Positioning device for unmanned carrier

Abstract

To provide a positioning device for an unmanned carrier capable of satisfactorily positioning the unmanned carrier with respect to a facility and hardly wearing a floor surface in front of the facility.SOLUTION: A positioning device 10 includes a first positioning pin 11A and a first actuator 13A provided in a facility 100, and a first pin hole member 12A provided in an unmanned carrier 1. An opening opened downward is formed in the first pin hole member 12A. The first pin hole member 12A has a tapered inner circumferential surface whose inner diameter decreases upward. By raising the first positioning pin 11A, the first actuator 13A fits the first positioning pin 11A into the first pin hole member 12A so that upward force is applied to the unmanned carrier 1.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a positioning device for an automatic guided vehicle that positions an automatic guided vehicle, which delivers and receives luggage to and from a facility, relative to the facility. [Background technology]

[0002] Conventionally, automated guided vehicles that automatically transport loads between multiple pieces of equipment have been used in factories and the like. The automated guided vehicle travels toward the equipment and automatically stops when it reaches a position in front of the equipment. After stopping, the automated guided vehicle delivers the load to the equipment or receives the load from the equipment. Here, if the position of the automated guided vehicle is misaligned with respect to the equipment, the load cannot be delivered properly. Therefore, conventionally, a positioning device has been used that positions the automated guided vehicle with respect to the equipment so that the positions of the automated guided vehicle and the equipment are aligned after the automated guided vehicle stops in front of the equipment.

[0003] Patent Document 1 describes a positioning device that includes a positioning pin and a pin hole having a tapered inner peripheral surface. The equipment includes a protrusion that protrudes downward, and the pin hole is formed at the lower end of the protrusion. The positioning pin is provided on an automated guided vehicle and protrudes upward. When positioning the automated guided vehicle, the equipment moves the pin hole downward, so that the positioning pin is inserted into the pin hole. Since the inner peripheral surface of the pin hole is tapered, if the axis of the positioning pin and the axis of the pin hole are misaligned, the positioning pin comes into contact with the inner peripheral surface of the pin hole as the pin hole moves downward. The positioning pin receives a downward force from the inner peripheral surface of the pin hole, and also receives a horizontal force so that the axis of the positioning pin and the axis of the pin hole coincide. The automated guided vehicle moves horizontally by receiving the above force. This eliminates the positional deviation of the automated guided vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Utility Model Application Publication No. 3-25908 Summary of the Invention [Problem to be solved by the invention]

[0005] According to the positioning device disclosed in Patent Document 1, an automated guided vehicle can be positioned by fitting a positioning pin from above into a pin hole having a tapered inner peripheral surface. During positioning, the pin receives not only a horizontal force but also a downward force from the inner peripheral surface of the pin hole. While receiving the downward force, the automated guided vehicle moves horizontally to prevent misalignment.

[0006] In the above positioning device, the automated guided vehicle receives a downward force during positioning, so friction between the wheels of the automated guided vehicle and the floor surface is large. As a result, wear on the floor surface is relatively large. Meanwhile, in factories and the like, delivery and receipt of goods is repeatedly performed between the automated guided vehicle and equipment. Positioning of the automated guided vehicle is performed many times for the same equipment. As a result, the above positioning device has a problem in that the floor surface in front of the equipment is easily worn.

[0007] The present invention has been made in consideration of the above points, and an object of the present invention is to provide a positioning device for an unmanned guided vehicle that can properly position the unmanned guided vehicle relative to equipment and that is less likely to wear down the floor surface in front of the equipment. [Means for solving the problem]

[0008] The positioning device for an automated guided vehicle disclosed herein is a positioning device that includes an automated guided vehicle that transports a load to a facility and transfers the load between the facility and the automated guided vehicle, and that positions the automated guided vehicle with respect to the facility. Here, one of the upper and lower directions is a first direction, and the other is a second direction. The positioning device includes a first positioning pin that extends in the first direction, and a first pinhole member that has an opening that opens toward the second direction and has a tapered inner circumferential surface whose inner diameter becomes smaller toward the first direction. One of the first positioning pin and the first pinhole member is provided on the facility. The other of the first positioning pin and the first pinhole member is provided on the automated guided vehicle. The positioning device includes a first actuator that drives the first positioning pin or the first pinhole member to fit the first positioning pin into the first pinhole member so that an upward force is applied to the automated guided vehicle.

[0009] According to the positioning device for the automated guided vehicle, when the first actuator is driven, the first positioning pin or the first pin hole member is driven, and the first positioning pin fits into the first pin hole member. When the axis of the first positioning pin and the axis of the first pin hole member are misaligned, the first positioning pin comes into contact with the inner peripheral surface of the first pin hole member, and the first positioning pin receives a load from the inner peripheral surface. The load causes the automated guided vehicle to move in the horizontal direction, and the axis of the first positioning pin and the axis of the first pin hole member coincide. This positions the automated guided vehicle relative to the equipment. Here, when the first positioning pin fits into the first pin hole member, an upward force is applied to the automated guided vehicle. Therefore, when the automated guided vehicle moves in the horizontal direction during positioning, the friction between the automated guided vehicle and the floor surface is relatively small. Therefore, wear on the floor surface is suppressed.

[0010] The first actuator may be provided in the facility.

[0011] This eliminates the need to provide the first actuator on the automatic guided vehicle, making it possible to reduce the size and weight of the automatic guided vehicle.

[0012] The first positioning pin may be provided in the facility, and the first pinhole member may be provided in the automated guided vehicle. The first actuator may be configured to lift the first positioning pin and may be provided in the facility.

[0013] The unmanned guided vehicle may include a vehicle body having a driving source for generating a driving force and a drive wheel that rotates by receiving the driving force of the driving source for generating a driving force, and a dolly on which a load is placed, the dolly being supported so as to be movable at least in the left-right direction of the vehicle body relative to the vehicle body. The other of the first positioning pin and the first pinhole member may be provided on the dolly.

[0014] When the positioning pin fits into the pin hole member, a left-right load may be applied to the automated guided vehicle. According to the above, the cart is capable of moving left-right relative to the vehicle body. When a left-right load is applied to the cart, the cart moves left-right, thereby preventing the vehicle body from moving left-right. This prevents the drive wheels of the vehicle body from slipping on the floor surface. This further prevents wear on the floor surface.

[0015] The positioning device of the automated guided vehicle may include a second positioning pin extending in the first direction, and a second pin hole member having an opening in the second direction and a tapered inner circumferential surface with an inner diameter that decreases toward the first direction. One of the second positioning pin and the second pin hole member may be provided on the facility. The other of the second positioning pin and the second pin hole member may be provided on the automated guided vehicle. The positioning device may include a second actuator that drives the second positioning pin or the second pin hole member to fit the second positioning pin into the second pin hole member so that an upward force is applied to the automated guided vehicle. The second positioning pin may be disposed behind the first positioning pin. The second pin hole member may be disposed behind the first pin hole member. The second actuator may be disposed behind the first actuator.

[0016] This prevents the first positioning pin from rotating relative to the first pin hole member, and prevents the second positioning pin from rotating relative to the second pin hole member, thereby preventing the automatic guided vehicle from tilting left or right.

[0017] The bogie may have a right wheel and a left wheel disposed to the left of the right wheel. The other of the first positioning pin and the first pinhole member, and the other of the second positioning pin and the second pinhole member may all be disposed to the right of the right wheel, or may all be disposed to the left of the left wheel.

[0018] As a result, the other of the first positioning pin and the first pin hole member, and the other of the second positioning pin and the second pin hole member are disposed outward in the vehicle left-right direction relative to the wheels of the carriage. Therefore, when the automated guided vehicle travels from the side of the equipment toward the equipment and stops in front of the equipment, the other of the first positioning pin and the first pin hole member, and the other of the second positioning pin and the second pin hole member are disposed in a position close to the equipment. Therefore, the positioning of the automated guided vehicle can be performed in a position close to the equipment, making the positioning of the automated guided vehicle relatively easy. Also, the positioning accuracy can be improved.

[0019] The bogie may have a right front support, a right rear support arranged to the rear of the right front support, a left front support arranged to the left of the right rear support, a left rear support arranged to the left of the right rear support and to the rear of the left front support, a right front wheel rotatably connected to a lower end of the right front support, a right rear wheel rotatably connected to a lower end of the right rear support, a left front wheel rotatably connected to a lower end of the left front support, and a left rear wheel rotatably connected to a lower end of the left rear support. The other of the first positioning pin and the first pinhole member, and the other of the second positioning pin and the second pinhole member may be fixed to the right front support and the right rear support, respectively, or may be fixed to the left front support and the left rear support, respectively.

[0020] The positioning device of the automatic guided vehicle may include a fitting sensor that detects that the first positioning pin is fitted into the first pin hole member.

[0021] The automated guided vehicle may include a control device that receives a signal from the fitting sensor when the fitting sensor detects that the first positioning pin is fitted into the first pin hole member. The control device may be configured to start handing over or receiving the load between the automated guided vehicle and the facility after receiving the signal from the fitting sensor.

[0022] In this way, the delivery of the load between the automatic guided vehicle and the equipment starts only after the fitting sensor has confirmed that the automatic guided vehicle has been positioned, so that the delivery of the load can be performed accurately. Effect of the Invention

[0023] According to the present invention, it is possible to provide a positioning device for an automatic guided vehicle that can satisfactorily position the automatic guided vehicle relative to equipment and that reduces wear on the floor surface in front of the equipment. [Brief description of the drawings]

[0024] [Figure 1] FIG. 2 is a plan view of equipment and an unmanned transport vehicle in a factory or the like. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 2 is a perspective view of an automated guided vehicle with the pallet removed. [Figure 6] FIG. 2 is a front view of the vehicle body and the coupling device. [Figure 7] FIG. 2 is a right side view of the vehicle body and the coupling device. [Figure 8] FIG. [Figure 9] FIG. [Figure 10] 1 is a front view of the facility and the automated guided vehicle when the automated guided vehicle is stopped in front of the facility. FIG. [Figure 11] FIG. [Figure 12] FIG. 4 is a vertical cross-sectional view of a first pinhole member. [Figure 13] 13 is a diagram showing a state when the fitting sensor detects that the first positioning pin is fitted into the first pin hole member. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, an automated guided vehicle 1 according to this embodiment is a vehicle that automatically transports a load 200 between a plurality of facilities 100 in a factory or the like. The automated guided vehicle 1 travels toward the facility 100, and automatically stops when it reaches a position 100P in front of the facility 100. In addition, the automated guided vehicle 1 automatically delivers the load 200 to and from the facility 100. Note that the delivery of the load 200 refers to the receipt and delivery of the load 200. In the following embodiment, the load 200 transported by the automated guided vehicle 1 is a processed part that is processed by the facility 100, and the facility 100 is a processing device that processes the processed part.

[0026] In the following description, unless otherwise specified, the front, rear, left, and right of the automated guided vehicle 1 are respectively referred to as the front, rear, left, and right. Arrows F, Rr, L, and R in the figure represent the front, rear, left, and right, respectively. When the automated guided vehicle 1 moves between multiple facilities 100, it travels toward the front.

[0027] Fig. 2 is a perspective view of the automated guided vehicle 1. Fig. 3 is a front view of the automated guided vehicle 1. Fig. 4 is a right side view of the automated guided vehicle 1. The automated guided vehicle 1 comprises a vehicle body 2, a dolly 3, a coupling device 20 that couples the vehicle body 2 and the dolly 3, and a pallet 80 on which cargo 200 is placed. Fig. 5 is a perspective view of the automated guided vehicle 1 with the pallet 80 removed.

[0028] Fig. 6 is a front view of the vehicle body 2 and the coupling device 20. Fig. 7 is a right side view of the vehicle body 2 and the coupling device 20. The vehicle body 2 is configured to be capable of automatic running. The vehicle body 2 includes a chassis 2A, left and right electric motors (hereinafter simply referred to as motors) 4 fixed to the chassis 2A, left and right drive wheels 5 attached to the chassis 2A, left and right front wheels 5F attached to the chassis 2A, and left and right rear wheels 5B attached to the chassis 2A. The vehicle body 2 also includes a front bumper 9 fixed to the chassis 2A.

[0029] The motor 4 is an example of a "driving source for driving" that generates a driving force for driving. In this embodiment, the left driving wheel 5 is connected to the left motor 4, and the right driving wheel 5 is connected to the right motor 4. However, the number of motors that drive the left and right driving wheels 5 is not limited to two. For example, the vehicle body 2 may be provided with a single motor as a driving source for driving, and the left and right driving wheels 5 may be connected to a single motor. The front wheels 5F and the rear wheels 5B are driven wheels and are not connected to the motor 4. In this embodiment, the driving wheels 5 are arranged behind the front wheels 5F and in front of the rear wheels 5B. However, the position of the driving wheels 5 is not particularly limited.

[0030] The dolly 3 is a vehicle towed by the vehicle body 2. The dolly 3 is loaded with luggage 200 (see FIG. 1). As shown in FIG. 2, the dolly 3 according to this embodiment is arranged so as to cover the vehicle body 2. In a plan view of the vehicle, at least a portion of the dolly 3 overlaps with the vehicle body 2. As shown in FIG. 5, the dolly 3 includes a loading platform 8 and a transport mechanism 30A that transports a pallet 80 (see FIG. 2).

[0031] Fig. 8 is a front view of the dolly 3. Fig. 9 is a right side view of the dolly 3. The dolly 3 is equipped with a right front support 7FR, a right rear support 7BR, a left front support 7FL, and a left rear support 7BL that support the loading platform 8. In Fig. 9, the left rear support 7BL is located behind the right rear support 7BR and overlaps with the right rear support 7BR. The right rear support 7BR is disposed rearward of the right front support 7FR. The left front support 7FL is disposed to the left of the right front support 7FR. The left rear support 7BL is disposed to the left of the right rear support 7BR and rearward of the left front support 7FL.

[0032] The right front wheel 6FR, the left front wheel 6FL, the right rear wheel 6BR, and the left rear wheel 6BL are rotatably connected to the lower ends of the right front support pillar 7FR, the left front support pillar 7FL, the right rear support pillar 7BR, and the left rear support pillar 7BL, respectively. Note that in Fig. 9, the left rear wheel 6BL is located behind the right rear wheel 6BR and overlaps with the right rear wheel 6BR.

[0033] The conveying mechanism 30A is configured to be able to convey the pallet 80 from the loading platform 8 to the equipment 100. The conveying mechanism 30A is also configured to be able to convey the pallet 80 from the equipment 100 to the loading platform 8. As shown in FIG. 5, the conveying mechanism 30A includes an engagement portion 41 that detachably engages with the pallet 80, an actuator 30 that moves the engagement portion 41 left and right, and a plurality of rotatable rollers 60 that support the pallet 80. When the actuator 30 moves the engagement portion 41 to the right, the pallet 80 engaged with the engagement portion 41 can be sent from the loading platform 8 to the equipment 100. When the actuator 30 moves the engagement portion 41 to the left, the pallet 80 engaged with the engagement portion 41 can be pulled from the equipment 100 to the loading platform 8.

[0034] As described above, the bogie 3 is disposed so as to cover the vehicle body 2. As shown in FIG. 6, the coupling device 20 is connected to the upper part of the vehicle body 2. As shown in FIG. 8, the coupling device 20 is disposed below the loading platform 8. In a plan view of the vehicle, the coupling device 20 overlaps with the bogie 3 and the vehicle body 2. The coupling device 20 couples the vehicle body 2 and the bogie 3 so that the bogie 3 can move in the left-right direction and the up-down direction of the vehicle relative to the vehicle body 2. The bogie 3 and the vehicle body 2 cannot move relative to each other in the front-rear direction of the vehicle. The coupling device 20 also couples the vehicle body 2 and the bogie 3 so that the bogie 3 can rotate left-right and forward-rear relative to the vehicle body 2. However, the movement range and rotation range of the bogie 3 relative to the vehicle body 2 are limited in advance so that the position of the bogie 3 relative to the vehicle body 2 does not shift significantly.

[0035] As described above, the automated guided vehicle 1 automatically travels toward the facility 100, and automatically stops when it reaches a position 100P (see FIG. 1) in front of the facility 100. However, if the position of the automated guided vehicle 1 is misaligned with respect to the facility 100, the automated guided vehicle 1 cannot properly deliver the load 200 to the facility 100. Therefore, the automated guided vehicle 1 and the facility 100 according to this embodiment are provided with a positioning device 10 that positions the automated guided vehicle 1 with respect to the facility 100. Next, the positioning device 10 will be described in detail.

[0036] FIG. 10 is a front view of the automated guided vehicle 1 stopped at position 100P in front of the facility 100. In this embodiment, the automated guided vehicle 1 delivers and receives the load 200 on the right side of the dolly 3. When the automated guided vehicle 1 is stopped at position 100P, the right side of the automated guided vehicle 1 faces the facility 100. Hereinafter, the surface of the facility 100 that faces the right side of the automated guided vehicle 1 will be referred to as the front of the facility 100. FIG. 11 is a front view of the facility 100. In other words, FIG. 11 is a view of the facility 100 viewed from the left to the right of the automated guided vehicle 1.

[0037] As shown in FIG. 11, the positioning device 10 includes a first positioning pin 11A extending upward and a first actuator 13A that drives the first positioning pin 11A up and down. The positioning device 10 also includes a second positioning pin 11B extending upward and a second actuator 13B that drives the second positioning pin 11B up and down. The types of the first actuator 13A and the second actuator 13B are not particularly limited, and for example, a solenoid, an air cylinder, or the like can be suitably used. The first positioning pin 11A, the first actuator 13A, the second positioning pin 11B, and the second actuator 13B are provided in the equipment 100. The second positioning pin 11B is disposed behind the first positioning pin 11A. The second actuator 13B is disposed behind the first actuator 13A.

[0038] As mentioned above, FIG. 4 is a right side view of the automated guided vehicle 1. As shown in FIG. 4, the positioning device 10 includes a first pin hole member 12A and a second pin hole member 12B. The first pin hole member 12A and the second pin hole member 12B are provided on the automated guided vehicle 1. Here, the first pin hole member 12A is fixed to the right front support 7FR and is located to the right of the right front wheel 6FR. (See FIG. 10) The second pin hole member 12B is fixed to the right rear support 7BR and is located to the right of the right rear wheel 6BR. The second pin hole member 12B is located behind the first pin hole member 12A.

[0039] Fig. 12 is a vertical cross-sectional view of the first pinhole member 12A. As shown in Fig. 12, the first pinhole member 12A has an opening 12C that opens downward. The first pinhole member 12A has a tapered inner peripheral surface 12D whose inner diameter decreases toward the upper side. A pinhole 12E into which the first positioning pin 11A can be fitted is formed inside the first pinhole member 12A.

[0040] As shown in Fig. 13, the positioning device 10 includes an engagement sensor 18 that detects that the first positioning pin 11A is fitted into the first pin hole member 12A. The engagement sensor 18 includes a dog 16 inserted into the first pin hole member 12A so as to be vertically movable, an arm member 15 that engages with the dog 16, and a limit switch 14 to which the arm member 15 is attached so as to be swingable. When the first positioning pin 11A is fitted into the pin hole 12E, the dog 16 is pushed up by the first positioning pin 11A (see Fig. 12). When the dog 16 rises, the arm member 15 swings, and the limit switch 14 is switched ON / OFF.

[0041] The configuration of the second pin hole member 12B is the same as that of the first pin hole member 12A. Therefore, the description of the second pin hole member 12B will be omitted. The second positioning pin 11B and the second pin hole member 12B are also provided with a fitting sensor 18 similar to the fitting sensor 18 described above.

[0042] 2, the automated guided vehicle 1 includes a control device 17 communicatively connected to a fitting sensor 18. The control device 17 is communicatively connected to an actuator 30 of a transport mechanism 30A. The control device 17 is configured to receive a signal from the fitting sensor 18 and start controlling the actuator 30.

[0043] Next, the operation of the positioning device 10 will be described. When the automated guided vehicle 1 reaches a position 100P in front of the facility 100, it stops in order to transfer the load 200 between the facility 100 and the automated guided vehicle 1. When the automated guided vehicle 1 stops in front of the facility 100, the first actuator 13A and the second actuator 13B are driven. Then, the first positioning pin 11A rises and is inserted into the first pinhole member 12A (see FIG. 10). Also, the second positioning pin 11B rises and is inserted into the second pinhole member 12B.

[0044] Here, as shown in FIG. 12, when the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A are misaligned, the first positioning pin 11A contacts the inner peripheral surface 12D of the first pin hole member 12A. At this time, the first pin hole member 12A receives a force from the first positioning pin 11A. Since the inner peripheral surface 12D is formed in a tapered shape, the first pin hole member 12A receives an upward force from the first positioning pin 11A as well as a horizontal force. Due to this horizontal force, the cart 3 moves in the horizontal direction so that the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A coincide with each other. Although the explanation is omitted, the same is true for the second positioning pin 11B and the second pin hole member 12B. As a result, the cart 3 is positioned with respect to the equipment 100.

[0045] When the automated guided vehicle 1 is stopped in front of the facility 100, the wheels of the automated guided vehicle 1 (i.e., the drive wheels 5, front wheels 5F, and rear wheels 5B of the vehicle body 2, and the left front wheel 6FL, right front wheel 6FR, left rear wheel 6BL, and right rear wheel 6BR of the bogie 3) face in the front-to-rear direction (see FIG. 4). Therefore, when the bogie 3 receives a force in the front-to-rear direction, the wheels rotate, causing the bogie 3 to move in the front-to-rear direction together with the vehicle body 2. Meanwhile, the bogie 3 can move in the left-to-right direction relative to the vehicle body 2 via the coupling device 20. When the bogie 3 receives a force in the left-to-right direction, the vehicle body 2 remains stopped and only the bogie 3 moves in the left-to-right direction.

[0046] Next, various effects brought about by this embodiment will be described.

[0047] According to the positioning device 10 according to the present embodiment, after the automated guided vehicle 1 stops in front of the equipment 100, the first actuator 13A and the second actuator 13B are driven, so that the first positioning pin 11A fits into the first pin hole member 12A, and the second positioning pin 11B fits into the second pin hole member 12B. When the position of the cart 3 relative to the equipment 100 is misaligned, the cart 3 moves horizontally so that the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A coincide with each other, and the axis of the second positioning pin 11B and the axis of the second pin hole member 12B coincide with each other. This positions the cart 3 relative to the equipment 100. Therefore, the cart 3 can be positioned at an appropriate position relative to the equipment 100 before the automated guided vehicle 1 transfers the load 200 between the equipment 100 and the cart 3.

[0048] However, when the cart 3 moves in the left-right direction for positioning, the wheels of the cart 3 (i.e., the left front wheel 6FL, the right front wheel 6FR, the left rear wheel 6BL, and the right rear wheel 6BR) slip on the floor surface. Friction occurs between the wheels of the cart 3 and the floor surface. In a factory or the like where the automated guided vehicle 1 is used, the load 200 is transferred between the automated guided vehicle 1 and the equipment 100 many times. Certain parts of the floor surface tend to be easily worn. However, according to this embodiment, an upward force is applied to the automated guided vehicle 1 when positioning the cart 3. Therefore, the friction between the wheels of the cart 3 and the floor surface is relatively small. Therefore, wear of the floor surface can be suppressed compared to when a downward force is applied to the automated guided vehicle 1 when positioning.

[0049] According to the present embodiment, the first actuator 13A and the second actuator 13B of the positioning device 10 are provided in the facility 100. There is no need to mount actuators for positioning on the automated guided vehicle 1. Therefore, the automated guided vehicle 1 can be made smaller and lighter.

[0050] According to this embodiment, the automated guided vehicle 1 includes a vehicle body 2 and a dolly 3 that is movable in the left-right direction relative to the vehicle body 2. When a left-right force is applied to the dolly 3 during positioning, only the dolly 3 moves in the left-right direction, and the vehicle body 2 is prevented from moving in the left-right direction. This makes it possible to prevent the wheels of the vehicle body 2 (i.e., the drive wheels 5, the front wheels 5F, and the rear wheels 5B) from slipping on the floor surface. This makes it possible to further suppress wear on the floor surface.

[0051] According to this embodiment, the positioning device 10 includes the second positioning pin 11B and the second pin hole member 12B arranged behind the first positioning pin 11A and the first pin hole member 12A. This prevents the first positioning pin 11A from rotating relative to the first pin hole member 12A. Also, the second positioning pin 11B is prevented from rotating relative to the second pin hole member 12B. This prevents the carriage 3 from tilting relative to the equipment 100. It prevents the automatic guided vehicle 1 from tilting left and right.

[0052] According to this embodiment, the first pin hole member 12A and the second pin hole member 12B are disposed to the right of the right front wheel 6FR and the right rear wheel 6BR. As a result, when the automated guided vehicle 1 stops in front of the facility 100, the first pin hole member 12A and the second pin hole member 12B are disposed in a position close to the facility 100. Therefore, the automated guided vehicle 1 can be positioned in a position close to the facility 100. This makes it relatively easy to position the automated guided vehicle 1. Furthermore, the positioning accuracy can be improved.

[0053] Although the positions of the first pin hole member 12A and the second pin hole member 12B are not particularly limited, in this embodiment, the first pin hole member 12A is fixed to the right front support 7FR, and the second pin hole member 12B is fixed to the right rear support 7BR. This allows the first pin hole member 12A and the second pin hole member 12B to be stably supported.

[0054] According to this embodiment, the automated guided vehicle 1 is provided with a limit switch 14 that detects that the first positioning pin 11A is fitted into the first pin hole member 12A, and a limit switch 14 that detects that the second positioning pin 11B is fitted into the second pin hole member 12B. Therefore, the end of the positioning operation of the automated guided vehicle 1 can be detected.

[0055] The automated guided vehicle 1 also includes a control device 17 that receives a signal from the limit switch 14. The control device 17 is configured to start the transfer of the load 200 between the facility 100 and the load after receiving the signal from the limit switch 14. This allows the load 200 to be transferred accurately, since the transfer of the load 200 starts after it is confirmed that the automated guided vehicle 1 has been positioned.

[0056] Although one embodiment of the present invention has been described above, the above embodiment is merely an example, and the present invention can be embodied in various other forms.

[0057] In the above embodiment, the first positioning pin 11A is provided on the equipment 100 and extends upward, the first pinhole member 12A is provided on the automatic guided vehicle 1 and opens downward, and the first actuator 13A is provided on the equipment 100 and configured to raise the first positioning pin 11A during positioning. The second positioning pin 11B is provided on the equipment 100 and extends upward, the second pinhole member 12B is provided on the automatic guided vehicle 1 and opens downward, and the second actuator 13B is provided on the equipment 100 and configured to raise the second positioning pin 11B during positioning. However, the configuration of the positioning device 10 is not limited to the above embodiment.

[0058] For example, the first positioning pin 11A may be provided on the automated guided vehicle 1 and extend downward, the first pin hole member 12A may be provided on the equipment 100 and open upward, and the first actuator 13A may be provided on the equipment 100, and configured to raise the first pin hole member 12A during positioning. Also, the first positioning pin 11A may be provided on the equipment 100 and extend upward, the first pin hole member 12A may be provided on the automated guided vehicle 1 and open downward, and the first actuator 13A may be provided on the automated guided vehicle 1, and configured to lower the first pin hole member 12A during positioning. Also, the first positioning pin 11A may be provided on the automated guided vehicle 1 and extend downward, the first pin hole member 12A may be provided on the equipment 100 and open upward, and the first actuator 13A may be provided on the automated guided vehicle 1, and configured to lower the first positioning pin 11A during positioning.

[0059] Similarly, the second positioning pin 11B may be provided on the automated guided vehicle 1 and extend downward, the second pin hole member 12B may be provided on the equipment 100 and open upward, and the second actuator 13B may be provided on the equipment 100, and configured to raise the second pin hole member 12B during positioning. Also, the second positioning pin 11B may be provided on the equipment 100 and extend upward, the second pin hole member 12B may be provided on the automated guided vehicle 1 and open downward, and the second actuator 13B may be provided on the automated guided vehicle 1, and configured to lower the second pin hole member 12B during positioning. Also, the second positioning pin 11B may be provided on the automated guided vehicle 1 and extend downward, the second pin hole member 12B may be provided on the equipment 100 and open upward, and the second actuator 13B may be provided on the automated guided vehicle 1, and configured to lower the second positioning pin 11B during positioning.

[0060] In the above embodiment, the vehicle body 2 and the bogie 3 are connected to each other so as to be movable with respect to each other by the coupling device 20, but the vehicle body 2 and the bogie 3 may be integrated so as to be immovable with respect to each other. In this case, the coupling device 20 may not be required.

[0061] The second positioning pin 11B, the second pinhole member 12B, and the second actuator 13B are not necessarily required and can be omitted.

[0062] The positions of the first pin hole member 12A and the second pin hole member 12B in the front-rear direction are not particularly limited. In the above embodiment, the first pin hole member 12A and the second pin hole member 12B are provided on the right side of the cart 3, but when the automatic guided vehicle 1 transfers the equipment 100 and the baggage 200 on the left side of the cart 3, the first pin hole member 12A and the second pin hole member 12B may be provided on the left side of the cart 3. In this case, the first pin hole member 12A and the second pin hole member 12B, and the first positioning pin 11A and the second positioning pin 11B are preferably arranged to the left of the left front wheel 6FL and the left rear wheel 6BL of the cart 3.

[0063] The driving source for traveling is not limited to the motor 4, but may be an internal combustion engine or the like.

[0064] The fitting sensor is not limited to the limit switch 14. The fitting sensor may be a contact sensor or a non-contact sensor such as an optical sensor. [Explanation of symbols]

[0065] 1. Automated guided vehicle 2 Vehicle body 3 Cart 4 Electric motor (driving source) 5 Drive wheels 6FR Right front wheel (right wheel) 6BR Right rear wheel (right wheel) 6FL Left front wheel (left wheel) 6BL Left rear wheel (left wheel) 7FR Right Front Pillar 7BR Right rear strut 7FL Left front strut 7BL Left rear strut 8 Cargo Bed 9 Equipment 10 Positioning device 11A First positioning pin 11B Second positioning pin 12A First pin hole member 12B Second pin hole member 13A First Actuator 13B Second actuator 14 Limit switch (mating sensor) 17 Control device 100 equipment 200 Baggage

Claims

1. A positioning device that includes an automated guided vehicle that transports luggage to a facility and delivers the luggage to and from the facility, and that positions the automated guided vehicle with respect to the facility, When one of the upper and lower directions is defined as a first direction and the other is defined as a second direction, A first positioning pin extending in the first direction; a first pinhole member having an opening in the second direction and a tapered inner circumferential surface whose inner diameter decreases toward the first direction; One of the first positioning pin and the first pin hole member is provided on the equipment, the other of the first positioning pin and the first pinhole member is provided on the automatic guided vehicle; A positioning device for an unmanned guided vehicle, comprising a first actuator that drives the first positioning pin or the first pin hole member to fit the first positioning pin into the first pin hole member so that an upward force is applied to the unmanned guided vehicle.

2. The positioning device for an automated guided vehicle according to claim 1 , wherein the first actuator is provided in the facility.

3. The first positioning pin is provided on the equipment, The first pinhole member is provided on the automatic guided vehicle, The positioning device for an automated guided vehicle according to claim 1 , wherein the first actuator is configured to lift the first positioning pin and is provided on the facility.

4. The automated guided vehicle is a vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly supported on the vehicle body so as to be movable at least in the left-right direction of the vehicle body and on which luggage can be placed, 2. The positioning device for an automatic guided vehicle according to claim 1, wherein the other of the first positioning pin and the first pinhole member is provided on the carriage.

5. A second positioning pin extending in the first direction; a second pinhole member having an opening in the second direction and a tapered inner circumferential surface whose inner diameter decreases toward the first direction, One of the second positioning pin and the second pin hole member is provided on the equipment, the other of the second positioning pin and the second pinhole member is provided on the automatic guided vehicle; a second actuator that drives the second positioning pin or the second pinhole member to fit the second positioning pin into the second pinhole member so that an upward force is applied to the automatic guided vehicle; The second positioning pin is disposed rearward of the first positioning pin, The second pin hole member is disposed rearward of the first pin hole member, The positioning device for an automated guided vehicle according to claim 1 , wherein the second actuator is disposed behind the first actuator.

6. The bogie has a right wheel and a left wheel disposed to the left of the right wheel, The positioning device for an unmanned guided vehicle as described in claim 5, wherein the other of the first positioning pin and the first pin hole member, and the other of the second positioning pin and the second pin hole member are all positioned to the right of the right wheel, or both are positioned to the left of the left wheel.

7. The cart is The right front pillar and a right rear support pillar disposed rearward of the right front support pillar; A left front support arranged to the left of the right front support; A left rear support pillar disposed to the left of the right rear support pillar and to the rear of the left front support pillar; a right front wheel rotatably connected to a lower end of the right front support; a right rear wheel rotatably connected to a lower end of the right rear support; A left front wheel rotatably connected to a lower end of the left front support pillar; a left rear wheel rotatably connected to a lower end of the left rear support pillar, The positioning device for an unmanned guided vehicle as described in claim 5, wherein the first positioning pin and the other of the first pin hole member, and the second positioning pin and the other of the second pin hole member are fixed to the right front pillar and the right rear pillar, respectively, or fixed to the left front pillar and the left rear pillar, respectively.

8. 2. The positioning device for an automatic guided vehicle according to claim 1, further comprising a fitting sensor that detects that the first positioning pin is fitted into the first pin hole member.

9. the automated guided vehicle further includes a control device that receives a signal from the fitting sensor when the fitting sensor detects that the first positioning pin is fitted into the first pin hole member; The positioning device for an automated guided vehicle according to claim 8 , wherein the control device is configured to start handover or reception of the load between the automated guided vehicle and the facility after receiving the signal from the fitting sensor.

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