a result, in the gripping state, as shown in FIG. 30, the inner circumferential surface of the roller part 42A and the rod 46 are in line contact, so that the restraining force with which the gripping part 40 restrains the gripped part 71 in the first direction DR11 (vertical direction) is smaller than when the cylindrical roller part 42 contacts the gripped part 71. This has the advantage that the transport device X1 can be easily displaced relative to the transport target A1 in the first direction DR11.

When the transport device X1 releases the transport target A1, the control unit 11 controls the two drive units 50 to move the two gripping units 40 inward, thereby releasing the state in which the gripping units 40 hold the gripped portion 71. That is, the control unit 11 controls the two drive units 50 to move the two gripping units 40 inward (in the direction in which the distance between them becomes narrower), thereby moving the two gripping units 40 to a position away from the corresponding gripped portion 71. This releases the gripped portion 71 from being held by the gripping units 40, and releases the state in which the transport device X1 holds the transport target A1. In this state, when the control unit 11 controls the drive wheel unit 20 to move the main body 10 in the direction opposite to the approach direction DR2, the transport device X1 moves in the direction away from the transport target A1, so that the transport target A1 can be placed in the desired location.

Next, the detection unit 14 (see FIG. 2) will be described. The detection unit 14 detects the behavior of the main body 10 and the surrounding conditions of the main body 10. In this disclosure, "behavior" means movement and appearance. In other words, the behavior of the main body 10 includes the operating state of the main body 10 indicating whether the main body 10 is moving/stopped, the distance traveled and the running time of the main body 10, the speed (and speed change) of the main body 10, the acceleration acting on the main body 10, and the attitude of the main body 10.

The detection unit 14 includes sensors such as a LiDAR (Light Detection and Ranging) 141 for detecting objects present around the main body 10, and a magnetic sensor 142 for detecting a guidance line provided on the moving surface B1.

LiDAR141 detects the presence or absence of an object in the vicinity of main body 10, and if an object is present, its position, and outputs the detection result to control unit 11. Control unit 11 can avoid collision with the object based on the information of the object detected by LiDAR141.

The detection unit 14 for detecting objects present around the main body 10 is not limited to the LiDAR 141. This type of sensor may be a sensor that detects objects using at least one of sound waves, light, and radio waves.

The guide line provided on the moving surface B1 is formed of, for example, rubber containing a hard magnetic material such as a permanent magnet material, and is formed in a line shape on the surface of the moving surface B1 following the travel path of the conveying device X1.

The magnetic sensor 142 uses magnetism to detect the guide line provided on the moving surface B1. Based on the detection result of the magnetic sensor 142, the control unit 11 controls the right driving wheel unit 20R and the left driving wheel unit 20L to move the conveying device X1 so that it passes over the guide line.

It is not essential that the guide lines are provided along the entire travel path of the conveying device X1 on the moving surface B1, and guide markers made of a magnetic material may be provided at key points along the travel path, and the conveying device X1 can move while following the guide markers. Furthermore, the guide lines or guide markers provided on the moving surface B1 are not limited to those that use magnetism to guide the conveying device X1, and guide lines or guide markers (e.g., two-dimensional barcodes, etc.) that are detected by an image sensor provided on the conveying device X1 may be provided on the moving surface B1. Furthermore, the guide lines or guide markers may be those that are detected by a contact sensor provided on the conveying device X1.

The detection unit 14 may detect the location of the transport device X1 within a specified area based on the location information of the surrounding objects detected by the LiDAR 141 and electronic map information of the specified area, and output the detection result of the location to the control unit 11. The detection unit 14 may also include a receiver that receives beacon signals transmitted by radio waves from multiple transmitters, detect the current location based on the beacon signals transmitted from the multiple transmitters, and output the detection result of the current location to the control unit 11. Here, the multiple transmitters are arranged at multiple locations within the specified area in which the transport device X1 moves. The detection unit 14 measures the current location of the transport device X1 based on the locations of the multiple transmitters and the received radio wave intensity of the beacon signal at the receiver. The detection unit 14 may also detect the current location of the transport device X1 using a global positioning system such as GPS (Global Positioning System).

The control unit 11 has, for example, a microcomputer having one or more processors and memories. In other words, the control unit 11 is realized by a computer system having one or more processors and memories. The control unit 11 outputs a control command to each drive wheel unit 20, which is a moving mechanism, based on, for example, a conveying instruction from the upper system 100 and the detection result of the detection unit 14, and moves the conveying device X1 in a desired direction at a desired speed. The control unit 11 also controls the two drive units 50 to move the corresponding gripping unit 40 along the second direction DR1. As a result, the control unit 11 can move the two gripping units 40 between a position where each of the two gripping units 40 contacts the corresponding gripped portion 71 and a position where each of the two gripping units 40 moves away from the corresponding gripped portion 71.

The power source 12 is, for example, a secondary battery. The power source 12 directly or indirectly supplies power to the left driving wheel unit 20L, the right driving wheel unit 20R, the control unit 11, the communication unit 13, the detection unit 14, etc. Note that the conveying device X1 may be supplied with power from an external source, in which case the conveying device X1 does not need to be equipped with the power source 12.

The communication unit 13 is configured to be able to communicate with the upper system 100. In this embodiment, the communication unit 13 communicates with one of a plurality of repeaters R1 installed within a predetermined area in which the transport device X1 moves, by wireless communication using radio waves as a medium. Therefore, the communication unit 13 and the upper system 100 communicate indirectly via at least the network NT1 and the repeater R1.

Each repeater R1 is a device (access point) that relays communication between the communication unit 13 and the upper system 100. The repeater R1 communicates with the upper system 100 via the network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specific low-power radio) that does not require a license is adopted for communication between the repeater R1 and the communication unit 13. In addition, the network NT1 is not limited to the Internet, and may be, for example, a local communication network within a specified area in which the transport device X1 moves or within the operating company of this specified area.

(2.3) Component Mounting System The transport device X1 of this embodiment is used in a component mounting system W1 including at least one component mounter 80 that mounts components on a board, as shown in Fig. 7. In this embodiment, a case will be described in which a manufacturing system that performs a predetermined operation on a board is the component mounting system W1 that mounts components on the board.

The component mounter 80 has a feeder cart 81 (see FIG. 7) that supplies components, and a mounting body 82 that includes a mounting head that mounts components on a board. Here, the mounting body 82 is a manufacturing device that performs a predetermined operation (operation to mount components) on a board. The feeder cart 81 is also a functional module that provides a predetermined function of supplying components to the mounting body 82, which is a manufacturing device. In other words, a manufacturing system (e.g., component mounting system W1) includes a manufacturing device (e.g., the mounting body 82) that performs a predetermined operation on a board, and a functional module (e.g., the feeder cart 81 ) that provides a predetermined function to the manufacturing device. The functional module is a transport target A1 that is transported to the manufacturing device by the transport device X1.

The feeder cart 81 is used to supply components to the mounting body 82 of the component mounter 80 installed in the factory. The "component mounter" here is a machine that mounts components on an object such as a board. The mounting body 82 includes a mounting head that mounts components on the board. In this embodiment, the transport device X1 transports the feeder cart 81 as the transport object A1 to the installation location of the mounting body 82 of the component mounter 80. This makes it possible to construct the component mounting system W1. In other words, the component mounting system W1 is a system that includes at least one component mounter 80 that mounts components on a board. The feeder cart 81 is then transported to the mounting body 82 by the transport device X1. In this embodiment, the transport device X1 receives an instruction from, for example, the upper system 100, and moves the feeder cart 81, which is placed at a certain location within a specified area, to a position where it is connected to the mounting body 82. When the transport device X1 moves the feeder cart 81 into a recess 821 provided on the side of the mounting body 82, the second connector of the feeder cart 81 is connected to the first connector provided on the mounting body 82, thereby connecting the mounting body 82 and the feeder cart 81 to each other. Then, with the mounting body 82 and the feeder cart 81 connected to each other, it becomes possible to supply components from the feeder cart 81 to the mounting body 82.

Here, it is preferable that the transport device X1 can be connected to a portion of the feeder cart 81 opposite to the portion that discharges components to the mounting body 82. In this case, when the feeder cart 81 is transported to the installation location of the mounting body 82 of the component mounter 80, the portion of the feeder cart 81 that discharges components faces the mounting body 82. Therefore, when the feeder cart 81 is transported to the installation location of the mounting body 82 of the component mounter 80, it is not necessary to change the orientation of the feeder cart 81 so that the above-mentioned discharge portion faces the mounting body 82.

(3) Operation Hereinafter, an example of the operation of the conveying device X1 of this embodiment to convey the feeder cart 81, which is the conveying object A1, will be described with reference to the drawings.

(3.1) First gripping operation when removing the feeder cart connected to the mounting body The first gripping operation by the conveying device X1 when removing the feeder cart 81 (transport object A1), which cannot move in the left-right direction because it is connected to the mounting body 82, from the mounting body 82 and transporting it will be described with reference to Figures 8 to 9E.

When the control unit 11 of the transport device X1 receives a command from the upper system 100 to transport the transport target A1 connected to the mounting body 82 to another location, the control unit 11 controls the drive wheel unit 20 to move the transport device X1 to the location where the transport target A1 is located. At this time, the control unit 11 of the transport device X1 controls the first drive unit 50R and the second drive unit 50L to move the first gripping unit 40R and the second gripping unit 40L so that the distance (first distance) between the first gripping unit 40R and the second gripping unit 40L is minimized. There are multiple types of transport targets A1 transported by the transport device X1, and the distance (second distance) between the two gripped parts 71 varies depending on the type of transport target A1. The minimum value of the first distance between the first gripping unit 40R and the second gripping unit 40L is set to be shorter than the second distance of the transport target A1 in which the second distance between the two gripped parts 71 is the smallest among the multiple types of transport targets A1. Therefore, when the first gripping portion 40R and the second gripping portion 40L are moved to a position where the first distance is smallest, in the second direction DR1, each of the first gripping portion 40R and the second gripping portion 40L is in a position offset from the corresponding gripped portion 71 (a position where they do not interfere with each other) and is located between the two gripped portions 71.

Then, the control unit 11 of the transport device X1 controls the drive wheel unit 20 to move the transport device X1 to a position where one side of the transport object A1 on which the gripped portion 71 is provided faces one side of the transport device X1 on which the first gripping portion 40R and the second gripping portion 40L are provided (see FIG. 9A). After that, the control unit 11 of the transport device X1 moves the transport device X1 closer to the transport object A1 along the approach direction DR2 with the positions of the two gripping portions 40 shifted relative to the two gripped portions 71 of the transport object A1 in the second direction DR1 (ST1: approach process).

9B, when the conveying device X1 arrives at a position where it can hold the conveying target A1 (a position where the first gripping part 40R and the second gripping part 40L enter between the two gripped parts 71 in the second direction DR1), the control unit 11 controls the drive wheel unit 20 to stop the conveying device X1. The control unit 11 controls the drive unit 50 to move the first gripping part 40R and the second gripping part 40L outward, respectively, and move the first gripping part 40R and the second gripping part 40L toward the corresponding gripped part 71. Specifically, the control unit 11 outputs a torque control command value to the first drive unit 50R to move the first gripping part 40R to the right gripped part 71 (ST2). The control unit 11 outputs a torque control command value to the second drive unit 50L to move the second gripping part 40L to the left gripped part 71 (ST3). When the control unit 11 outputs a position control command value to each of the first drive unit 50R and the second drive unit 50L, the first gripping unit 40R and the second gripping unit 40L can be moved toward the respective target positions at a higher speed than when the control unit 11 outputs a torque control command value to each of the first drive unit 50R and the second drive unit 50L. However, if the first gripping unit 40R and the second gripping unit 40L contact the gripped portion 71 before the target position, the impact when contacting the gripped portion 71 may be large. In this embodiment, the control unit 11 outputs a torque control command value to the drive unit 50 to move the gripping unit 40, so that the gripping unit 40 can be moved at a lower speed than when the control unit 11 outputs a position control command value, and the first gripping unit 40R and the second gripping unit 40L can be gently brought into contact with the corresponding gripped portion 71. The torque control command values that the control unit 11 gives to the first drive unit 50R and the second drive unit 50L may be the same value or different values.

When the transport device X1 arrives at a position where it can hold the transport target A1 (the position shown in FIG. 9B), the accuracy of the position control of the transport device X1 is relatively low, so the center position of the transport device X1 and the center position of the transport target A1 may be shifted in the second direction DR1. In this case, there may be a time difference between the timing when the first gripping part 40R contacts the corresponding gripped part 71 and the timing when the second gripping part 40L contacts the corresponding gripped part 71. In the example of FIG. 9B, the center position of the transport device X1 is shifted to the right side of the center position of the transport target A1 in the second direction DR1, so that the first gripping part 40R first contacts the corresponding gripped part 71, and then the second gripping part 40L contacts the corresponding gripped part 71. At this time, if the torque required for gripping or transporting the transport target A1 differs between the first gripper 40R and the second gripper 40L, the control unit 11 may set different torque control command values to be given to the first drive unit 50R and the second drive unit 50L. Also, if there is no need to give torque to the first gripper 40R and the second gripper 40L to maintain the state of holding the transport target A1, the control unit 11 may stop outputting the torque control command values to the first drive unit 50R and the second drive unit 50L and stop the first gripper 40R and the second gripper 40L at their positions.

In addition, when one of the first gripping part 40R and the second gripping part 40L contacts the corresponding gripped part 71, the control part 11 can determine the contact position where the other of the first gripping part 40R and the second gripping part 40L contacts the corresponding gripped part 71 based on the distance between the two gripped parts 71 of the transport target A1. Note that the memory part of the transport device X1 pre-registers data on the distance between the two gripped parts 71 of the transport target A1 for each type of transport target A1. The control part 11 acquires the distance between the two gripped parts 71 of the transport target A1 from the memory part based on the type of the transport target A1 included in the command from the upper system 100. Then, the control part 11 can move the other of the first gripping part 40R and the second gripping part 40L at high speed by outputting a position control command value to the drive part 50 to move the other of the first gripping part 40R and the second gripping part 40L to the contact position.

9C, when both the first gripping portion 40R and the second gripping portion 40L come into contact with the gripped portion 71 and stop (ST4: Yes), the control unit 11 acquires the positions of the first gripping portion 40R and the second gripping portion 40L, for example, based on the amount of drive by the first drive unit 50R and the second drive unit 50L. Then, the control unit 11 detects the deviation between the intermediate position of the first gripping portion 40R and the second gripping portion 40L and the center position of the main body 10 in the second direction DR1, and thereby determines whether or not there is a positional deviation between the center position of the transport object A1 and the center position of the transport device X1 in the second direction DR1 (ST5).

If there is no positional deviation between the center position of the transport object A1 and the center position of the transport device X1 in the second direction DR1 (ST5: No), the control unit 11 of the transport device X1 controls the drive wheel unit 20 to move the transport device X1 forward and remove the transport object A1 from the mounting main body 82. Then, the control unit 11 of the transport device X1 controls the drive wheel unit 20 to move the main body 10 to the position commanded by the higher-level system 100 (ST7: Transport process).

On the other hand, if there is a positional deviation between the center position of the transport object A1 and the center position of the transport device X1 in the second direction DR1 (ST5: Yes), the control unit 11 of the transport device X1 controls the drive wheel unit 20 to move the transport device X1 forward and remove the transport object A1 from the mounting body 82 (see FIG. 9D). When the transport object A1 is removed from the mounting body 82 and becomes movable along the second direction DR1, the control unit 11 controls the drive unit 50 to execute a position adjustment process to adjust the position of the transport object A1 (ST6).

For example, the control unit 11 outputs a position control command value to the first drive unit 50R to move the first gripping unit 40R closer to the center position of the transport device X1 in the second direction DR1 (i.e., the side opposite to the side biased outward) to an even holding position. Here, the even holding position refers to the positions of the first gripping unit 40R and the second gripping unit 40L in the left-right direction of the main body 10 (direction parallel to the second direction DR1) in a state in which the intermediate positions of the first gripping unit 40R and the second gripping unit 40L coincide with the center position of the main body 10. The control unit 11 also outputs a position control command value to the second drive unit 50L to move the second gripping unit 40L farther from the center position of the transport device X1 in the second direction DR1 (i.e., the side biased outward) while maintaining the distance from the first gripping unit 40R. As a result, the transport object A1 moves together with the first gripping part 40R and the second gripping part 40L while the first gripping part 40R and the second gripping part 40L are kept in contact with the corresponding gripped parts 71. Then, the position of the transport object A1 can be adjusted so that the center position of the transport object A1 in the second direction DR1 coincides with the center position of the transport device X1.

As described above, the conveying method of this embodiment includes a position adjustment process. In the position adjustment process, the relative position of the conveying target A1 with respect to the conveying device X1 is adjusted in a state in which each of the multiple gripping parts 40 is in contact with a corresponding one of the multiple gripped parts 71 in the holding process. In addition, in the position adjustment process, the relative position of the conveying target A1 with respect to the conveying device X1 is adjusted so that the intermediate position of the multiple gripping parts 40 in the second direction DR1 coincides with a predetermined position of the main body 10 of the conveying device X1. By the position adjustment process, the conveying target A1 can be held by the conveying device X1 in a state in which the center position of the conveying device X1 and the predetermined position of the conveying target A1 coincide with each other in the second direction DR1. Here, the predetermined position of the main body 10 of the conveying device X1 in the second direction DR1 is, for example, the center position of the main body 10. Since the transport device X1 holds the transport target A1 in a state where the center position of the transport device X1 and the intermediate positions of the multiple gripping units 40 in the second direction DR1 coincide with each other, it is possible to suppress wobbling of the transport target A1 when the transport device X1 transports the transport target A1. Note that the predetermined position of the main body 10 of the transport device X1 in the second direction DR1 is not limited to the center position of the main body 10, and may be a position shifted from the center of the main body 10, and the transport device X1 may hold the transport target A1 in a state where the center position of the transport device X1 and the intermediate positions of the multiple gripping units 40 in the second direction DR1 are shifted from each other.

In the first gripping operation, in the position adjustment step, the transport object A1 is moved along the second direction to adjust the relative position of the transport object A1 with respect to the transport device X1. If the feed screw 51 is not a self-locking screw such as a trapezoidal screw, in the position adjustment step, the control unit 11 may provide a torque control command value to the second drive unit 50L that drives the second gripping unit 40L on the side that is biased outward in the second direction DR1. The position of the transport device X1 can be adjusted while maintaining the torque with which the second gripping unit 40L holds the corresponding gripped portion 71 at a predetermined value.

In the position adjustment process, the conveying device X1 may move along the second direction DR1 to adjust the relative position of the conveying object A1 with respect to the conveying device X1. Even if the conveying object A1 cannot move along the second direction DR1, the conveying device X1 can move to eliminate the positional misalignment between the center position of the conveying device X1 and the center position of the conveying object A1 in the second direction DR1. When the position adjustment process is completed, the control unit 11 of the conveying device X1 controls the drive wheel unit 20 to move the conveying device X1 to the position commanded by the higher-level system 100, thereby conveying the conveying object A1 (ST7: conveying process).

In the position adjustment process, the control unit 11 may output a position control command value to the second drive unit 50L for moving the second gripping unit 40L to an equal holding position while outputting a torque control command value to the first drive unit 50R. This allows the position of the transport object A1 to be adjusted so that the center position of the transport device X1 and the center position of the transport object A1 coincide in the second direction DR1 while the first gripping unit 40R and the second gripping unit 40L are holding the corresponding gripped portion 71 with a predetermined gripping force.

(3.2) Second gripping operation when removing the feeder cart connected to the mounting body The second gripping operation by the conveying device X1 when removing the feeder cart 81 (transport object A1), which cannot move in the left-right direction because it is connected to the mounting body 82, from the mounting body 82 and transporting it will be described with reference to Figures 10A to 10E.

When the control unit 11 of the transport device X1 receives a command from the higher-level system 100, for example, to transport the transport target A1 connected to the mounting body 82 to another location, it controls the drive wheel unit 20 to move the transport device X1 to the location where the transport target A1 is located. At this time, the control unit 11 of the transport device X1 controls the first drive unit 50R and the second drive unit 50L, similar to the first gripping operation, to move the first gripping unit 40R and the second gripping unit 40L so that the distance (first distance) between the first gripping unit 40R and the second gripping unit 40L is minimized.

Then, the control unit 11 of the transport device X1 controls the drive wheel unit 20 to move the transport device X1 to a position where one surface of the transport device X1 on which the first gripping part 40R and the second gripping part 40L are provided faces one surface of the transport target A1 on which the gripped part 71 is provided (see FIG. 10A). After that, the control unit 11 of the transport device X1 moves the transport device X1 closer to the transport target A1 along the approach direction DR2 with the positions of the two gripping parts 40 shifted relative to the two gripped parts 71 of the transport target A1 in the second direction DR1.

10B, when the conveying device X1 arrives at a position where it can hold the conveying target A1 (a position where the two gripping parts 40 enter between the two gripped parts 71 in the second direction DR1), the control unit 11 controls the drive wheel unit 20 to stop the conveying device X1. The control unit 11 controls the drive wheel unit 20 to rotate the two drive wheels 2 in a direction in which the axles of the two drive wheels 2 are perpendicular to the second direction DR1. The control unit 11 also controls the drive wheel unit 20 to stop applying torque to the two drive wheels 2. The control unit 11 may also control the drive wheel unit 20 to perform no-load torque control such that the torque generated in one or both of the two drive wheels 2 becomes zero.

In this state, the control unit 11 controls the first drive unit 50R and the second drive unit 50L to move the first gripping unit 40R and the second gripping unit 40L outward, respectively, and move each of the first gripping unit 40R and the second gripping unit 40L toward the corresponding gripped portion 71 (holding process). Specifically, the control unit 11 outputs position control command values to the first drive unit 50R and the second drive unit 50L to move the first gripping unit 40R and the second gripping unit 40L to the equal holding position, respectively, and moves the first gripping unit 40R and the second gripping unit 40L to the equal holding position, respectively. At this time, when one of the first gripping unit 40R and the second gripping unit 40L comes into contact with the corresponding gripped portion 71, the conveying device X1 receives a reaction force from the gripped portion 71 and moves along the second direction DR1. Then, when the first gripping unit 40R and the second gripping unit 40L each move to the equal holding position (FIG. 10C), the transport object A1 is held by the transport device X1 in a state where the center position of the transport device X1 and the center position of the transport object A1 coincide in the second direction DR1. In this way, since the transport object A1 is held by the transport device X1 in a state where the center position of the transport device X1 and the center position of the transport object A1 coincide in the second direction DR1, it is possible to suppress wobbling of the transport object A1 when the transport device X1 transports the transport object A1.

In addition, in the holding process, while the first gripping portion 40R and the second gripping portion 40L are in contact with the corresponding gripped portion 71, the control portion 11 may output a position control command value to one of the first drive portion 50R and the second drive portion 50L and output a torque control command value to the other of the first drive portion 50R and the second drive portion 50L, thereby moving each of the first gripping portion 40R and the second gripping portion 40L to an equal holding position. When one of the first gripping portion 40R and the second gripping portion 40L moves to the equal holding position, the other of the first gripping portion 40R and the second gripping portion 40L follows while maintaining the torque at a predetermined value, and can move to the equal holding position.

Once the holding process is completed, the control unit 11 controls the drive wheel unit 20 to rotate the two drive wheels 2 in a direction such that the axles of the two drive wheels 2 are parallel to the second direction DR1 (see Figure 10D).

The control unit 11 of the transport device X1 controls the drive wheel unit 20 to move the transport device X1 forward and remove the transport object A1 from the mounting body 82 (see FIG. 10E). The control unit 11 of the transport device X1 then controls the drive wheel unit 20 to move the transport device X1 to a position instructed by the upper system 100, thereby transporting the transport object A1.

(3.3) Third gripping operation when holding and moving a feeder cart that can be moved in any direction The feeder cart 81 (transport target A1) is placed on the moving plane B1 and can be moved in any direction along the moving plane B1. The third gripping operation by the transport device X1 when holding and transporting such a feeder cart 81 will be described with reference to Figures 11A to 11D.

When the control unit 11 of the transport device X1 receives a command from the higher-level system 100 to transport the transport target A1 to another location, it controls the drive wheel unit 20 to move the transport device X1 to the location where the transport target A1 is located. At this time, the control unit 11 of the transport device X1 controls the drive unit 50 to move the two gripping units 40 to a position where the distance between the two gripping units 40 is narrower than the distance between the two gripped units 71. Then, the control unit 11 of the transport device X1 controls the drive wheel unit 20 to move the transport device X1 to a position where one side of the transport target A1 on which the gripped units 71 are provided faces one side of the transport target A1 on which the gripped units 71 are provided (see FIG. 11A). Then, the control unit 11 of the conveying device X1 moves the conveying device X1 closer to the conveying object A1 along the approach direction DR2 while shifting the positions of the two gripping portions 40 relative to the two gripped portions 71 of the conveying object A1 in the second direction DR1.

As shown in FIG. 11B, when the conveying device X1 arrives at a position where it can hold the conveying object A1 (a position where the two gripping parts 40 fit between the two gripped parts 71 in the second direction DR1), the control unit 11 controls the drive wheel unit 20 to stop the conveying device X1.

In this state, the control unit 11 controls the first drive unit 50R and the second drive unit 50L to move the first gripping unit 40R and the second gripping unit 40L outward, respectively, and move each of the first gripping unit 40R and the second gripping unit 40L toward the corresponding gripped portion 71 (holding process). Specifically, the control unit 11 outputs a torque control command value to the first drive unit 50R to move the first gripping unit 40R to the gripped portion 71 on the right side. The control unit 11 outputs a torque control command value to the second drive unit 50L to move the second gripping unit 40L to the gripped portion 71 on the left side. Note that the torque control command values given by the control unit 11 to the first drive unit 50R and the second drive unit 50L may be the same value or different values from each other. However, the torque control command value given by the control unit 11 to the first drive unit 50R and the second drive unit 50L is set to a value smaller than a torque value that causes the transport target A1 to move more than necessary or change its orientation. The transport target A1 moving more than necessary refers to, for example, a state in which a force sufficient to change the orientation of the free wheels (wheels A11) of the transport target A1 is applied, causing the transport target A1 to move away from the gripping unit 40.

When the first gripping unit 40R and the second gripping unit 40L move in this manner, the first gripping unit 40R and the second gripping unit 40L come into contact with the corresponding gripped portion 71 with a time difference. At this time, if the torque required to grip or move the transport target A1 differs between the first gripping unit 40R and the second gripping unit 40L, the control unit 11 may set the torque control command values to be given to the first driving unit 50R and the second driving unit 50L to different values. Also, if it is not necessary to give torque to the first gripping unit 40R and the second gripping unit 40L to maintain the state of holding the transport target A1, the control unit 11 may stop outputting the torque control command values to the first driving unit 50R and the second driving unit 50L and stop the first gripping unit 40R and the second gripping unit 40L at their positions. Furthermore, when one of the first gripping portion 40R and the second gripping portion 40L comes into contact with the corresponding gripped portion 71, the control portion 11 can determine, based on the distance between the two gripped portions 71 of the transport target A1, a contact position where the other of the first gripping portion 40R and the second gripping portion 40L comes into contact with the corresponding gripped portion 71. The control portion 11 can then move the other of the first gripping portion 40R and the second gripping portion 40L at high speed by outputting, to the drive portion 50, a position control command value for moving the other of the first gripping portion 40R and the second gripping portion 40L to the contact position.

Here, when both the first gripping portion 40R and the second gripping portion 40L come into contact with the gripped portion 71, the control portion 11 acquires the positions of the first gripping portion 40R and the second gripping portion 40L, for example, based on the amount of drive by the first drive portion 50R and the second drive portion 50L. Then, the control portion 11 detects the deviation between the intermediate position of the first gripping portion 40R and the second gripping portion 40L and the center position of the main body 10 in the second direction DR1, thereby determining whether or not there is a positional deviation between the center position of the transport object A1 and the center position of the transport device X1 in the second direction DR1.

When there is a positional deviation between the center position of the transport object A1 and the center position of the transport device X1 in the second direction DR1, the control unit 11 of the transport device X1 controls the drive unit 50 to execute a position adjustment process to adjust the position of the transport object A1. Note that the operation of the position adjustment process is similar to the position adjustment process in the first gripping operation described above, and therefore a description thereof will be omitted.

Once the position adjustment process is completed, the control unit 11 of the conveying device X1 controls the drive wheel unit 20 to move the conveying device X1 to the position instructed by the upper system 100, thereby conveying the conveying object A1.

(4) Modifications Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

The conveying device X1 in the present disclosure includes a computer system. The computer system is mainly composed of a processor and a memory as hardware. The processor executes a program recorded in the memory of the computer system to realize the function of the conveying device X1 in the present disclosure. The program may be pre-recorded in the memory of the computer system, provided through an electric communication line, or provided by recording it in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called differently depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or reconfigure the circuit partition inside the LSI, can also be used as a processor. The electronic circuits may be integrated in one chip or distributed among multiple chips. The chips may be integrated in one device or distributed among multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Thus, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

(4.1) Modification 1
The transport device X1 of the modified example 1 differs from the above embodiment in that the two gripping parts 40 located on the outer sides of the two gripped parts 71A in the second direction DR1 move in directions approaching the corresponding gripped parts 71A, as shown in Fig. 12. Note that in the transport device X1 of the modified example 1, components common to the transport device X1 of the above embodiment are denoted by the same reference numerals, and descriptions thereof will be omitted.

Two gripped parts 71A are provided on the front surface of the main body 70 of the transport object A1. The two gripped parts 71A are lined up in the second direction DR1 (the left-right direction of the main body 70). Each of the two gripped parts 71A has a base 72 that protrudes forward from the main body 70 and a hook part 73 that protrudes diagonally forward from the tip of the base 72. The two hook parts 73 of the two gripped parts 71A are provided such that the distance between the two hook parts 73 becomes wider toward the front. In addition, each of the two gripped parts 71A has a recess 74 that straddles the base 72 and the hook part 73 and into which the roller part 42 of the grip part 40 fits.

On the other hand, on the rear surface of the main body 10 of the transport device X1, two gripping parts 40 that contact the two gripped parts 71A from the outside are provided in a state where they can move relative to the main body 10. The two gripping parts 40 include a first gripping part 40R provided on the right side of the main body 10 and a second gripping part 40L provided on the left side of the main body 10. The first gripping part 40R is located further to the right of the right gripped part 71A provided on the transport target A1, and the second gripping part 40L is located further to the left of the left gripped part 71A provided on the transport target A1. In addition, the main body 10 of the transport device X1 is provided with a first drive part 50R that drives the first gripping part 40R and a second drive part 50L that drives the second gripping part 40L. The first drive part 50R and the second drive part 50L are housed inside a case 55 provided on the main body 10.

In the approach process, the control unit 11 controls the first drive unit 50R and the second drive unit 50L to move the first gripping unit 40R and the second gripping unit 40L so that the distance (first distance) between the first gripping unit 40R and the second gripping unit 40L is maximized. There are multiple types of transport objects A1 transported by the transport device X1, and the distance (second distance) between the two gripped portions 71A varies depending on the type of transport object A1. The maximum value of the first distance between the first gripping unit 40R and the second gripping unit 40L is set to be longer than the second distance of the transport object A1 in which the second distance between the two gripped portions 71A is maximum among the multiple types of transport objects A1. Therefore, when the first gripping portion 40R and the second gripping portion 40L are moved to a position where the first distance is maximum, in the second direction DR1, each of the first gripping portion 40R and the second gripping portion 40L is located at a position offset from the corresponding gripped portion 71A.

The control unit 11 controls the drive wheel unit 20 to move the first gripping unit 40R and the second gripping unit 40L to a position where the first distance is maximum, and moves the transport device X1 closer to the transport target A1 to a position where the transport device X1 can hold the transport target A1. The control unit 11 then controls the first drive unit 50R and the second drive unit 50L to move the first gripping unit 40R and the second gripping unit 40L in a direction in which the distance between them becomes narrower, and brings the first gripping unit 40R and the second gripping unit 40L into contact with the corresponding gripped portion 71A. When the first gripping unit 40R and the second gripping unit 40L each come into contact with the corresponding gripped portion 71A, the two gripped portions 71A are clamped by the first gripping unit 40R and the second gripping unit 40L from the outside in the second direction DR1, and the transport target A1 is held by the transport device X1. Then, in the transport step, while the transport device X1 is holding the object A1 to be transported, the control unit 11 controls the drive wheel unit 20 to cause the transport device X1 to transport the object A1 to be transported.

When the conveying device X1 is to release the state in which it is holding the conveying target A1, the control unit 11 controls the first drive unit 50R and the second drive unit 50L to move the first gripping unit 40R and the second gripping unit 40L in a direction in which the distance between them increases. This causes the first gripping unit 40R and the second gripping unit 40L to move away from the corresponding gripped portion 71A, and the conveying device X1 is released from the state in which it is holding the conveying target A1.

(4.2) Modification 2
13, the transport device X1 of the modified example 2 differs in that each of the multiple gripping parts 40 rotates around the second rotation axis A3, causing each of the multiple gripping parts 40 to contact a corresponding one of the multiple gripped parts 71. Note that in the transport device X1 of the modified example 2, components common to the transport device X1 of the above embodiment are denoted by the same reference numerals, and descriptions thereof will be omitted.

In variant example 2, two gripping parts 40 corresponding to two gripped parts 71 of the transport target A1 are provided on the rear surface of the main body 10 of the transport device X1. The two gripping parts 40 are arranged between the two gripped parts 71 in the second direction DR1. Here, the two gripping parts 40 include a first gripping part 40R provided on the right side of the main body 10 and a second gripping part 40L provided on the left side of the main body 10.

Each of the two gripping units 40 includes an arm 41 that protrudes rearward from the rear surface of the main body 10, and a roller unit 42 that is held by the arm 41. The arm 41 is rotatable about a second rotation axis A3. The first drive unit 50R and the second drive unit 50L that drive the first gripping unit 40R and the second gripping unit 40L, respectively, include a rotation drive unit 56 that rotates the arm 41. The rotation drive unit 56 includes, for example, a servo motor, and rotates the arm 41 to a position specified by the control command based on a control command from the control unit 11.

In the approaching step, the control unit 11 controls the first drive unit 50R and the second drive unit 50L to rotate the arms 41 of the first gripping unit 40R and the second gripping unit 40L to a position (position shown by a solid line in FIG. 13) where the arms 41 protrude in a direction perpendicular to the rear surface of the main body 10. At this time, the distance between the tips of the arm 41 of the first gripping unit 40R and the arm 41 of the second gripping unit 40L is shorter than the distance between the two gripped parts 71 of the transport target A1. In this state, the control unit 11 controls the drive wheel unit 20 to bring the transport device X1 closer to the transport target A1 to a position where the transport target A1 can be held.

In the subsequent holding process, the control unit 11 controls the first drive unit 50R to rotate the arm 41 of the first gripping unit 40R counterclockwise as viewed from above, and controls the second drive unit 50L to rotate the arm 41 of the second gripping unit 40L clockwise as viewed from above. As a result, the arm 41 of the first gripping unit 40R and the arm 41 of the second gripping unit 40L rotate in opposite directions, and the arm 41 stops in a state where the roller unit 42 provided at the tip of the arm 41 fits into the recess 74 of the gripped part 71 (as shown by the two-dot chain line in FIG. 13). In this way, the first gripping unit 40R and the second gripping unit 40L each come into contact with the corresponding gripped part 71, and the transport object A1 is held by the transport device X1.

When the conveying device X1 releases the state of holding the conveying target A1, the control unit 11 controls the first driving unit 50R and the second driving unit 50L to rotate the arms 41 of the first gripping unit 40R and the second gripping unit 40L in the opposite direction. That is, the control unit 11 controls the first driving unit 50R to rotate the arm 41 of the first gripping unit 40R clockwise as viewed from above, and controls the second driving unit 50L to rotate the arm 41 of the second gripping unit 40L counterclockwise as viewed from above. As a result, the arm 41 rotates in a direction that narrows the distance between the tip of the arm 41 of the first gripping unit 40R and the arm 41 of the second gripping unit 40L, so that the first gripping unit 40R and the second gripping unit 40L move away from the corresponding gripped parts 71, and the conveying device X1 releases the state of holding the conveying target A1.

(4.3) Modification 3
A transport device X1 according to a third modification of the above embodiment will be described with reference to Figures 14 to 17. The transport device X1 of the third modification differs from the above embodiment in that it has a gripping portion 40 with a different shape from that of the above embodiment. In the transport device X1 of the third modification, components common to the transport device X1 of the above embodiment are denoted by the same reference numerals and will not be described.

(4.3.1) First aspect of gripping unit 40 of transport device X1 of modified example 3 A first aspect of the first gripping unit 40R and the second gripping unit 40L of the transport device X1 of modified example 3 will be described with reference to Fig. 14. Each of the first gripping unit 40R and the second gripping unit 40L of the first aspect has a rod-shaped arm 43 that protrudes rearward from the main body 10. Each of the first gripping unit 40R and the second gripping unit 40L is moved linearly along the second direction DR1 by the drive unit 50.

On the other hand, two gripped parts 78 are provided on the front surface of the main body 70 of the transport object A1, which are gripped by the first gripping part 40R and the second gripping part 40L, respectively. A base 78A, which has a longer dimension in the left-right direction (second direction DR1) than its dimension in the front-rear direction, is fixed to the front surface of the main body 70. The two gripped parts 78 protrude forward from both left-right ends of the base 78A. In this way, the two gripped parts 78 are integrally provided at both left and right ends of a single base 78A, so that a configuration for fixing each of the two gripped parts 78 to the main body 70 is not required, and it is sufficient to fix one base 78A to the main body 70.

In the holding process, the first gripping unit 40R and the second gripping unit 40L of the first aspect are driven by the drive unit 50 in a direction in which the distance between them increases, and the tip of the arm 43 comes into surface contact with the corresponding gripped portion 78. Here, the transport object A1 is held by the transport device X1 by the frictional force generated between the tip of the arm 43 and the gripped portion 78.

When the conveying device X1 is to release the state in which it is holding the conveying target A1, the first gripping unit 40R and the second gripping unit 40L are driven by the drive unit 50 in a direction in which the distance between them narrows. This causes the arms 43 of the first gripping unit 40R and the second gripping unit 40L to move away from the corresponding gripped portion 78, and the conveying device X1 is released from the state in which it is holding the conveying target A1.

(4.3.2) Second aspect of gripping portion 40 of transport device X1 of modified example 3 A second aspect of the first gripping portion 40R and the second gripping portion 40L of the transport device X1 of modified example 3 will be described with reference to Fig. 15. Each of the first gripping portion 40R and the second gripping portion 40L of the second aspect includes a rod-shaped arm 43 protruding rearward from the main body 10, and a rod-shaped protruding portion 44 protruding from the rear end of the arm 43 toward the corresponding gripped portion 71. Each of the first gripping portion 40R and the second gripping portion 40L is moved linearly along the second direction DR1 by the driving portion 50.

On the other hand, two gripped portions 71 are provided on the front surface of the main body 70 of the transport object A1, which are respectively gripped by the first gripping portion 40R and the second gripping portion 40L. The two gripped portions 71 are lined up in the second direction DR1 (left-right direction). The two gripped portions 71 are formed in a rod shape that protrudes forward from the front surface of the main body 70. Each of the two gripped portions 71 has a recess 75 into which the protrusion 44 of the corresponding gripping portion (the first gripping portion 40R and the second gripping portion 40L) is inserted.

In the holding process, the first gripping portion 40R and the second gripping portion 40L of the second aspect are driven by the drive unit 50 in a direction in which the distance between them increases, and the protrusions 44 provided at the tips of the arms 43 are inserted into the recesses 75 of the corresponding gripped portions 71. The protrusions 44 of the first gripping portion 40R and the second gripping portion 40L are inserted into the recesses 75 of the corresponding gripped portions 71, thereby holding the transport object A1 relative to the transport device X1 in the second direction DR1. Furthermore, in the direction intersecting the second direction DR1 (front-rear direction), the protrusions 44 come into contact with the side surfaces of the recesses 75, thereby holding the transport object A1 relative to the transport device X1.

When the conveying device X1 is to release the state in which it is holding the conveying target A1, the first gripping portion 40R and the second gripping portion 40L are driven by the drive unit 50 in a direction in which the distance between them narrows. This causes the protrusions 44 of the first gripping portion 40R and the second gripping portion 40L to move out of the recesses 75, and the conveying device X1 is released from the state in which it is holding the conveying target A1.

Here, as shown in FIG. 16, the width of the recess 75 may be greater than the width of the protrusion 44 in the direction intersecting the second direction DR1 (front-to-back direction), and there is an advantage that the precision in aligning the positions of the protrusion 44 and the recess 75 during the holding process may be low.

15, a rectangular protrusion 44 is provided at the tip of the arm 43, but the shape of the protrusion 44 can be changed as appropriate. For example, as shown in FIG. 17, a protrusion 45 having a triangular shape in a plan view may be provided at the tip of the arm 43, and a triangular recess 77 may be provided in the gripped portion 71.

(4.4) Modification 4
The gripping structure H1 of the modified example 4 will be described with reference to Figs. 31 to 37. In the gripping structure H1 of the modified example 4, the multiple gripped parts 71 include two gripped parts 71 arranged in the second direction DR1 along the moving plane B1, and the multiple gripping parts 40 include two gripping parts 40 corresponding to the two gripped parts 71, respectively. The two gripping parts 40 can move along the moving plane B1 between a first position (see Fig. 31) and a second position (see Fig. 32) by moving so that the interval between the two gripping parts 40 changes. The first position is a position where the two gripping parts 40 are separated from the two gripped parts 71, respectively, and the second position is a position where the two gripping parts 40 hold the two gripped parts 71, respectively. The gripping structure H1 of the modified example 4 differs from the above embodiment and modified examples 1 to 3 in that, even in the gripped state, each of the two gripped parts 71 can move in the opposite direction to the direction in which the corresponding gripping part 40 contacts the corresponding gripping part 40 of the two gripping parts 40. In other words, the gripping structures H1 of the above embodiment and modified examples 1 to 3 restrict the movement of the gripped part 71 in the gripped state in the direction in which the gripping part 40 corresponding to the gripped part 71 contacts and in the opposite direction. In contrast, the gripping structure H1 of the modified example 4 restricts the movement of the gripped part 71 only in the direction in which the gripping part 40 corresponding to the gripped part 71 contacts, and in this respect, it differs from the above embodiment and modified examples 1 to 3. Note that the same reference numerals are used for the components common to the above embodiment and modified examples 1 to 3, and their description will be omitted.

In the gripping structure H1 of the fourth modification, the arm 41 of the gripping portion 40 is attached to the slider 54 in a state in which it can rotate around the axis 47. When no external force is applied to the arm 41, the arm 41 is stopped at the reference position (see FIGS. 31 and 32) by the force of an elastic member such as rubber or a spring. On the other hand, when an external force is applied to the conveying device X1 or the conveying object A1 in the gripping state, a pushing force is applied from the gripped portion 71 to the roller portion 42, and the arm 41 rotates in a direction in which the roller portion 42 moves away from the gripped portion 71. In this way, by making the arm 41 rotatable when a pushing force is applied from the gripped portion 71 to the roller portion 42, in the gripping state, the movement of each of the two gripped portions 71 is restricted only in the direction in which the corresponding gripping portion 40 of the two gripping portions 40 comes into contact, and movement to the opposite side is possible.

For example, as shown in Figure 33, when an external force F1 is generated that pushes the transport object A1 leftward, the leftward external force F1 is applied to the arm 41 of the first gripping part 40R on the right side via the gripped part 71. At this time, the arm 41 of the first gripping part 40R rotates clockwise in Figure 33, causing the transport object A1 to move to the left, but since the roller part 42 of the second gripping part 40L on the left side is in contact with the straight part 85, the gripping state between the gripping part 40 and the gripped part 71 is unlikely to come loose. In this way, since the gripping part 40 is configured so that the arm 41 can rotate when an external force is applied to the transport object A1 or the transport device X1, the force applied to the arm 41 can be reduced and the arm 41 is unlikely to break. In addition, even if the transport object A1 is displaced relative to the transport device X1 due to the external force F1, the roller portion 42 of the gripping portion 40 comes into contact with the straight portion 85 of the gripped portion 71, making it difficult for the gripping state between the gripping portion 40 and the gripped portion 71 to come loose.

34, when an external force F2 is generated that pushes the transport target A1 backward, the external force F2 is applied to the arms 41 of the first gripping unit 40R and the second gripping unit 40L via the gripped portion 71. At this time, the arm 41 of the first gripping unit 40R rotates clockwise in FIG. 34, and the arm 41 of the second gripping unit 40L rotates counterclockwise in FIG. 34, so that the transport target A1 moves backward relative to the transport device X1, and the force applied to the arm 41 is reduced, making the arm 41 less likely to be damaged. In addition, the rotation of the arms 41 of the first gripping unit 40R and the second gripping unit 40L moves the transport target A1 backward relative to the transport device X1, but the roller portion 42 comes into contact with the straight portion 85, making it difficult for the gripping state between the gripping unit 40 and the gripped portion 71 to come off.

As shown in Fig. 35, an elastic member 48 such as rubber is attached between the arm 41 and the slider 54, and when an external force F2 is applied to the roller portion 42, the elastic member 48 bends, allowing the arm 41 to rotate. The upper diagram in Fig. 35 shows a state in which the external force F2 is not applied, and the lower diagram in Fig. 35 shows a state in which the external force F2 is applied. When the external force F2 applied to the roller portion 42 is removed, the elastic force stored in the elastic member 48 causes the arm 41 to return to the position it was in before the external force F2 was applied. Here, the elastic member 48 is not limited to rubber, and may be a leaf spring, a coil spring, or the like.

The configuration for displacing the roller part 42 in response to the external force F2 is not limited to the configuration in FIG. 35. For example, as shown in FIG. 36, the slider 54 to which the arm 41 is fixed may be divided into two members (a first member 54A and a second member 54B) in the front-rear direction, the first member 54A and the second member 54B may be connected via a hinge 54C, and an elastic member 58 such as rubber may be disposed between the first member 54A and the second member 54B. The upper diagram in FIG. 36 shows a state in which the external force F2 is not applied, and the lower diagram in FIG. 36 shows a state in which the external force F2 is applied. When the external force F2 is applied to the roller part 42, the elastic member 58 bends, and the first member 54A rotates around the hinge 54C relative to the second member 54B, so that the roller part 42 can be displaced. When the external force F2 applied to the roller portion 42 is removed, the elastic force stored in the elastic member 58 causes the first member 54A to return to the position it was in before the external force F2 was applied, and the roller portion 42 returns to its original position. Here, the elastic member 58 is not limited to rubber, and may be a leaf spring, a coil spring, or the like.

As shown in Fig. 37, the arm 41 fixed to the slider 54 may be deformable so that the roller part 42 can be displaced in response to an external force F2. Each of the pair of arms 41 provided in the grip part 40 includes a first member 41A having one end fixed to the slider 54 and a second member 41B rotatably connected to the other end of the first member 41A via a hinge 41C. The roller part 42 is held at the tip of the second member 41B. An elastic member 49 such as a coil spring is attached between the first member 41A and the second member 41B. The upper diagram in Fig. 37 shows a state where the external force F2 is not applied, and the lower diagram in Fig. 37 shows a state where the external force F2 is applied. When an external force F2 is applied to the roller portion 42, the elastic member 49 extends, causing the second member 41B to rotate about the hinge 41C relative to the first member 41A, thereby displacing the roller portion 42. When the external force F2 applied to the roller portion 42 is removed, the elastic member 49 contracts, causing the second member 41B to return to the position it was in before the external force F2 was applied, thereby causing the roller portion 42 to return to its original position. Here, the elastic member 49 is not limited to a coil spring, and may be formed of rubber, a leaf spring, or the like.

In addition, in variant example 4, as shown in FIG. 31, a contact plate 57 is provided on the conveying device X1 to contact the tip portion of the gripped portion 71 when the gripping portion 40 has not yet completed holding the gripped portion 71 during the holding process.

Here, the gripping structure H1 is designed so that in the front-to-rear direction, the dimension L1 from the center of the roller part 42 in the reference position to the abutment plate 57 is greater than the dimension L2 from the tip of the gripped part 71 to the center of the recess 74.

When the gripper 40 grips the gripped part 71, as shown in FIG. 31, the conveying device X1 approaches the conveying target A1 to a position where the abutment plate 57 contacts the tip of the gripped part 71. The control unit 11 of the conveying device X1 detects that the abutment plate 57 has contacted the tip of the gripped part 71, for example, from a change in the motor current flowing through the drive motors 21R and 21L. The method of detecting that the abutment plate 57 has contacted the tip of the gripped part 71 may be a switch whose contact point turns on or off when the abutment plate 57 contacts the gripped part 71, and can be changed as appropriate. When the control unit 11 detects that the abutment plate 57 has contacted the tip of the gripped part 71, the control unit 11 moves the first gripper 40R and the second gripper 40L in a direction that widens the distance between them, thereby causing the gripper 40 to hold the gripped part 71. In this way, by bringing the contact plate 57 into contact with the tip of the gripped portion 71, the gripping portion 40 can carry out the holding step of gripping the gripped portion 71 in a state in which the position of the transport device X1 in the front-rear direction relative to the transport target A1 is positioned, so that the gripping portion 40 can smoothly hold the gripped portion 71. Note that since the dimension L1 is larger than the dimension L2, a gap of dimension L3 (L3=L1-L2) is formed between the contact plate 57 and the tip of the gripped portion 71 in the gripping state shown in FIG. 32. Here, the dimension L3 of the gap formed between the contact plate 57 and the tip of the gripped portion 71 only needs to be set to a dimension that allows the gripping operation of the gripped portion 71 by the gripping portion 40, and is preferably, for example, about 1 to 3 mm.

(4.5) Modification 5
The gripping structure H1 of the fifth modified example will be described with reference to FIGS.

In the gripping structure H1 of the fifth modification, the gripping portion 40 holds the gripped portion 71B by inserting a cylindrical protrusion 95 provided on the gripping portion 40 into a through hole 93 provided on the gripped portion 71B. Note that the configuration other than the gripping portion 40 and the gripped portion 71B is the same as in the above embodiment and modifications 1 to 4, and therefore the same reference numerals are used for the common components and their description will be omitted.

The main body 70 of the transport target A1 has two gripped portions 71B arranged side by side in the second direction DR1. The gripped portions 71B include a plate-shaped member 79A. The plate-shaped member 79A has a through hole 93 penetrating the plate-shaped member 79A in the second direction DR1.

On the other hand, two gripping parts 40 corresponding to the two gripped parts 71B respectively are provided on the main body 10 of the transport device X1 in a state where they can move along the second direction DR1. The gripping parts 40 have a base 94 provided on the part of the slider 54 facing the gripped parts 71B, and a cylindrical protrusion 95 protruding from the base 94 towards the gripped parts 71B. A conical guide part 96 is provided at the tip of the protrusion 95.

Here, when gripping the gripped portion 71B with the gripping parts 40, the two gripping parts 40 are moved in a direction in which the distance between them increases with the transport device X1 approaching the transport target A1. When the guide part 96 of the protrusion 95 of the gripping part 40 hits the edge of the through hole 93 of the gripped portion 71B, the guide part 96 guides the protrusion 95 to a position where it enters the through hole 93, and the protrusion 95 is inserted into the through hole 93, so that the gripping part 40 grips the gripped portion 71B. Note that the through hole 93 into which the protrusion 95 is inserted is formed in an elongated hole shape that is long in the first direction DR11 as shown in FIG. 39, so that the transport target A1 can be displaced relative to the transport device X1 in the first direction DR11. Furthermore, since the protrusion 95 inserted into the through hole 93 is formed in a cylindrical shape, the transport target A1 can rotate relative to the transport device X1 around the rotation axis Ax along the second direction DR1. Therefore, the protrusion 95 of the gripping part 40 and the through hole 93 of the gripped part 71B form a displacement allowing part 90 that allows relative displacement in the first direction DR11 and relative rotation around the rotation axis Ax.

38 has a cylindrical protrusion 95 with a constant radius, but the shape of the protrusion 95 is not limited to a cylindrical shape. For example, as shown in FIG. 41, each gripping portion 40 may have a protrusion 95A formed in a spherical shape such that the middle portion in the left-right direction has a larger diameter than both ends in the left-right direction.

38 and 40, when the cylindrical protrusion 95 of one gripping part 40 is inserted into the through hole 93, the protrusion 95 and the through hole 93 fit together, making it difficult for the transport device X1 to move around the Z axis. As shown in FIG. 40, when the positions of the through holes 93 in the two left and right gripped parts 71B are shifted in the front-rear direction due to manufacturing errors, etc., when the protrusion 95 of the first gripping part 40R is inserted into the through hole 93, the transport device X1 is difficult to move around the Z axis, so the protrusion 95 of the second gripping part 40L is difficult to enter the through hole 93. In contrast, when the peripheral surface of the protrusion 95A is spherical, the transport device X1 is easier to rotate around the Z axis even when the protrusion 95A is inserted into the through hole 93, compared to the cylindrical protrusion 95. Therefore, even if the positions of the through holes 93 of the two left and right gripped parts 71B are misaligned in the front-to-rear direction due to manufacturing errors or the like, the transport device X1 can rotate about the Z axis with the protrusions 95A inserted into the through holes 93, so the protrusions 95A of the left and right gripping parts 40 can easily enter the through holes 93 of the left and right gripped parts 71. Thus, the two gripping parts 40 can smoothly hold the corresponding gripped parts 71B, respectively.

In addition, when the gripping portion 40 has a cylindrical protrusion 95, the end face of the through hole 93 provided in the gripped portion 71B may be formed into a convex surface by performing R-chamfering or the like on the opening edge of the through hole 93 provided in the gripped portion 71B as shown in Fig. 42. By forming the end face of the through hole 93 into a convex surface, there is an advantage that even when the protrusion 95 of the gripping portion 40 is cylindrical, the conveying device X1 can easily rotate around the Z axis with the protrusion 95A inserted into the through hole 93.

In addition, in variant example 5, protrusions 95, 95A are provided on the gripping portion 40, and a through hole 93 into which the protrusions 95, 95A are inserted is provided in the gripped portion 71B, but a protrusion may be provided on the gripped portion 71B, and a through hole into which the protrusion is inserted may be provided in the gripping portion 40.

(4.6) Other Modifications In the above embodiment, the gripping portion 40 provided on the conveying device X1 has the roller portion 42, and the gripped portion 71 has a plate-shaped member 79 provided with a recess 74 into which the roller portion 42 is inserted, but the gripping portion 40 may have the plate-shaped member 79, and the gripped portion 71 may have the roller portion 42.

In the above embodiment, the conveying device X1 has one first gripping portion 40R and one second gripping portion 40L, but the number of first gripping portions 40R and second gripping portions 40L may be two or more.

In the above embodiment, one of the first gripping portion 40R and the second gripping portion 40L may not be displaced in the second direction DR1, and only the other of the first gripping portion 40R and the second gripping portion 40L may be movable. Then, the other of the first gripping portion 40R and the second gripping portion 40L may move and come into contact with the corresponding gripped portion 71, thereby causing both the first gripping portion 40R and the second gripping portion 40L to come into contact with the corresponding gripped portion 71.

In the above embodiment, the manufacturing device that performs the specified operations on the board was a mounting body (mounting device) 82 that mounts components on the board, but the manufacturing device is not limited to the mounting body 82 and may be a printing device that performs solder printing operations, etc.

In the above embodiment, the functional module that is the transport target A1 is the feeder cart 81, but the functional module is not limited to the feeder cart 81. The functional module can be changed as appropriate as long as it provides a predetermined function to the manufacturing device. When a reel with components attached to a tape is supplied to the mounting body 82, the predetermined function may include a function of recovering the tape from the mounting body 82 after the components have been removed. When a tray with components is supplied to the mounting body 82, the predetermined function may include a function of recovering the tray from the mounting body 82 after the components have been removed. The predetermined function may also include, for example, at least one of a function of supplying solder or a mask to a printing device that is a manufacturing device, and a function of recovering waste from the printing device. The predetermined function may also include at least one of a function of supplying a substrate to the manufacturing device, a function of recovering a substrate from the manufacturing device, a function of recovering cutting waste of reel components, a function of recovering maintenance target components from the manufacturing device, and a function of returning maintenance target components to the manufacturing device.

Here, the functional module is a module that provides a specific function to the manufacturing device, and examples of such modules include a parts supply module, a tray supply module, a waste recovery module, a board supply module, a board recovery module, a maintenance module, and a feeder refill module. The parts supply module is a module for supplying a plurality of parts to be mounted on a board to the manufacturing device. The parts supplied by the parts supply module to the manufacturing device may be in a bulk state, attached to a tape wound on a reel, attached to a reelless tape roll, or in other forms (e.g., a state in which a plurality of parts are housed in a case). The tray supply module is a module for supplying a plurality of trays carrying a plurality of parts, etc., to the manufacturing device. The waste recovery module is a module for recovering waste discharged from the manufacturing device. The board supply module is a module for supplying a plurality of boards to be worked on to the manufacturing device. The board recovery module is a module for recovering a plurality of boards after work has been performed from the manufacturing device. The maintenance module provides at least one of the following functions: a function of providing the manufacturing device with materials used in manufacturing the board; a function of collecting the parts to be maintained from the manufacturing device; and a function of returning the parts to be maintained to the manufacturing device. The maintenance module provides the manufacturing device with materials used in manufacturing the board, such as solder paste, a mask, a solvent tank for containing a solvent for dissolving the solder paste, and paper for wiping off the solder paste attached to the mask. The paper is a material used for wet cleaning in the manufacturing device, and the solder paste attached to the mask is wiped off by wiping the mask with the paper coated with the solvent. The feeder refill module is a module for refilling feeders to the manufacturing device. The feeder refill module may be, for example, a module that supplies cassette-type feeders to the manufacturing device, or a module that supplies a unit that holds one or more feeders to the manufacturing device. The feeder refill module may also be a batch exchange cart module that is provided so as to be connectable to the manufacturing device. The batch exchange cart module is a cart for supplying multiple types of parts to a manufacturing device, and by replacing the batch exchange cart module connected to the manufacturing device, multiple types of parts to be supplied to the manufacturing device can be replaced all at once.

(summary)
As described above, the gripping structure (H1) of the first aspect includes a plurality of gripped parts (71), a plurality of gripping parts (40), and a displacement allowing part (90). The plurality of gripped parts (71) are provided on the transport target (A1) traveling on the moving surface (B1). The plurality of gripping parts (40) are provided on the main body (10) of the transport device (X1) traveling on the moving surface (B1) so as to correspond to the plurality of gripped parts (71). Each of the plurality of gripping parts (40) can hold a corresponding one of the plurality of gripped parts (71). The displacement allowing part (90) allows a relative displacement of the transport target (A1) with respect to the main body (10) in a first direction (DR11) intersecting the moving surface (B1) in a gripping state in which the plurality of gripping parts (40) respectively hold the plurality of gripped parts (71). The displacement allowing portion (90), in the gripping state, allows relative rotation of the transport object (A1) with respect to the main body (10) around a first rotation axis (Ax, Ay) along the movement plane (B1).

According to this aspect, the displacement allowing portion (90) allows the relative displacement of the transport target (A1) with respect to the main body (10) in the first direction (DR11) and the relative rotation of the transport target (A1) with respect to the main body (10) around the first rotation axis (Ax, Ay), so that the gripping state is unlikely to come loose. Therefore, the transport target (A1) can be gripped even if the relative position or attitude of the transport target (A1) with respect to the transport device (X1) changes.

In the gripping structure (H1) of the second aspect, in the first aspect, in the gripping state, the multiple gripping portions (40) and the multiple gripped portions (71) are aligned along a second direction (DR1) along the moving plane (B1). The displacement-permitting portion (90) includes an elastic deformation portion (42) that is elastically deformable in the second direction (DR1). The elastic deformation portion (42) is provided on at least one of each of the multiple gripping portions (40) and each of the multiple gripped portions (71).

According to this aspect, the object to be transported (A1) can be grasped even if the relative position or posture of the object to be transported (A1) with respect to the transport device (X1) changes.

In the gripping structure (H1) of the third aspect, in the first or second aspect, the multiple gripped parts (71) include two gripped parts (71) arranged in a second direction (DR1) along the moving surface (B1). The multiple gripping parts (40) include two gripping parts (40) corresponding to the two gripped parts (71), respectively. The two gripping parts (40) are movable along the moving surface (B1) between a first position and a second position by moving so that the distance between the two gripping parts (40) changes. The first position is a position where the two gripping parts (40) are separated from the two gripped parts (71), respectively, and the second position is a position where the two gripping parts (40) hold the two gripped parts (71), respectively. Even in the gripped state, each of the two gripped portions (71) is movable relative to the corresponding one of the two gripping portions (40) in the direction opposite to the direction in which the corresponding gripping portion (40) comes into contact with it.

According to this aspect, the object to be transported (A1) can be grasped even if the relative position or posture of the object to be transported (A1) with respect to the transport device (X1) changes.

In the gripping structure (H1) of the fourth aspect, in any one of the first to third aspects, the displacement allowing portion (90) includes a sliding member (42) for reducing the coefficient of friction in the first direction (DR11). The sliding member (42) is provided on at least one of each of the plurality of gripping portions (40) and each of the plurality of gripped portions (71).

According to this aspect, the object to be transported (A1) can be grasped even if the relative position or posture of the object to be transported (A1) with respect to the transport device (X1) changes.

In the gripping structure (H1) of the fifth aspect, in any of the first to fourth aspects, the multiple gripped portions (71) include two gripped portions (71) arranged in a second direction (DR1) along the moving plane (B1). The multiple gripping portions (40) include two gripping portions (40) corresponding to the two gripped portions (71), respectively. The displacement allowing portion (90) allows in-phase displacement and anti-phase displacement in the gripped state. In-phase displacement is a displacement in which the displacements of the two gripped portions (71) in the first direction (DR11) relative to the two gripping portions (40) are in the same direction. Anti-phase displacement is a displacement in which the displacements of the two gripped portions (71) in the first direction (DR11) relative to the two gripping portions (40) are in the opposite directions to each other.

According to this aspect, the object to be transported (A1) can be grasped even if the relative position or posture of the object to be transported (A1) with respect to the transport device (X1) changes.

In the gripping structure (H1) of the sixth aspect, in any of the first to fifth aspects, in the gripping state, the multiple gripping portions (40) and the multiple gripped portions (71) are aligned in a second direction (DR1) along the moving plane (B1). The first rotation axis (Ax, Ay) includes a rotation axis (Ax) along the second direction (DR1). The displacement allowing portion (90) allows relative rotation of the transport object (A1) with respect to the transport device (X1) around the rotation axis (Ax) along the second direction (DR1).

According to this aspect, the object to be transported (A1) can be grasped even if the relative position or posture of the object to be transported (A1) with respect to the transport device (X1) changes.

In the seventh aspect of the gripping structure (H1), in any of the first to sixth aspects, the dimension in the first direction (DR11) of the contact portion where each of the multiple gripping portions (40) comes into contact with a corresponding one of the multiple gripped portions (71) is smaller than the allowable dimension of the relative displacement of the transport object (A1) with respect to the transport device (X1) in the first direction (DR11).

According to this aspect, the object to be transported (A1) can be grasped even if the relative position or posture of the object to be transported (A1) with respect to the transport device (X1) changes.

The eighth aspect of the transport method is a transport method in which the transport device (X1) transports the transport object (A1), and includes a contact step, a holding step, and a transport step. In the contact step, a plurality of gripping parts (40) provided on the transport device (X1) corresponding to the plurality of gripped parts (71) of the transport object (A1) are brought into contact with the plurality of gripped parts (71). In the holding step, the transport device (X1) holds the transport object (A1) in a state in which the transport object (A1) is allowed to be displaced relative to the transport device (X1) in a first direction (DR11) intersecting with a moving plane (B1) on which the transport device (X1) and the transport object (A1) move. In addition, in the holding step, the transport device (X1) holds the transport object (A1) in a state in which the transport object (A1) is allowed to be rotated relative to the transport device (X1) around the first rotation axis (Ax, Ay). In the transport step, the transport device (X1) moves while holding the object (A1) to transport the object (A1).

According to this aspect, the relative displacement of the transport target (A1) with respect to the transport device (X1) in the first direction (DR11) and the relative rotation of the transport target (A1) with respect to the transport device (X1) around the first rotation axis (Ax, Ay) are each permitted, so that the multiple gripping portions (40) are less likely to lose the gripped state of holding the multiple gripped portions (71). Therefore, the transport target (A1) can be gripped even if the relative position or posture of the transport target (A1) with respect to the transport device (X1) changes.

In the ninth aspect of the conveying method, in the eighth aspect, the contact step includes an approach step of bringing the conveying device (X1) close to the conveying target (A1) along an approach direction (DR2) intersecting the second direction (DR1) in which the multiple gripping parts (71) are arranged, in a ready state in which the multiple gripping parts (40) can hold the multiple gripped parts (71). In the holding step, in a state in which the conveying device (X1) approaches the conveying target (A1) to a position in which the conveying device (X1) can hold the conveying target (A1), at least one of the multiple gripping parts (40) is moved along the second direction (DR1). In the holding step, each of the multiple gripping parts (40) is brought into contact with a corresponding gripped part (71) among the multiple gripped parts (71), thereby causing the conveying device (X1) to hold the conveying target (A1).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

In the conveying method of the 10th aspect, in the 9th aspect, the preparation state is a state in which each of the multiple gripping portions (40) is in a position in the approach direction (DR2) that avoids interference with a corresponding one of the multiple gripped portions (71).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

In the conveying method of the 11th aspect, in the 9th or 10th aspect, in the holding process, at least two of the multiple gripping portions (40) move in opposite directions to each other in the second direction (DR1).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

The conveying method of the twelfth aspect is any one of the ninth to eleventh aspects, and further includes a position adjustment step. In the position adjustment step, the relative position of the conveying target (A1) with respect to the conveying device (X1) is adjusted so that, in the second direction (DR1), the intermediate position of the plurality of gripping parts (40) coincides with a predetermined position of the main body of the conveying device (X1) while each of the plurality of gripping parts (40) is in contact with a corresponding one of the plurality of gripped parts (71) in the holding step.

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

In the conveying method of the 13th aspect, in the 12th aspect, in the position adjustment process, the object to be conveyed (A1) is moved along the second direction (DR1) to adjust the relative position of the object to be conveyed (A1) with respect to the conveying device (X1).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

In the conveying method of the 14th aspect, in the 12th aspect, in the position adjustment process, the conveying device (X1) moves along the second direction (DR1) to adjust the relative position of the object to be conveyed (A1) with respect to the conveying device (X1).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

In the conveying method of the 15th aspect, in any of the 9th to 14th aspects, in the holding process, the multiple gripping portions (40) located between the multiple gripped portions (71) move so as to increase the distance between them, thereby contacting the corresponding gripped portions (71) among the multiple gripped portions (71).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

In the conveying method of the 16th aspect, in any of the 9th to 15th aspects, in the holding process, each of the multiple gripping portions (40) moves linearly along the second direction (DR1), thereby causing each of the multiple gripping portions (40) to contact a corresponding one of the multiple gripped portions (71).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

In the conveying method of the 17th aspect, in any of the 9th to 15th aspects, in the holding process, each of the multiple gripping portions (40) rotates around the second rotation axis (A3), thereby causing each of the multiple gripping portions (40) to contact a corresponding one of the multiple gripped portions (71).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

The conveying device (X1) of the 18th aspect includes a main body (10) of the conveying device (X1) and a displacement allowance part (91). The main body (10) of the conveying device (X1) is provided with a plurality of gripping parts (40) corresponding to the plurality of gripped parts (71) of the conveying target (A1). In the gripping state, the displacement allowance part (91) allows the relative displacement of the conveying target (A1) with respect to the main body (10) in the first direction (DR11) and allows the relative rotation of the conveying target (A1) with respect to the main body (10) around the first rotation axis (Ax, Ay) along the moving surface. The gripping state is a state in which the plurality of gripping parts (40) respectively hold the plurality of gripped parts (71). The first direction (DR11) is a direction intersecting the moving surface (B1) along which the conveying device (X1) and the conveying target (A1) move.

According to this aspect, the displacement allowing portion (91) allows the relative displacement of the transport target (A1) with respect to the main body (10) in the first direction (DR11) and the relative rotation of the transport target (A1) with respect to the main body (10) around the first rotation axis (Ax, Ay), respectively, so that the gripping state is unlikely to come off. Therefore, the transport target (A1) can be gripped even if the relative position or attitude of the transport target (A1) with respect to the transport device (X1) changes.

In the 19th aspect of the conveying device (X1), in the 18th aspect, a moving mechanism (20), a drive unit (50), and a control unit (11) are provided. The moving mechanism (20) moves the main body (10). The drive unit (50) drives the multiple gripping units (40). The control unit (11) controls the moving mechanism (20) and the drive unit (50). In a ready state in which the multiple gripping units (40) can hold the multiple gripped units (71), the control unit (11) controls the moving mechanism (20) to bring the conveying device (X1) closer to the conveying target (A1) along an approach direction (DR2) that intersects with the second direction (DR1) in which the multiple gripped units (71) are arranged. The control unit (11) controls the drive unit (50) to move the multiple gripping parts (40) along the second direction (DR1) when the transport device (X1) approaches the transport target (A1) to a position where the transport device (X1) can hold the transport target (A1). The control unit (11) causes each of the multiple gripping parts (40) to contact a corresponding one of the multiple gripped parts (71), thereby causing the transport device (X1) to hold the transport target (A1). The control unit (11) controls the movement mechanism (20) to move the main body (10) while the transport device (X1) holds the transport target (A1), thereby transporting the transport target (A1).

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

The manufacturing system (W1) of the 20th aspect includes a manufacturing device (82) that performs a predetermined operation on a substrate, and a functional module (81) that provides a predetermined function to the manufacturing device (82). The functional module (81) is a transport object (A1) that is transported to the manufacturing device (82) by the transport device (X1) of the 18th or 19th aspect.

According to this aspect, the degree of freedom in the position of the grasped portion (71) of the transport object (A1) can be increased.

Without being limited to the above aspects, various configurations (including modified examples) of the conveying device (X1) according to the above embodiment can be embodied as a conveying method of the conveying device (X1), a (computer) program, or a non-temporary recording medium on which a program is recorded, etc.

The configurations relating to the second to seventh aspects are not essential to the gripping structure (H1) and may be omitted as appropriate. The configurations relating to the ninth to seventeenth aspects are not essential to the conveying method of the conveying device (X1) and may be omitted as appropriate. The configuration relating to the nineteenth aspect is not essential to the conveying device (X1) and may be omitted as appropriate.

10 Main body 11 Control unit 20 Moving mechanism 40 Grip unit 42 Roller unit (sliding member, elastic deformation unit)
50 Drive unit 71 Grasped unit 80 Component mounter 81 Feeder cart (functional module)
82 Mounting body 90 Displacement allowing portion 91 First displacement allowing portion (displacement allowing portion)
A1: Transport object A3: Second rotation axis Ax, Ay: Rotation axis (first rotation axis)
B1 Moving plane DR1 Second direction DR2 Approach direction DR11 First direction H1 Holding structure W1 Component mounting system (manufacturing system)
X1 Transport device

Claims (23)

A plurality of gripped portions are provided on a transport target traveling on a moving surface;
a plurality of gripping parts provided on a main body of a conveying device that travels on the moving surface, the gripping parts being respectively corresponding to the plurality of gripped parts;
A displacement allowing portion,
Each of the plurality of gripping portions is capable of holding a corresponding one of the plurality of gripped portions,
the displacement allowing portion allows relative displacement of the transport object with respect to the main body in a first direction intersecting the moving surface in a gripping state in which the multiple gripping portions respectively hold the multiple gripped portions, and allows relative rotation of the transport object with respect to the main body around a first rotation axis along the moving surface;
Each of the plurality of gripping parts can be held by contacting a corresponding one of the plurality of gripped parts.
Gripping structure. The left-right direction of the body is defined as the X-axis direction, the front-rear direction is defined as the Y-axis direction, and the up-down direction is defined as the Z-axis direction.
The plurality of gripping portions are aligned along the X-axis direction,
the displacement allowing portion, in a gripping state in which the plurality of gripping portions respectively hold the plurality of gripped portions, restricts relative displacement of the transport object with respect to the main body in the X-axis direction and the Y-axis direction, and restricts relative rotation of the transport object with respect to the main body around the Z-axis;
The gripping structure according to claim 1 . the displacement allowing portion includes an elastic deformation portion ,
The elastic deformation portion is
At least one of the plurality of gripping portions and the plurality of gripped portions is provided,
The gripping portion is elastically deformable in a direction in which the corresponding gripped portion and the gripping portion come into contact with each other.
The gripping structure according to claim 1 or 2. In the gripping state, the gripping portions and the gripped portions are aligned along a second direction along the moving surface,
the displacement allowing portion includes an elastic deformation portion that is elastically deformable in the second direction,
The elastic deformation portion is provided on at least one of each of the plurality of gripping portions and each of the plurality of gripped portions.
The gripping structure according to claim 1 . The plurality of grippable parts include two grippable parts arranged in a second direction along the moving surface,
The plurality of gripping portions include two gripping portions respectively corresponding to the two gripped portions,
the two gripping portions are movable along the moving surface between a first position where the two gripping portions are spaced apart from the two gripped portions, and a second position where the two gripping portions hold the two gripped portions, by moving such that the distance between the two gripping portions changes;
Even in the gripped state, each of the two gripped parts is movable relative to a corresponding one of the two gripping parts in a direction opposite to a direction in which the corresponding gripping part comes into contact with the corresponding gripping part.
The gripping structure according to any one of claims 1 to 4. the displacement allowing portion includes a sliding member for reducing a friction coefficient in the first direction,
The sliding member is provided on at least one of the plurality of gripping portions and the plurality of gripped portions.
The gripping structure according to any one of claims 1 to 5. The plurality of grippable parts include two grippable parts arranged in a second direction along the moving surface,
The plurality of gripping portions include two gripping portions respectively corresponding to the two gripped portions,
The displacement allowing portion allows, in the gripping state, an in-phase displacement in which the displacements of the two gripped portions in the first direction relative to the two gripping portions are in the same direction, and an anti-phase displacement in which the displacements of the two gripped portions in the first direction relative to the two gripping portions are in opposite directions to each other.
The gripping structure according to any one of claims 1 to 6. In the gripping state, the gripping portions and the gripped portions are aligned in a second direction along the moving surface,
the first rotation axis includes a rotation axis along the second direction,
the displacement allowing portion allows relative rotation of the transport object with respect to the transport device around the rotation axis along the second direction.
The gripping structure according to any one of claims 1 to 7. a dimension in the first direction of a contact portion where each of the plurality of gripping portions comes into contact with a corresponding one of the plurality of gripped portions is smaller than an allowable dimension of a relative displacement of the transport object with respect to the transport device in the first direction;
The gripping structure according to any one of claims 1 to 8. A conveying method in which a conveying device conveys an object to be conveyed, comprising the steps of:
a contact step of bringing a plurality of gripping parts provided on the transport device into contact with the plurality of gripped parts, the plurality of gripping parts being respectively corresponding to the plurality of gripped parts of the transport object;
a holding step in which the transport device holds the transport object in a state in which a relative displacement of the transport object with respect to the transport device is permitted in a first direction intersecting a moving surface on which the transport device and the transport object move, and a relative rotation of the transport object with respect to the transport device around a first rotation axis along the moving surface is permitted;
a conveying step of conveying the object by moving the conveying device while holding the object,
In the holding step, each of the plurality of gripping parts holds a corresponding one of the plurality of gripped parts by contacting the corresponding gripped part.
Transportation method. The contact step includes an approach step of bringing the transport device closer to the transport target along an approach direction intersecting a second direction in which the gripped parts are arranged, in a ready state in which the gripping parts can hold the gripped parts, and
In the holding step, at least one of the plurality of gripping parts is moved along the second direction in a state where the transport device approaches the transport object to a position where the transport object can be held by the transport device,
by bringing each of the plurality of gripping parts into contact with a corresponding one of the plurality of gripped parts, the transport device is caused to hold the transport object.
The conveying method according to claim 10. The preparation state is a state in which each of the plurality of gripping parts is located at a position avoiding interference with a corresponding one of the plurality of gripped parts in the approach direction.
The conveying method according to claim 11. In the holding step, at least two of the plurality of gripping portions move in opposite directions to each other in the second direction.
The conveying method according to claim 11 or 12. The method further includes a position adjustment step of adjusting a relative position of the transport object with respect to the transport device in the second direction such that an intermediate position of the plurality of gripping parts coincides with a predetermined position of a main body of the transport device while each of the plurality of gripping parts is in contact with a corresponding one of the plurality of gripped parts in the holding step.
The conveying method according to any one of claims 11 to 13. In the position adjustment step, the object to be transferred is moved along the second direction to adjust a position of the object to be transferred relative to the transfer device.
The transport method according to claim 14. In the position adjustment step, the transport device moves along the second direction to adjust a relative position of the transport target with respect to the transport device.
The transport method according to claim 14. In the holding step, the plurality of gripping portions located between the plurality of gripped portions move so as to widen the intervals between the plurality of gripped portions, thereby contacting the corresponding gripped portions among the plurality of gripped portions.
The conveying method according to any one of claims 10 to 16. In the holding step, each of the plurality of gripping portions moves linearly along the second direction, so that each of the plurality of gripping portions comes into contact with a corresponding one of the plurality of gripped portions.
The conveying method according to any one of claims 11 to 16 . In the holding step, each of the plurality of gripping portions rotates around a second rotation axis, whereby each of the plurality of gripping portions comes into contact with a corresponding one of the plurality of gripped portions.
The conveying method according to any one of claims 11 to 17. A main body of the transport device is provided with a plurality of gripping parts corresponding to a plurality of gripped parts of the transport object, respectively;
A displacement allowing portion,
the displacement allowing portion allows relative displacement of the transport object with respect to the main body in a first direction intersecting a moving plane along which the transport device and the transport object move, in a gripping state in which the multiple gripping portions respectively hold the multiple gripped portions, and allows relative rotation of the transport object with respect to the main body around a first rotation axis along the moving plane;
Each of the plurality of gripping parts can be held by contacting a corresponding one of the plurality of gripped parts.
Conveying device. A moving mechanism for moving the main body;
A drive unit that drives the plurality of gripping units;
A control unit that controls the moving mechanism and the drive unit,
The control unit is
In a ready state in which the plurality of gripping parts can hold the plurality of gripped parts, the moving mechanism is controlled to move the transport device toward the transport target along an approach direction intersecting a second direction in which the plurality of gripped parts are arranged,
When the transport device approaches the target to a position where the transport device can hold the target, the drive unit is controlled to move the plurality of gripping parts along the second direction, and each of the plurality of gripping parts is brought into contact with a corresponding one of the plurality of gripped parts, thereby causing the transport device to hold the target;
The transport device controls the moving mechanism to move the main body while holding the transport object, thereby transporting the transport object.
21. The transport device of claim 20. A manufacturing device that performs a predetermined operation on the substrate;
a functional module that provides a predetermined function to the manufacturing apparatus;
The functional module is the transport target transported to the manufacturing apparatus by the transport apparatus according to claim 20 or 21.
Manufacturing system. A plurality of gripped portions are provided on a transport target traveling on a moving surface;
a plurality of gripping parts provided on a main body of a conveying device that travels on the moving surface, the gripping parts being respectively corresponding to the plurality of gripped parts;
The plurality of grippable parts include two grippable parts arranged in a second direction along the moving surface,
The plurality of gripping portions include two gripping portions respectively corresponding to the two gripped portions,
the two gripping portions are movable along the moving surface between a first position where the two gripping portions are spaced apart from the two gripped portions, and a second position where the two gripping portions hold the two gripped portions, by moving such that the distance between the two gripping portions changes;
Even in a gripping state in which the plurality of gripping parts respectively hold the plurality of gripped parts, each of the two gripped parts is movable relative to a corresponding one of the two gripping parts in a direction opposite to a direction in which the corresponding gripping part comes into contact with the corresponding one of the two gripping parts.
Gripping structure.

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