Positioning system and positioning control method

Abstract

To achieve highly accurate positioning without human intervention within a short time when a device is conveyed by using a conveyor robot.SOLUTION: This positioning system moves a device mounted on a conveyor robot 113 to a designated movement destination to position the device at a prescribed position. A joint 300 is provided in the device, and a joined part 310 is provided in the movement destination. The conveyor robot 113 is provided with a traveling wheel and a wheel drive, and the device is provided with a plurality of universal casters 10. The joint 300 and the joined part 310 each have connection mechanisms to be connected to each other, and one of them has a horizontal movement mechanism 320 and a positioning mechanism. The horizontal movement mechanism enables free movement of the joint 300 and the joined part 310 relative to each other in the horizontal direction, and enables connection by the connection mechanisms even at a position of the device shifted from the prescribed position. The positioning mechanism moves the connected joint 300 and the joined part 310 relative to each other in the horizontal direction, and positions the device at the prescribed position.SELECTED DRAWING: Figure 17

Description

[Technical field]

[0001] The present invention relates to a positioning system and a positioning control method. [Background technology]

[0002] In recent years, against the backdrop of diversifying customer needs and labor shortages, there has been an increasing demand for the transportation of production equipment for the purpose of flexible rearrangement of factory manufacturing lines and the replacement of dies in molding factories quickly, flexibly, and without human intervention. For example, the smooth automatic transportation of the above-mentioned production equipment and dies is being realized by using trackless transport robots using automatic guided vehicles (AGVs) and autonomous mobile robots (AMRs).

[0003] When the object to be transported is a device, its weight can range from several hundred kilograms to several tons, and high positioning accuracy is often required. However, since non-track type transport robots generally move without using a guide mechanism, it is difficult to improve positioning accuracy.

[0004] There are various drive methods for trackless transport robots, but when considering costs and the size of the equipment, transport robots with two drive wheels on a fixed axis are often used. This is because by individually controlling the two drive wheels located at different positions on the same axis, the robot can move in a straight line or a curved line, and can also turn in the same place to change direction, making it suitable for moving in narrow spaces.

[0005] When using such a trackless transport robot to move equipment, the transport robot is sometimes placed below the equipment. This is to allow for maneuverability when moving the equipment in a small factory, minimizing the floor space of the equipment and the transport robot combined. In such cases, swivel casters are often installed near the outer periphery of the bottom surface of the loading section of the equipment. With this configuration, the direction of the wheels of the swivel casters is aligned with the traveling direction of the transport robot after the transport robot starts moving, so that control of the equipment can be omitted and manufacturing costs can be reduced.

[0006] In the case of a swivel caster, the swivel center of the wheel and the center of rotation that determines the direction of the wheel are arranged offset from each other on a horizontal plane. This allows the direction of the wheel to be easily changed when the caster is pushed in a direction different from the current traveling direction. In a transport robot using such swivel casters, if the direction is changed continuously while traveling, the direction of the wheel can follow the change of direction, but if the robot stops at a certain location and then completely changes the direction of travel, it becomes difficult for the wheel to follow the change of direction.

[0007] Specifically, when the transport robot stops and turns together with the transport device to change the direction of travel, or when the transport robot turns after traveling with the fixed wheels of the transport robot fixing the direction of the transport device, the direction of the wheels of each caster remains facing the previous direction of travel. If the direction of the wheels before moving does not match the direction of travel or rotation of the transport robot, a large resistance is generated when the robot starts to travel, making it unable to move, or the transport robot may become unintentionally misaligned. This is particularly noticeable when the weight of the transport device or the object to be transported is large.

[0008] Therefore, it is possible to increase the size of the motor of the transport robot to obtain the driving force required for the robot to move, but even in this case, the wheels of each caster will have to face the direction of travel a while after the robot starts moving, and therefore it is unavoidable that the robot will meander for a while during its initial movement.

[0009] Such meandering and misalignment can sometimes be eliminated by traveling a distance twice the length of the transport device after changing direction, but in factories where many production facilities are located and the aisles through which the transport device travels are narrow, it is often difficult to ensure such a distance, which reduces the movement and positioning accuracy of the transport device.

[0010] In order to solve the above problems, Patent Document 1 describes a technology in which a pulse motor is used to forcibly rotate the pivot axis of a wheel on a swivel caster (idle wheel mechanism) of an unmanned guided vehicle, causing the wheel to rotate in the direction in which the vehicle is intended to travel. [Prior art documents] [Patent documents]

[0011] [Patent Document 1] Publication number 7-51361 Summary of the Invention [Problem to be solved by the invention]

[0012] However, even with the swivel casters described in Patent Document 1, if the travel distance of the automated guided vehicle after changing the travel direction is short, the lateral vibration of the wheels cannot be sufficiently reduced, and the vehicle body may be displaced from the target position. In addition, although a typical trackless transport robot moves without using a mechanical guide, when the transport robot itself travels, the travel trajectory during travel may vary within a range of several millimeters to several tens of millimeters, even if the position is controlled at a low speed and with high precision.

[0013] On the other hand, when the object to be transported is a machine or device, high positioning accuracy of 0.01 mm may be required. For this reason, it is difficult for a typical non-track type transport robot to position itself by relying only on its autonomous driving performance. In addition, the installation of production equipment in a factory is often carried out by the installation staff of the equipment manufacturer, but adjusting the position while moving heavy objects minutely is not easy, and even an experienced installer may take several hours to several days.

[0014] In addition, there is a non-track type transport robot that uses a mechanical guide, and when the transport robot approaches the target position, the guide is used to move. In this case, the guide is made large when the clearance with the target object is first brought into contact with the target object, and then becomes smaller as the robot approaches the target object further. This makes it easier to ensure the desired accuracy when the target position is reached. However, if the clearance is reduced suddenly, the non-track type transport robot cannot run smoothly, so it is necessary to ensure a certain long distance for the transport robot to move after changing its running direction.

[0015] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide a positioning system and a positioning control method that can achieve highly accurate positioning in a short time without human intervention when transporting a device using a transport robot. [Means for solving the problem]

[0016] The present invention comprises the following configurations. (1) A positioning system that moves a device mounted on a trackless transport robot to a specified destination and positions the device at a specified position at the destination, comprising: The device is provided with a joint; a joint portion that can be joined to the joint portion is provided at the destination of the movement, the transport robot includes a travel wheel and a wheel drive unit that drives the travel wheel to rotate and turn, The device includes a plurality of swivel casters arranged around the wheel drive unit; The joining portion and the joined portion each have a connection mechanism for connecting with each other, Either the joining portion or the joined portion has a horizontal movement mechanism and a positioning mechanism, the horizontal movement mechanism allows the joining portion and the joined portion to be relatively movable in a horizontal direction, and enables the joining portion and the joined portion to be connected by the connection mechanism even when the device is in a position shifted from the specified position; The positioning mechanism relatively moves the joining portion and the joined portion connected by the connection mechanism in a horizontal direction to position the device at the specified position. A positioning system comprising: (2) A positioning control method for moving a device mounted on a trackless transport robot to a specified destination and positioning the device at a specified position of the destination, comprising the steps of: the transport robot includes a wheel drive unit that drives the wheels to rotate and swivel the wheels to change the direction in which the robot travels, The device includes a plurality of swivel casters arranged around the running wheels; moving the transport robot together with the device to the destination; At the destination, a joining portion provided on the device and a joined portion provided at the destination are connected by connection mechanisms provided on the joining portion and the joined portion, respectively; a step of relatively moving the joining part and the joined part in a horizontal direction while the joining part and the joined part are connected by the connection mechanism, thereby positioning the device at a specified position of the movement destination; A positioning control method comprising the steps of: Effect of the Invention

[0017] According to the present invention, when a device is transported using a transport robot, highly accurate positioning can be achieved in a short time without manual intervention. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a perspective view of a plurality of molding machines in a molding factory to which a positioning system is applied. [Diagram 2] FIG. 2 is a perspective view of the conveying device. [Diagram 3] FIG. 3 is a perspective view of the conveying device as viewed from below. [Figure 4] FIG. 4 is a perspective view of a swivel caster. [Diagram 5]FIG. 5 is a perspective view of the swivel caster separated between the fork and the fork support. [Figure 6] FIG. 6 is a perspective view showing a cross section along the rotation axis of the swivel caster. [Figure 7] FIG. 7 is a perspective view of a caster wheel, a fork, and a fork support portion showing an example of a swivel caster equipped with a lifting elastic member and a restricting elastic member. [Figure 8] FIG. 8 is an explanatory diagram illustrating the turning of a caster wheel supported by a fork. [Figure 9] FIG. 9 is an explanatory diagram illustrating the turning of a caster wheel supported by a fork. [Figure 10] FIG. 10 is a perspective view of the conveying device and the molding machine. [Figure 11] FIG. 11 is a perspective view of a part to be joined provided in a molding machine. [Figure 12] FIG. 12 is a perspective view of the joined portion as viewed from the front side. [Figure 13] FIG. 13 is an exploded perspective view of the joined portion as viewed from the front side. [Figure 14] FIG. 14 is a perspective view of the joined portion as viewed from the rear side. [Figure 15] FIG. 15 is an exploded perspective view of the joined portion as viewed from the rear side. [Figure 16] FIG. 16 is a plan view of the to-be-joined portion with the joining portion viewed in cross section in a state before the joining portion and the to-be-joined portion are positioned. [Figure 17] FIG. 17 is a plan view of the joined parts in a cross-sectional view of the joining portion in a state after the joining portion and the joined parts have been positioned. [Figure 18] FIG. 18 is a schematic diagram showing a control system in a molding factory to which the positioning system is applied. [Figure 19] FIG. 19 is a plan view showing the layout of a molding machine, illustrating an example of a travel path of a conveying device. [Figure 20] FIG. 20 is an explanatory diagram illustrating the movement of the transport device. [Figure 21]FIG. 21 is a schematic diagram showing the state of the transport robot and the caster wheels of the swivel caster of the transport device. [Figure 22] FIG. 22 is a schematic diagram showing the state of the transport robot and the caster wheels of the swivel caster of the transport device. [Diagram 23] FIG. 23 is an exploded perspective view of a joined portion according to a modified example, as viewed from the first fixed portion side. [Figure 24] FIG. 24 is an exploded perspective view of the joined portion according to the modified example, as viewed from the second fixed portion side. [Diagram 25] FIG. 25 is a perspective view of a transport device according to a modified example. [Figure 26] FIG. 26 is a schematic diagram showing the movement of the transport section. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. (Overall composition) The positioning system of this example moves a device mounted on a trackless transport robot to a specified destination and positions the device at a specified position at the destination. In this example, a transport device that transports molds in a molding factory is described as an example of a device mounted on a transport robot, but the application of the positioning system of this example is not limited to this.

[0020] Fig. 1 is a perspective view of a plurality of molding machines 200 in a molding factory to which a positioning system is applied. As shown in Fig. 1, the positioning system of this example is applied to, for example, a molding factory in which a plurality of molding machines 200 are arranged and installed, and performs positioning of a conveying device 100 used as a mold changing device.

[0021] The molding machines 200 are arranged in parallel with each other with a gap therebetween that allows the transport device 100 to travel. The molding machine 200 includes a molding machine base 211, a mold clamping device 213, and an injection device 215. The mold clamping device 213 has a fixed platen 217 and a movable platen 219, and a mold fixing space S is formed between the fixed platen 217 and the movable platen 219. With the transport device 100 arranged in parallel to the side of the mold fixing space S, the molding machine 200 transfers the mold 101 to and from the transport device 100.

[0022] The conveying device 100 moves, for example, in a traveling direction along the arrangement of the molding machines 200, and further moves toward the transfer position along a passage on the side of the molding machine 200 to which the mold 101, which is the designated destination, is to be handed over (see the dotted arrow in FIG. 1). After that, when the conveying device 100 reaches the side of the mold fixing space S of the molding machine 200 to which the mold 101 is to be handed over, the conveying device 100 moves toward the mold fixing space S of the molding machine 200 and is joined to the molding machine 200 to which the mold 101 is to be handed over. Then, the mold 101 is carried in and out between the molding machine 200 and the mold fixing space S.

[0023] (Transportation device) Fig. 2 is a perspective view of the conveying device 100. Fig. 3 is a perspective view of the conveying device 100 as viewed from below.

[0024] 2 and 3, the transfer device 100 is a device that transfers an article such as a mold 101, and is mounted on a transfer robot 113. The transfer robot 113 carries the transfer device 100 and travels on a floor surface.

[0025] A loading section 111 on which the mold 101 is placed is provided on the upper part of the conveying device 100. The conveying device 100 moves to the side of the mold fixing space S shown in FIG. 1, and supplies the mold 101 from the loading section 111 to the mold fixing space S, and discharges the mold S from the mold fixing space S to the loading section 111. A conveying table 121 is provided on the upper part of the loading section 111. The mold 101 is placed on this conveying table 121. The conveying table 121 is supported by a plurality of lifting rods 123. The lifting drive section 124 drives the lifting rods 123 to extend and retract, thereby lifting and lowering the conveying table 121 of the loading section 111. The conveying table 121 also includes a plurality of rollers 125. The mold 101 is placed on these rollers 125. The rollers 125 are arranged parallel to each other, and are rotated in the same direction by a drive section (not shown). The transfer table 121 has a plurality of rollers 125 rotated to move the mold 101 thereon, thereby enabling the mold 101 to be transferred between the transfer table 121 and the molding machine 200 .

[0026] The transport robot 113 includes running wheels 137 and a wheel drive unit 131. The wheel drive unit 131 drives and rotates the running wheels 137 to change the robot running direction. When the wheel drive unit 131 drives and rotates the two running wheels 137 to transmit the running driving force to the floor surface, the wheel drive unit 131 controls the rotation amount and rotation direction of the two running wheels 137 to cause the transport device 100 to run and turn.

[0027] In addition, in the transport device 100, a plurality of swivel casters 10 are arranged around a wheel drive unit 131 equipped with running wheels 137 of the transport robot 113. Each of the swivel casters 10 is equipped with a caster wheel 11. Each of the swivel casters 10 is equipped with a caster swivel drive unit 19. The caster swivel drive unit 19 swivels the caster wheels 11 of each of the swivel casters 10 to individually change the caster running direction of each of the swivel casters 10. In this way, the transport device 100 is equipped with a plurality of swivel casters 10 as auxiliary wheels, and the plurality of swivel casters 10 are attached to the four corners of the bottom of the transport device 100 surrounding the transport robot 113. The transport device 100, together with the transport robot 113, is supported on the floor surface by the plurality of swivel casters 10.

[0028] (Swivel caster) Fig. 4 is a perspective view of the swivel caster 10. Fig. 5 is a perspective view of the swivel caster 10 separated between the fork 13 and the fork support portion 15. Fig. 6 is a perspective view of the swivel caster 10 as viewed in cross section along the rotation axis 53.

[0029] As shown in FIGS. 4 to 6, the swivel caster 10 includes a caster wheel 11, a fork 13, a fork support portion 15, a caster base portion 17, and a caster swivel drive portion 19. As shown in FIGS.

[0030] The caster wheel 11 is rotatably supported by the fork 13. The fork 13 supporting the caster wheel 11 is supported by a fork support part 15. The caster base part 17 is disposed on the upper part of the fork support part 15, and the fork support part 15 is supported by the caster base part 17. The caster swivel drive part 19 is provided on the side part of the caster base part 17. The caster wheel 11 is supported by a support shaft 21 provided on the fork 13 so as to be rotatable about a horizontal axis.

[0031] The fork 13 has a pair of support plates 23 and a fixed plate 25, with the support plate 23 attached to the underside of the fixed plate 25. The support plates 23 are arranged parallel to each other, and their front parts are connected by a connecting part 27. The caster wheel 11 is arranged between the support plates 23, and both ends of the support shaft 21 are fixed to the support plate 23. As a result, the caster wheel 11 is supported by the support shaft 21 between the pair of support plates 23 so as to be rotatable.

[0032] As shown in Fig. 6, a support piece 31 that protrudes downward is provided on the rear side of the fixed plate 25. Also, a pin 33 that protrudes upward is provided on the front side of the fixed plate 25, and a pivot shaft 41 that protrudes upward is provided on the rear side of the fixed plate 24. The upper part on the rear side of the support plate 23 is connected to the support piece 31 by a swing shaft 35. This allows the pair of support plates 23 to swing around a horizontal axis by the swing shaft 35.

[0033] FIG. 7 is a perspective view of the caster wheel 11, the fork 13, and the fork support part 15 showing an example of a swivel caster 10 equipped with a lifting elastic member 37 and a restricting elastic member 45. Between the fixed plate part 25 and the connecting part 27 of the support plate part 23, the lifting elastic member 37 made of a coil spring is provided. As a result, the fork 13 supporting the caster wheel 11 is elastically biased by the lifting elastic member 37 against the fork support part 15. In this way, the caster wheel 11 supported by the support plate part 23 of the fork 13 is swung by the swing shaft 35, and can be raised and lowered in a state where it is biased downward by the lifting elastic member 37 against the fork support part 15. As a result, when a plurality of swivel casters 10 are provided in the conveying device 100, the caster wheel 11 of each swivel caster 10 of the conveying device 100 has good contact with the floor surface and smoothly follows the floor surface.

[0034] The fork support portion 15, which supports the fork 13 provided with the caster wheels 11, is formed in a plate shape and is disposed along the upper surface of the fixed plate portion 25 of the fork 13. The fork support portion 15 has a bearing 40 on its rear side, and a pivot shaft 41 of the fork 13 is rotatably supported by the bearing 40. This allows the fork 13 provided with the caster wheels 11 to pivot about a vertical axis relative to the fork support portion 15 by the pivot shaft 41 on the rear side.

[0035] Further, the fork support part 15 has an arc groove 43 on its front side. This arc groove 43 is formed in an arc shape centered on the pivot shaft 41. The pin 33 of the fixed plate part 25 of the fork 13 is inserted into this arc groove 43, so that the fork 13 can turn within the range of the arc groove 43 of the fork support part 15 into which the pin 33 is inserted. In this way, a movable angle restriction mechanism consisting of the arc groove 43 and the pin 33 is provided between the fork support part 15 and the fork 13, and the fork 13 can turn within a turning range restricted by this movable angle restriction mechanism.

[0036] The arc groove 43 may accommodate restricting elastic members 45 made of coil springs on both sides of the pin 33. By accommodating the restricting elastic members 45 on both sides of the pin 33 in this way, the pin 33 is biased to a neutral position in the center of the longitudinal direction of the arc groove 43 by these restricting elastic members 45. In addition, a sliding plate 46 is provided on the surface of the fork support part 15 facing the fork 13. This sliding plate 46 is slidable on the fixed plate part 25 of the fork 13, and the load from the caster wheel 11 is received on the upper side of the fork support part 15 via this sliding plate 46. This reduces the load on the bearing 40 and the pivot shaft 41 that rotatably support the fork 13.

[0037] 8 and 9 are explanatory diagrams for explaining the rotation of the caster wheel 11 supported by the fork 13. As shown in Fig. 8, in the swivel caster 10, the fork 13 can rotate around the pivot 41 to one side at a movable angle θ1, and as shown in Fig. 9, the fork 13 can rotate around the pivot 41 to the other side at a movable angle θ2.

[0038] After the fork 13 has been rotated within this movable angle range, it is returned to the center position of the movable angle range by following the movement of the swivel caster 10, and the direction of the caster wheel 11 is aligned with the moving direction of the swivel caster 10. When restricting elastic members 45 shown in FIG. 7 are accommodated on both sides of the pin 33, the fork 13 is elastically biased by the pair of restricting elastic members 45 toward a neutral position in the center of the movable angle range (θ1+θ2) around the axis of the swivel shaft 41. This makes it possible to prevent the course from being disturbed when an external force is suddenly applied to the caster wheel 11 due to a step on the floor or a foreign object. The mechanism for restricting the movable angle of the fork 13 may be a structure in which an arc groove is formed in the fork 13 and a pin provided on the fork support part 15 is inserted into the arc groove.

[0039] As shown in Fig. 6, the caster base 17 is formed in a cylindrical shape with an insertion hole 51 in the center. A rotating shaft 53 is inserted into the insertion hole 51 of the caster base 17. The rotating shaft 53 is rotatably supported near its upper and lower ends by bearings 55. The lower end of the rotating shaft 53 is fixed to the fork support 15, and supports the fork support 15 rotatably around the rotating shaft 53.

[0040] An outwardly projecting flange portion 57 is formed at the lower end of the caster base portion 17. The caster base portion 17 has the flange portion 57 fastened and fixed to a base or the like of the transport robot by bolts 59. In this way, the swivel caster 10 is attached to the transport robot.

[0041] Furthermore, the rotation axis 53 is disposed so as to coincide with an overhead line L extending vertically from a center O of the surface where the caster wheel 11 contacts the floor surface. The pivot axis 41 of the fork 13 supporting the caster wheel 11 is disposed eccentrically, shifted horizontally from the rotation axis 53.

[0042] A fixed plate 61 is fixed to the upper part of the caster base part 17. The rotation shaft 53 is inserted into a hole 61a formed in this fixed plate 61. The fixed plate 61 has an extension part 63 that extends to the side of the caster base part 17, and the caster swivel drive part 19 is fixed to the extension part 63. The caster swivel drive part 19 is a drive source such as a motor having a drive shaft 71.

[0043] The fixed plate 61 is provided with a rotation detection unit 69 that detects the rotation position of the rotary shaft 53. The rotation detection unit 69 includes, for example, a detection plate 67 having one convex portion 67a protruding radially outward and fixed to the rotary shaft 53, and a plurality of (eight in this example) microswitches 65 attached along the edge of the hole portion 61a of the fixed plate 61 facing the detection plate 67. These microswitches 65 detect the convex portion 67a of the detection plate 67, thereby detecting the rotation position of the rotary shaft 53. Note that the rotation detection unit 69 is not limited to the above-mentioned microswitch 65, and may be another sensor such as a proximity sensor.

[0044] A driving pulley 73 is attached to the driving shaft 71 of the caster swivel drive unit 19. A driven pulley 75 is attached to the upper end of the rotating shaft 53. An endless transmission belt 77 is wound around the driving pulley 73 and the driven pulley 75. This allows the rotational driving force of the caster swivel drive unit 19 to be transmitted to the rotating shaft 53.

[0045] The rotation transmission mechanism between the rotating shaft 53 and the drive shaft 71 may be another transmission mechanism including a sprocket and a chain, etc. Also, the drive shaft 71 of the caster swivel drive unit 19 may be directly connected to the rotating shaft 53 to transmit the rotational driving force of the drive shaft 71 directly to the rotating shaft 53.

[0046] In the swivel caster 10 configured as described above, the rotational driving force of the drive shaft 71 by the caster swivel drive unit 19 is transmitted to the rotating shaft 53 by the drive pulley 73, the transmission belt 77, and the driven pulley 75. Then, the fork support unit 15 is rotated about the rotating shaft 53, and the orientation of the caster wheel 11 together with the fork 13 supported by the fork support unit 15 is changed.

[0047] In addition, when the direction of the caster wheel 11 is changed, the convex portion 67a of the detection plate 67, which rotates together with the rotation shaft 53, is detected by one of the multiple microswitches 65 that constitute the rotation detection unit 69, and the direction of the caster wheel 11 is detected.

[0048] Generally, ball casters, which are spherical casters, are used as the swivel caster wheels 10. However, ball casters contact the floor surface over a very small area, so the contact pressure with the floor surface is high and they are prone to damage the floor surface, making them unsuitable for transporting heavy objects such as molds. In particular, the forced change of direction of a non-track type transport robot can wear out the running wheels and cause damage to the floor surface.

[0049] The transport device 100 of this configuration example is equipped with a plurality of swivel casters 10 as auxiliary wheels, each of which has a caster wheel 11 with a larger contact area with the floor surface compared to a ball caster. Moreover, the caster wheel 11 of the swivel caster 10 is driven to rotate coaxially by a caster swivel drive unit 19. Therefore, damage to the floor surface due to contact pressure and wear of the running wheels 137 of the transport robot 113 can be suppressed.

[0050] (joint part and joined part) Fig. 10 is a perspective view of the conveying device 100 and the molding machine 200. Fig. 11 is a perspective view of a joined portion 310 provided in the molding machine 200. The conveying device 100 shown in Fig. 10 is provided with the joining portion 300. In addition, the molding machine 200, which is the destination to which the conveying device 100 is positioned, is provided with the joined portion 310.

[0051] The joining portion 300 is provided on at least one side of the conveying device 100 where the mold 101 is carried in and out, but may be provided on other side. The joining portion 300 has a pair of connection holes 301 provided at diagonal positions and a pair of lock holes 303 provided at the other diagonal positions. The joining portion 300 and the joined portion 310 are different structures each having a mechanism for connecting with each other, and the joining portion 300 may be provided on the molding machine 200 side and the joined portion 310 may be provided on the conveying device 100 side. The joined portion 310 may be provided on a frame 315 (see FIG. 11) fixed to each molding machine 200 as shown in FIG. 1, and the joining portion 300 of the conveying device 100 may be selectively joined to any one of the molding machines 200.

[0052] Fig. 12 is a perspective view of the joint portion 310 as viewed from the front side. Fig. 13 is an exploded perspective view of the joint portion 310 as viewed from the front side. The joint portion 310 has a first fixing portion 321, which will be described in detail later, a second fixing portion 323 arranged on the back side of the first fixing portion 321, and a protrusion piece driving portion 351 fixed to the second fixing portion 323.

[0053] Fig. 14 is a perspective view seen from the rear side of the joined part 310. Fig. 15 is an exploded perspective view seen from the rear side of the joined part 310. As shown in Figs. 14 and 15, the joined part 310 has a protruding piece receiving part 361 provided in the first fixing part 321, the details of which will be described later.

[0054] As shown in Figs. 12 to 15, the joined part 310 has a pair of connection pins 311 provided at diagonal positions, and a pair of clampers 313 provided at the other diagonal positions. The connection pins 311 have tapered portions 311a that gradually narrow toward the tip. The clampers 313 have a plurality of connection balls 313a. These connection balls 313a are arranged around the clampers 313. In the clampers 313, each connection ball 313a is protruded radially outward by the supply of air.

[0055] The joining portion 310 is configured to be joinable to the joining portion 300 of the transport device 100. Specifically, the connection pin 311 of the joining portion 310 is connected to the connection hole portion 301 of the joining portion 300, and the clamper 313 of the joining portion 310 is connected to the lock hole portion 303 of the joining portion 300.

[0056] In addition, when the clamper 313 is connected to the lock hole portion 303, the connection ball 313a protrudes to the outer periphery by supplying air, and connects with the inner edge of the lock hole portion 303. As a result, the clamper 313 and the lock hole portion 303 are locked to each other, and the joining portion 300 of the conveying device 100 is joined to the joined portion 310 of the molding machine 200.

[0057] In this manner, the joining portion 300 and the joined portion 310 each have a connection mechanism made up of the connection hole portion 301 and the connection pin 311, and the lock hole portion 303 and the clamper 313, which are connected to each other.

[0058] The joined part 310 is provided with a horizontal movement mechanism 320 for correcting a horizontal positional deviation from the joining part 300. The horizontal movement mechanism 320 is a mechanism for relatively moving the joining part 300 and the joined part 310 in the horizontal direction while the joining part 300 and the joined part 310 are connected by a connection mechanism consisting of the connection hole part 301, the connection pin 311, the lock hole part 303, and the clamper 313. The horizontal movement mechanism 320 relatively moves the joining part 300 and the joined part 310 in the horizontal direction, thereby positioning the conveying device 100 at a specified position of the molding machine 200, which is the destination of the movement. In this example, when the conveying device 100 is misaligned in the horizontal direction with respect to the specified position of the molding machine 200, the horizontal movement mechanism 320 slightly moves the conveying device 100 in the horizontal direction to position it at the specified position of the molding machine 200, that is, at a horizontal position where the mold 101 can be transferred from the conveying device 100 to the molding machine 200.

[0059] The horizontal movement mechanism 320 includes a first fixed part 321 and a second fixed part 323. The first fixed part 321 is supported so as to be movable in the horizontal direction relative to the second fixed part 323. The first fixed part 321 has a movable plate 325, and the connection pin 311 and the clamper 313 which constitute the above-mentioned connection mechanism are provided on the movable plate 325.

[0060] The second fixed part 323 has a fixed plate 327. This fixed plate 327 is fixed to a frame 315 (FIG. 11) of the molding machine 200. Horizontal rails 331 extending in the horizontal direction are fixed to the surfaces of the fixed plate 327 near the upper and lower sides thereof that face the movable plate 325 of the first fixed part 321. A pair of sliders 333 that can slide along the horizontal rails 331 are provided on each of the pair of horizontal rails 331. These sliders 333 are fixed to the surfaces of the movable plate 325 of the first fixed part 321 that face the fixed plate 327 of the second fixed part 323 by screws 335. As a result, the horizontal rails 331 and the sliders 333 support the movable plate 325 so as to be movable relative to the fixed plate 327 in the horizontal direction.

[0061] Further, an elastic member 341 (FIG. 15) consisting of a pair of coil springs that regulates the relative movement in the horizontal direction between the movable plate 325 and the fixed plate 327 by an elastic repulsive force is provided between the first fixed portion 321 and the second fixed portion 323. One spring receiver 343 is fixed to the movable plate 325, and two spring receivers 345 are provided on both sides of the spring receiver 343 of the movable plate 325 on the fixed plate 327. The elastic member 341 is disposed between the spring receivers 343 and 345, and the ends of the elastic member 341 are supported by the spring receivers 343 and 345. In this manner, by providing the elastic member 341 between the first fixed portion 321 and the second fixed portion 323, the relative movement in the horizontal direction between the movable plate 325 and the fixed plate 327 is regulated by the elastic repulsive force of the elastic member 341.

[0062] As a result, even if the joined part 310 and the joining part 300 are connected to each other by the above-mentioned connection mechanism in a state where there is a horizontal positional deviation, the movable plate 325 of the first fixed part 321 moves horizontally due to the elastic repulsive force of the elastic member 341, so that the joined part 310 and the joining part 300 are connected while allowing the positional deviation. This is also true when connecting the connection pin 311, and since the connection pin 311 has a tapered part 311a, the connection pin 311 is inserted into the connection hole part 301 (FIG. 10) of the connection partner, and the deviation is absorbed by the above-mentioned horizontal movement. In this way, the first fixed part 321 and the second fixed part 323 can be joined to each other while suppressing rattling.

[0063] Further, the second fixed part 323 is provided with a protruding piece driving part 351. This protruding piece driving part 351 advances and retreats a rod-shaped protruding piece 353 toward the first fixed part 321. The protruding piece driving part 351 is, for example, an actuator such as an air cylinder, and advances and retreats a piston 351a. The protruding piece 353 is fixed to the piston 351a of this protruding piece driving part 351 by a connecting plate 352. An opening 355 is formed in the center of the fixed plate 327 of the second fixed part 323. The protruding piece driving part 351 advances and retreats the protruding piece 353 by advancing and retreating the piston 351a, and causes the protruding piece 353 to appear and recede through the opening 355 toward the movable plate 325 of the first fixed part 321. The protruding piece 353 has inclined surfaces 353a on both sides of the horizontal width at the tip part. In this way, the protruding piece 353 is formed in a wedge shape with its horizontal width tapering toward the tip.

[0064] The first fixed part 321 is provided with a protruding piece receiving part 361. The movable plate 325 of the first fixed part 321 has an insertion hole 363 in its center, and the protruding piece receiving part 361 is provided in this insertion hole 363. In the protruding piece receiving part 361, the tip of the protruding piece 353 protruding from the protruding piece driving part 351 of the second fixed part 323 is inserted into the insertion hole 363.

[0065] The protruding piece receiving portion 361 has a pair of rotating rollers 365. These rotating rollers 365 are arranged on both horizontal sides of the insertion opening 363 and are supported rotatably about a vertical axis. In the protruding piece receiving portion 361, the tip of the protruding piece 353 protruding from the protruding piece driving portion 351 of the second fixed portion 323 is inserted between the rotating rollers 365. Then, each rotating roller 365 comes into contact with the inclined surface 353a of the protruding piece 353, and the protruding piece 353 is sandwiched between the rotating rollers 365 in the horizontal direction.

[0066] Fig. 16 is a plan view of the to-be-joined portion 310 in a cross-sectional view of the joining portion 300 before the joining portion 300 and the to-be-joined portion 310 are positioned relative to each other. Fig. 17 is a plan view of the to-be-joined portion 310 in a cross-sectional view of the joining portion 300 after the joining portion 300 and the to-be-joined portion 310 are positioned relative to each other.

[0067] When the joining part 300 of the conveying device 100 is butted against the joined part 310 of the molding machine 200, the connection pin 311 of the joined part 310 is connected to the connection hole 301 of the joining part 300, and the clamper 313 of the joined part 310 is connected to the lock hole 303 of the joining part 300. When the joining part 300 and the joined part 310 are connected in this manner, the movable plate 325 of the first fixed part 321 is pressed against the fixed plate 327 of the second fixed part 323 and moves closer to each other.

[0068] Near both sides of the movable plate 325 of the first fixed part 321, proximity sensors 371 are provided on the surfaces facing the fixed plate 327 of the second fixed part 323. These proximity sensors 371 detect that the movable plate 325 of the first fixed part 321 is pressed against and comes close to the fixed plate 327 of the second fixed part 323, and output a detection signal. In this way, the connection state between the joining part 300 and the joined part 310 is detected by the detection signal output from the proximity sensors 371.

[0069] As described above, when the first fixed part 321 fixed to the joint part 300 and the second fixed part 323 on the jointed part 310 side are misaligned in the horizontal direction, the first fixed part 321 integrated with the joint part 300 moves in the horizontal direction along the inclined surface 353a (arrow SL in FIG. 17). This horizontal movement places the transport device 100 at a specified position.

[0070] That is, when the protruding piece 353 is protruded by the protruding piece driving part 351 of the second fixed part 323 of the horizontal movement mechanism 320, the tip of the protruding piece 353 is inserted between the rotating rollers 365. Then, each rotating roller 365 contacts the inclined surface 353a of the protruding piece 353, and the protruding piece 353 is sandwiched horizontally by these rotating rollers 365. As a result, a force in the horizontal direction opposite to the positional deviation is generated in the movable plate 325 of the first fixed part 321, and the movable plate 325 of the first fixed part 321 is moved in the horizontal direction opposite to the positional deviation by this force. That is, by inserting the protruding piece 353 between the rotating rollers 365, the movable plate 325 of the first fixed part 321 is positioned in the horizontal direction relative to the fixed plate 327 of the second fixed part 323. Then, the joining part 300 joined to the joined part 310 is moved in the horizontal direction opposite to the positional deviation direction, and the conveying device 100 is positioned at the specified position of the molding machine 200.

[0071] As described above, according to the positioning system of this configuration example, in a state where the joining part 300 of the conveying device 100 is connected to the joined part 310 of the molding machine 200, which is the destination, the joining part 300 and the joined part 310 are moved relatively in the horizontal direction by the horizontal movement mechanism 320. This allows the conveying device 100 to be positioned at a specified position of the molding machine 200 with high accuracy in a short time without manual intervention.

[0072] (Control System) Fig. 18 is a schematic diagram showing a control system in a molding factory to which the positioning system is applied. As shown in Fig. 18, the conveying device 100 is equipped with a control unit 401, and the molding machine 200 is equipped with a control unit 403. In addition, the molding factory is equipped with an overall control device 405.

[0073] The control unit 401 of the conveying device 100 controls each of the driving units, such as the lifting drive unit 124 that lifts and lowers the conveying table 121 in the conveying device 100, the drive unit of the roller 125 of the conveying table 121, the wheel drive unit 131 of the conveying robot 113, and the caster swivel drive unit 19 of the swivel caster 10. The control unit 403 of the molding machine 200 controls each of the driving units, such as the mold clamping device 213, the injection device 215, the clamper 313 of the joined part 310, and the protruding piece drive unit 351 of the horizontal movement mechanism 320, in the molding machine 200. The general control device 405 communicates with each of the control units 401, 403 of the conveying device 100 and the molding machine 200, and controls and instructs the control units 401, 403. The control units 401, 403 and the general control device 405 are composed of computer devices, and are capable of mutual communication via a network, communication line, or the like.

[0074] (Example of conveyor control) Next, the control by the control units 401, 403 and the general control device when the transfer device 100 is moved to transfer the mold 101 to the molding machine 200 will be described. Fig. 19 is a plan view showing the layout of the molding machine 200 to explain an example of a travel path of the transport device 100. Fig. 20 is an explanatory diagram explaining the movement of the transport device 100. Figs. 21 and 22 are schematic diagrams showing the states of the transport robot 113 of the transport device 100 and the caster wheels 11 of the swivel casters 10.

[0075] Here, various methods of movement and travel routes of the conveying device 100 are considered depending on the arrangement of the molding machines 200, etc. For example, there are cases where the passage between the molding machines 200 is narrow and sufficient space cannot be secured to rotate the conveying device 100. In such a case, for example, as shown in FIG. 19, the conveying device 100 first moves from a movement start position P1 in a travel direction PS1 along the arrangement of the molding machines 200. Next, when it reaches a direction change position P2 of the passage on the side of the molding machine 200 to which the mold 101 is to be transferred, it moves in the travel direction PS2 near the center of the passage toward the transfer position. After that, when it reaches a direction change position P3 on the side of the mold fixing space S of the molding machine 200 to which the mold 101 is to be transferred, it changes its travel direction and moves in the travel direction PS3 toward the mold fixing space S of the molding machine 200 to connect to the molding machine 200 to which the mold 101 is to be transferred.

[0076] When the conveying device 100 is moved along the above-mentioned route, as shown in Figure 20, when the conveying device 100 reaches the direction change position P3 on the side of the mold fixing space S of the molding machine 200 to be handed over, the caster wheels 11 of each swivel caster 10, together with the running wheels 137 of the conveying robot 113, are aligned in the running direction PS2 (see the white arrow in Figure 20).

[0077] 21, the transport device 100 changes the orientation of the running wheels 137 of the transport robot 113 to face the running direction PS3, and further aligns the orientation of the caster wheels 11 of the swivel caster 10 with the running direction PS3. At this time, if the orientations of multiple caster wheels 11 are changed simultaneously, the transport device 100 may fluctuate due to the influence of the change in the orientation of the caster wheels 11. For this reason, it is preferable to change the orientation of the caster wheels 11 of the swivel caster 10 one by one.

[0078] Thereafter, the conveying device 100 moves toward the mold fixing space S of the molding machine 200, and the joining portion 300 of the conveying device 100 is abutted against the joined portion 310 of the molding machine 200 to be handed over. As a result, the connection pin 311 of the joined portion 310 is connected to the connection hole portion 301 of the joining portion 300, and the clamper 313 of the joined portion 310 is connected to the lock hole portion 303 of the joining portion 300 (see FIG. 17).

[0079] Furthermore, by connecting the joining part 300 and the joined part 310, a detection signal is output from the proximity sensor 371. Then, as shown in FIG. 22, the transport robot 113 and the swivel caster 10 of the transport device 100 are controlled, and the orientation of the running wheel 137 of the transport robot 113 and the caster wheel 11 of the swivel caster 10 is made parallel to the relative movement direction between the joining part 300 and the joined part 310 by the horizontal movement mechanism 320 of the joined part 310. Furthermore, it is preferable that the running wheel 137 after changing the orientation is in a freely rotatable state with the brake released. Also at this time, it is preferable to suppress the fluctuation of the transport device 100 caused by the change in the orientation of the caster wheel 11 by changing the orientation of the caster wheel 11 one by one.

[0080] Thereafter, the protruding piece 353 is protruded by the protruding piece driving part 351 of the second fixed part 323 of the horizontal movement mechanism 320 and inserted between the rotating rollers 365 of the protruding piece receiving part 361, and the horizontal position of the movable plate 325 of the first fixed part 321 is determined relative to the fixed plate 327 of the second fixed part 323 (see FIG. 17). As a result, even if the conveying device 100 in which the joining part 300 is joined to the joined part 310 is misaligned in the horizontal direction relative to the specified position of the molding machine 200, the conveying device 100 is moved in the opposite direction to the horizontal misalignment and is determined to be at the specified position of the molding machine 200. As a result, the conveying device 100 can be determined with high accuracy in a short time with respect to the specified position of the molding machine 200, which is the destination of the conveying device 100, without manual intervention.

[0081] At this time, the orientation of the running wheels 137 of the transport robot 113 and the caster wheels 11 of the swivel casters 10 are parallel to the direction of relative movement between the joining part 300 and the joined part 310 by the horizontal movement mechanism 320. Therefore, with the joining part 300 of the transport device 100 connected to the joined part 310 at the destination, the joining part 300 and the joined part 310 can be smoothly moved relatively in the horizontal direction by the horizontal movement mechanism 320. This allows the transport device 100 to be positioned with higher accuracy with respect to the specified position at the destination.

[0082] Next, a modified example will be described. In the following description, the same components as those in the above-described embodiment are given the same reference numerals and the description thereof will be omitted.

[0083] (Modification of the joined part) Fig. 23 is an exploded perspective view of a joined portion 310A according to a modified example, as viewed from a first fixed portion 321 side. Fig. 24 is an exploded perspective view of a joined portion 310A according to a modified example, as viewed from a second fixed portion 323 side.

[0084] As shown in FIGS. 23 and 24, in a joint portion 310A according to the modified example, a first fixed portion 321 has, instead of one movable plate 325, a front plate 325A and an intermediate plate 325B.

[0085] In the joined portion 310A, a front plate 325A of a first fixed portion 321 is provided with a connection pin 311 and a clamper 313 which constitute a connection mechanism.

[0086] In the joined portion 310A, a pair of sliders 333 that slide along the horizontal rails 331 of the fixed plate 327 of the second fixed portion 323 are fixed to the intermediate plate 325B of the first fixed portion 321. In this manner, the first fixed portion 321 is supported such that the intermediate plate 325B is movable relative to the fixed plate 327 of the second fixed portion 323 in the horizontal direction.

[0087] Furthermore, elastic member 341 is provided between intermediate plate 325B and fixed plate 327 of second fixed portion 323, and spring receiver 343 is fixed to receive elastic member 341. In other words, intermediate plate 325B of first fixed portion 321 that has moved horizontally relative to fixed plate 327 of second fixed portion 323 is returned to its initial position by the elastic repulsive force of elastic member 341.

[0088] The intermediate plate 325B is provided with a protruding piece receiving portion 361 having an insertion opening 363 and a rotating roller 365. The protruding piece 353 of the horizontal movement mechanism 320 is inserted into the insertion opening 363 of the protruding piece receiving portion 361 and comes into contact with the rotating rollers 365 on both sides in the horizontal direction. The front plate 325A is formed with an escape hole 373 in the center thereof to avoid interference with the protruding piece 353.

[0089] In the joined portion 310A, vertical rails 381 extending in the vertical direction are fixed to the surfaces of the intermediate plate 325B near both sides thereof facing the front plate 325A. A pair of sliders 383 that slide along the vertical rails 381 are provided on each of the vertical rails 381. The sliders 383 are fixed to the surfaces of the front plate 325A facing the intermediate plate 325B. Thus, the vertical rails 381 and the sliders 383 support the front plate 325A so as to be movable vertically relative to the intermediate plate 325B.

[0090] In this way, according to the modified example of the joining part 320A, the first fixed part 321 is composed of the front plate 325A and the intermediate plate 325B which are movable relative to each other in the vertical direction, so that it can be positioned in the horizontal direction while allowing for vertical positional deviation between the specified position of the molding machine 200, which is the destination, and the conveying device 100.

[0091] In addition, the joint part 320A according to the modification is provided between the front plate 325A and the intermediate plate 325B with an elastic member 391 consisting of a pair of coil springs that regulates the relative movement between the front plate 325A and the intermediate plate 325B in the vertical direction by an elastic repulsive force. One spring receiver 393 is fixed to the intermediate plate 325B, and two spring receivers 395 arranged above and below the spring receiver 393 of the intermediate plate 325B are fixed to the front plate 325A. The elastic member 391 is disposed between the spring receivers 393 and 395, and its end portion is supported by the spring receivers 393 and 395. In this way, by providing the elastic member 391 between the front plate 325A and the intermediate plate 325B, the relative movement between the front plate 325A and the intermediate plate 325B in the vertical direction is regulated by the elastic repulsive force of the elastic member 391. That is, the front plate 325A that has moved vertically relative to the intermediate plate 325B is returned to its initial position by the elastic repulsive force of the elastic member 391. Therefore, rattling between the front plate 325A and the intermediate plate 325B can be suppressed. In addition, the spring receiver 393 fixed to the intermediate plate 325B is provided with a height deviation detection unit (not shown) that detects a height deviation between the front plate 325A and the intermediate plate 325B. Based on the detection result from this height deviation detection unit, the height of the loading unit 111 of the transport device 100 can be easily corrected. The position of the height deviation detection unit is not limited to the position of the spring receiver 393, and is not limited as long as it can detect a height deviation.

[0092] (Modification of the conveying device) Fig. 25 is a perspective view of a conveying device 100A according to a modified example. Fig. 26 is a schematic configuration diagram showing the movement of a conveying section 140. The conveying device 100A according to the modified example is provided with a conveying section 140 in a loading section 111. This conveying section 140 serves as a conveying path between the loading section 111 and a molding machine 200 to which a mold 101, which is an article, is delivered.

[0093] The transport section 140 includes an arm member 141 and an arm drive section 143. The arm member 141 has an arm base end 141a rotatably supported at the end of the loading section 111 on the side where the mold 101 is carried in and out. A plurality of transport rollers 145 are arranged in parallel on the arm member 141 along the arm longitudinal direction. The arm drive section 143 is made up of a drive motor, and drives the arm member 141 to rotate.

[0094] In this transport device 100A, the arm member 141 is in a position extended upward during travel. This allows the transport device 100A to travel without the arm member 141 coming into contact with peripheral devices, etc. When the transport device 100A transfers the mold 101 to the molding machine 200, the arm member 141 is rotated by the arm drive unit 143 and is hung on the molding machine 200. In this state, the mold 101 is moved on the transport rollers 145 provided on the arm member 141 of the transport unit 140. This allows the mold 101 to be smoothly carried in and out between the loading unit 111 and the molding machine 200 at the delivery destination.

[0095] In addition, the conveying section 140 of the conveying device 100A is provided with an angle detection section 147 consisting of, for example, a gyro sensor on the arm member 141. The angle detection section 147 detects the posture from the arm inclination angle θ of the arm member 141 with respect to the vertical direction, and the height h of the arm tip 141b can be calculated from the detection result. By providing the angle detection section 147, the arm driving section 143 rotates the arm member 141 based on the height h of the arm member 141 obtained from the detection result of the angle detection section 147, and the lifting driving section 124 adjusts the height of the conveying table 121 of the loading section 111 so that the height of the conveying path formed by the arm member 141 matches the height of the conveying path of the molding machine 200, which is the delivery destination. This allows the mold 101 to be carried in and out more smoothly between the conveying table 121 of the loading section 111 and the molding machine 200, regardless of the positional deviation in the height direction due to the sinking of the conveying device 100.

[0096] In addition, without adjusting the height of the conveying table 121 of the loading section 111, the arm member 141 may be rotated to match the height of the conveying path of the destination molding machine 200 based on the height h of the arm member 141 obtained from the detection result of the angle detection section 147, and then the arm member 141 may be handed over to the molding machine 200.

[0097] As such, the present invention is not limited to the above-described embodiments, and the present invention also contemplates mutual combinations of the various components of the embodiments, as well as modifications and applications by those skilled in the art based on the descriptions in the specification and well-known technologies, and these are included in the scope of protection sought.

[0098] As described above, the present specification discloses the following: (1) A positioning system that moves a device mounted on a trackless transport robot to a specified destination and positions the device at a specified position at the destination, comprising: The device is provided with a joint; a joint portion that can be joined to the joint portion is provided at the destination of the movement, the transport robot includes a travel wheel and a wheel drive unit that drives the travel wheel to rotate and turn, The device includes a plurality of swivel casters arranged around the wheel drive unit; The joining portion and the joined portion each have a connection mechanism for connecting with each other, Either the joining portion or the joined portion has a horizontal movement mechanism and a positioning mechanism, the horizontal movement mechanism allows the joining portion and the joined portion to be relatively movable in a horizontal direction, and enables the joining portion and the joined portion to be connected by the connection mechanism even when the device is in a position shifted from the specified position; The positioning mechanism relatively moves the joining portion and the joined portion connected by the connection mechanism in a horizontal direction to position the device at the specified position. A positioning system comprising: According to this positioning system, even if the transport robot deviates from the specified position, the joint part of the equipment can be connected to the jointed part at its destination, and while maintaining this connected state, the horizontal movement mechanism moves the joint part and the jointed part relative to each other in the horizontal direction. Therefore, the equipment can be positioned with high precision in a short time with respect to the specified position of the transport robot without human intervention.

[0099] (2) The positioning system described in (1), wherein the device is equipped with a caster swivel drive unit that swivels each of the caster wheels of the multiple casters to change the caster travel direction. This positioning system allows the orientation of the transport robot's travel wheels and the caster wheels of the swivel casters to be freely changed, making it possible to move the device more smoothly and to position the device with high accuracy relative to a specified destination position.

[0100] (3) A positioning system as described in (1) or (2), comprising a control unit that, after the joining part and the joined part are connected by the connection mechanism and before the positioning mechanism positions the joining part and the joined part, adjusts the orientation of the running wheels of the transport robot and the caster wheels of the swivel casters to be parallel to the relative movement direction between the joining part and the joined part by the horizontal movement mechanism. According to this positioning system, while the joining part of the device is connected to the joined part at the destination, the joining part and the joined part can be smoothly moved relatively in the horizontal direction by the horizontal fine movement mechanism. This allows the device to be positioned with high accuracy relative to the specified position at the destination.

[0101] (4) The positioning system according to any one of (1) to (3), further comprising a vertical movement mechanism that moves the joining portion and the joined portion relatively in the vertical direction. According to this positioning system, even if the height of the device shifts when it is moved, the height of the device can be easily corrected to a specified height.

[0102] (5) The device includes a lifting drive unit that lifts and lowers a loading unit on which an article is placed, and a conveying unit that serves as a conveying path from the loading unit to a delivery destination of the article. A positioning system according to any one of (1) to (4). According to this positioning system, the loading section on which the article is placed can be raised and lowered by the lift drive section to match the height of the loading section to the height of the destination, and then the article can be easily delivered to and from the destination via the conveying path of the conveying section.

[0103] (6) The transport unit includes an arm member having an arm base end rotatably supported at an end of the loading unit on a side where the article is carried in and out, and an arm drive unit that drives and rotates the arm member, The positioning system according to (5), wherein the arm member has a plurality of conveying rollers arranged in parallel along the arm longitudinal direction. According to this positioning system, by rotating the arm member and connecting it to the destination, articles can be smoothly transported in and out between the loading section and the destination.

[0104] (7) The arm member is provided with an angle detection unit that detects an arm inclination angle, The positioning system described in (6), wherein the arm drive unit rotates the arm member so that the height of the conveying path of the arm member matches the height of the conveying path of the transfer destination based on the detection result by the angle detection unit. According to this positioning system, the height of the arm member's conveying path can be matched to the height of the conveying path at the delivery destination based on the height of the arm tip calculated from the arm inclination angle detected by the angle detection unit, thereby allowing items to be smoothly transported in and out between the loading section and the delivery destination.

[0105] (8) A positioning control method for moving a device mounted on a trackless transport robot to a specified destination and positioning the device at a specified position of the destination, comprising the steps of: the transport robot includes a wheel drive unit that drives the wheels to rotate and swivel the wheels to change the direction in which the robot travels, The device includes a plurality of swivel casters arranged around the running wheels; moving the transport robot together with the device to the destination; At the destination, a joining portion provided on the device and a joined portion provided at the destination are connected by connection mechanisms provided on the joining portion and the joined portion, respectively; a step of relatively moving the joining part and the joined part in a horizontal direction while the joining part and the joined part are connected by the connection mechanism, thereby positioning the device at a specified position of the movement destination; A positioning control method comprising the steps of: According to this positioning control method, by relatively moving the joining part and the joined part in the horizontal direction, it is possible to position the device to a specified destination position with high accuracy in a short time without manual intervention.

[0106] (9) A positioning control method as described in (8), in which after the joining part and the joining part are connected and before the joining part and the joining part are positioned, the directions of the running wheels of the transport robot and the caster wheels of the swivel casters are made parallel to the relative movement direction when positioning the joining part and the joining part at the specified destination position. According to this positioning control method, the joining part of the transport robot or device can be smoothly moved relative to the joined part in the horizontal direction while the joining part is connected to the joined part at the destination, thereby enabling the device to be positioned with high accuracy relative to the specified position at the destination.

[0107] <Additional Notes> The present specification also discloses the following: [1] The horizontal fine movement mechanism is a first fixing portion provided with the connection mechanism on one side; a second fixed portion supported by the first fixed portion so as to be movable relative to the first fixed portion in a horizontal direction; a protrusion driving portion provided on the second fixed portion and configured to move a rod-shaped protrusion toward and away from the first fixed portion; a projection receiving portion provided on the first fixing portion and into which a tip end of the protruding projection is inserted; having At least one of the contact surfaces between the protruding piece and the protruding piece receiving portion that come into contact with each other as the protruding piece is inserted includes a wedge-shaped inclined surface that is inclined within a horizontal plane from the advancing / retreating direction of the protruding piece, and a horizontal relative movement between the joining portion and the joined portion is caused by the contact between the contact surfaces at the inclined surface due to the insertion of the protruding piece. Positioning system. According to this positioning system, the first fixing part and the second fixing part move relatively in the horizontal direction by inserting the protruding piece into the protruding piece receiving part, which causes the joining part and the joined part to move relatively in the horizontal direction, and makes it easy to position the device at the specified destination position.

[0108] [2] The protruding piece has an inclined surface that tapers in width in the horizontal direction of the protruding piece toward the tip end, The positioning system according to [1], wherein the protruding piece receiving portion has a pair of rotating rollers that horizontally pinch the inclined surface of the protruding piece. According to this positioning system, by inserting the protruding piece into the protruding piece receiving part, the tapered protruding piece having an inclined surface is sandwiched between the rotating rollers, which causes relative movement in the horizontal direction between the joining part and the joined part, and allows the device to be easily positioned at a specified destination position.

[0109] [3] A positioning system as described in [1] or [2], in which a horizontal rail extending horizontally is fixed to either the first fixed part or the second fixed part, and a slider that moves along the horizontal rail is fixed to the other of the first fixed part and the second fixed part. According to this positioning system, the horizontal rail and the slider enable the first fixed part and the second fixed part to move smoothly relative to each other in the horizontal direction, thereby allowing the device to be smoothly positioned at a specified destination position.

[0110] [4] A positioning system described in any one of [1] to [3], comprising an elastic member that regulates horizontal relative movement between the first fixed portion and the second fixed portion by elastic repulsive force. According to this positioning system, the relative horizontal movement between the first fixed part and the second fixed part is regulated by the elastic rebound force of the elastic member, thereby suppressing rattling between the first fixed part and the second fixed part and improving positioning accuracy.

[0111] [5] The first fixing portion has a front plate on which the joint portion is provided and an intermediate plate disposed between the front plate and the second fixing portion, A positioning system described in any one of [1] to [4], wherein a vertical rail extending vertically is fixed to either the front panel or the intermediate plate, and a slider that moves along the vertical rail is fixed to the other. According to this positioning system, the front panel and the intermediate panel can be moved relatively in the vertical direction, so that they can be positioned in the horizontal direction while allowing for a vertical positional deviation between the specified position of the movement destination and the device. [Explanation of symbols]

[0112] 10 Swivel casters 11 Caster wheels 19 Caster swivel drive unit 100 Transport equipment (equipment) 101 Molds (items) 111 Loading section 113 Transport Robot 124 Lifting drive unit 131 Wheel drive unit 137 Running Wheels 140 Conveyor 141 Arm parts 141a Arm base end 143 Arm drive unit 145 Transport roller 147 Angle detection unit 200 Molding machine (movement destination) 300 joint 301 Connection hole (connection mechanism) 303 Lock hole (connection mechanism) 310 Part to be joined 311 Connection pin (connection mechanism) 313 Clamper (connection mechanism) 320 Horizontal movement mechanism 321 1st fixed part 323 Second fixed part 325A front plate 325B Intermediate plate 331 Horizontal Rail 333 Slider 341 Elastic Members 351 Protruding piece drive part 357 Projecting piece 357a Slope 361 Projection piece receiving part 365 Rotating Roller 381 Vertical Rail 383 Slider 401 Control section

Claims

1. A positioning system that moves a device mounted on a trackless transport robot to a specified destination and positions the device at a specified position at the destination, The device is provided with a joint; a joint portion that can be joined to the joint portion is provided at the destination of the movement, the transport robot includes a travel wheel and a wheel drive unit that drives the travel wheel to rotate and turn, The device includes a plurality of swivel casters arranged around the wheel drive unit; The joining portion and the joined portion each have a connection mechanism for connecting with each other, Either the joining portion or the joined portion has a horizontal movement mechanism and a positioning mechanism, the horizontal movement mechanism allows the joining portion and the joined portion to be relatively movable in a horizontal direction, and enables the joining portion and the joined portion to be connected by the connection mechanism even when the device is in a position shifted from the specified position; The positioning mechanism relatively moves the joining portion and the joined portion connected by the connection mechanism in a horizontal direction to position the device at the specified position. A positioning system comprising:

2. The device includes a caster swivel drive unit that swivels each of the caster wheels of the plurality of casters to change the caster travel direction. The positioning system of claim 1 .

3. a control unit that makes the orientations of the running wheels of the transport robot and the caster wheels of the swivel casters parallel to the relative movement direction of the joining part and the joining part by the horizontal movement mechanism after the joining part and the joining part are connected by the connection mechanism and before the joining part and the joining part are positioned by the positioning mechanism; The positioning system of claim 2 .

4. Further comprising a vertical movement mechanism for relatively moving the joining portion and the joined portion in the vertical direction. The positioning system of claim 1 .

5. The device includes a lifting drive unit that lifts and lowers a loading unit on which an article is placed, and a conveying unit that serves as a conveying path from the loading unit to a delivery destination of the article. The positioning system of claim 1 .

6. the conveying section includes an arm member having an arm base end rotatably supported at an end of the loading section on a side where the article is carried in and out, and an arm driving section that drives and rotates the arm member, A plurality of conveying rollers are arranged in parallel on the arm member along the arm longitudinal direction. The positioning system of claim 5.

7. The arm member is provided with an angle detection unit that detects an inclination angle of the arm member, the arm driving unit rotates the arm member so that a height of the arm member on the transport path coincides with a height of a transport path at a delivery destination based on a result of detection of an inclination angle by the angle detection unit. The positioning system of claim 6.

8. A positioning control method for moving a device mounted on a trackless transport robot to a specified destination and positioning the device at a specified position of the destination, comprising: the transport robot includes a wheel drive unit that drives the wheels to rotate and swivel the wheels to change the direction in which the robot travels, The device includes a plurality of swivel casters arranged around the running wheels; moving the transport robot together with the device to the destination; At the destination, a joining portion provided on the device and a joined portion provided at the destination are connected by connection mechanisms provided on the joining portion and the joined portion, respectively; a step of relatively moving the joining part and the joined part in a horizontal direction while the joining part and the joined part are connected by the connection mechanism, thereby positioning the device at a specified position of the movement destination; A positioning control method comprising the steps of:

9. After the joining portion and the joined portion are connected, and before the joining portion and the joined portion are positioned, the directions of the running wheels of the transport robot and the caster wheels of the swivel casters are made parallel to a relative movement direction when the joining portion and the joined portion are positioned at the specified destination position. The positioning control method according to claim 8.

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