Connection unit and connection method

Abstract

To provide a coupler, a coupling unit, or a coupling method that allow adjustment of variation in height and position of an automatic conveyance robot and a carriage.SOLUTION: A coupler to be attached to an automatic conveyance robot enters below a carriage to tow the carriage. The coupler has a main body, and a first movable pin and a second movable pin that are provided on the main body and that are respectively extensible and contractable. The coupler has a curved protrusion that is positioned between the first movable pin and the second movable pin, and that is provided on the main body to support a load of the carriage.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] An embodiment of the present invention relates to a coupler, a coupling unit, and a coupling method for coupling a cart used in transporting materials at a construction site to an automatic transport robot. [Background technology]

[0002] In recent years, technological development of automatic guided vehicles (AGVs) has progressed, and automatic guided vehicles have begun to be used in various situations. For example, if automatic guided vehicles are used in warehouses where products are stored, it becomes possible to automatically transport a wide variety of products. This improves work efficiency and reduces costs. As such an automatic guided vehicle, an automatic guided vehicle that enters under a dolly and lifts the dolly to transport it is known (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-59460 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, because the automatic guided vehicle needs power to lift the cart, the automatic guided vehicle becomes larger. In particular, many of the materials at construction sites are heavy, and therefore, more power is required to lift the cart loaded with such materials, and the automatic guided vehicle becomes even larger. For this reason, development is underway of a small automatic guided robot with a line tracing function and an automatic following function that can use the casters of the cart to connect with the cart below and pull the cart.

[0005] However, at a construction site, the location of materials changes daily, and the weight of materials loaded on the cart also changes. In addition, when the automated transport robot and the cart are placed on different levels, the entry height of the automated transport robot may be affected by the contact surface. Such changes lead to variations in the height of the cart (i.e., the distance from the floor to the loading platform of the cart). There was also the problem of the load of the cart being concentrated on the coupler that connects the automated transport robot and the cart.

[0006] In view of the above problems, an object of one embodiment of the present invention is to provide a coupler, a coupling unit, or a coupling method that can adjust the variation in height and position between an automatic transport robot and a cart. Another object of one embodiment of the present invention is to provide a coupler, a coupling unit, or a coupling method that can distribute the load of the cart. [Means for solving the problem]

[0007] A coupler according to one embodiment of the present invention is a coupler that is installed on an automatic transport robot that fits under a cart and pulls the cart, and includes a main body, a first movable pin and a second movable pin that are provided on the main body and are each extendable and retractable, and a curved convex portion located on the main body between the first movable pin and the second movable pin and for supporting the load of the cart, and the first movable pin can be fixed at a predetermined position, and when the second movable pin contracts, the first movable pin is released from its fixation.

[0008] A connection unit according to one embodiment of the present invention is a connection unit including a first coupler installed on an automatic transport robot and a second coupler installed on a cart, the first coupler including a main body, a first movable pin and a second movable pin that are each extendable and retractable and provided on the main body, and a curved convex portion located between the first movable pin and the second movable pin and provided on the main body, and the second coupler including a base material and a curved convex portion provided on the base material and extending between the first movable pin and the second movable pin. The base material includes a groove portion that serves as a guide for the movement of the pin, and four movable pin engagement grooves that engage the first movable pin or the second movable pin within the groove portion, the groove portion including a circular first groove portion, a cross-shaped second groove portion that intersects with the first groove portion, and a third groove portion that has an open end face of the base material and is connected to the first groove portion and the second groove portion, the bottom face of the second groove portion includes a curved recess that fits into the protrusion, and the four movable pin engagement grooves are provided at the points where the first groove portion and the second groove portion intersect.

[0009] The third groove may have a width that narrows from the end face towards the center of the base material.

[0010] The third groove may be inclined so that its depth becomes shallower from the end face toward the center of the substrate.

[0011] The first movable pin may include a first pressing portion and a first ball portion rotatably supported by the first pressing portion, and the second movable pin may include a second pressing portion and a second ball portion rotatably supported by the second pressing portion.

[0012] A connecting method according to one embodiment of the present invention is a connecting method for connecting a first coupler, which is installed on an automatic transport robot and includes a first movable pin and a second movable pin, each of which is extendable and retractable, and a curved convex portion between the first movable pin and the second movable pin, to a second coupler, which is installed on a dolly and includes a groove portion including a curved concave portion at least in a portion thereof and four movable pin locking grooves in the groove portion, the first movable pin being inserted into the groove portion without contacting the bottom surface of the groove portion, The connector is raised, the first movable pin contracts or expands while contacting the bottom surface of the groove, the first movable pin is moved along the groove, the second movable pin contracts or expands while contacting the bottom surface of the groove, the first movable pin and the second movable pin are moved along the groove, each of the first movable pin and the second movable pin is extended, the first movable pin and the second movable pin are engaged with two of the four movable pin engagement grooves, the first connector is raised, and the convex portion and the concave portion are engaged.

[0013] The first movable pin may include a first pressing portion and a first ball portion rotatably supported by the first pressing portion, and the second movable pin may include a second pressing portion and a second ball portion rotatably supported by the second pressing portion, and the first movable pin and the second movable pin may move along the groove portion while rotating the first ball portion and the second ball portion, respectively.

[0014] When the first connector is raised, the first ball portion and the second ball portion are pressed against the first pressing portion and the second pressing portion, respectively, and the first pressing portion and the second pressing portion may come into contact with the bottom surfaces of two of the four movable pin engagement grooves. Effect of the Invention

[0015] A coupler, connection unit, or connection method according to one embodiment of the present invention can connect an automatic transport robot and a cart by adjusting variations in height and position between the automatic transport robot and the cart and distributing the load of the cart. [Brief description of the drawings]

[0016] [Figure 1] 1 is a schematic diagram illustrating an automatic transport robot and a cart connected by a connection unit according to an embodiment of the present invention; FIG. [Diagram 2] 3A and 3B are schematic side and plan views showing the configuration of a first coupler of a connection unit according to one embodiment of the present invention. [Diagram 3] 4 is a schematic cross-sectional view showing the configuration of a second movable pin of a first coupler of a connection unit according to one embodiment of the present invention. FIG. [Figure 4] 5A and 5B are schematic plan and cross-sectional views showing the configuration of a second coupler of a connection unit according to one embodiment of the present invention. [Diagram 5] FIG. 4 is a schematic diagram illustrating the connection between a first coupler and a second coupler of a connection unit according to one embodiment of the present invention. [Figure 6] FIG. 4 is a schematic diagram illustrating the connection between a first coupler and a second coupler of a connection unit according to one embodiment of the present invention. [Figure 7] FIG. 4 is a schematic diagram illustrating the connection between a first coupler and a second coupler of a connection unit according to one embodiment of the present invention. [Figure 8] FIG. 4 is a schematic diagram illustrating the connection between a first coupler and a second coupler of a connection unit according to one embodiment of the present invention. [Figure 9] 11 is a schematic diagram illustrating the release of the connection between the first coupler and the second coupler of the connection unit in one embodiment of the present invention. FIG. [Figure 10] 3A and 3B are schematic side and plan views showing the configuration of a first coupler of a connection unit according to one embodiment of the present invention. [Figure 11] 5A and 5B are schematic side and cross-sectional views showing the configuration of a second coupler of a connection unit according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Each embodiment of the present invention will be described below with reference to the drawings. Note that the embodiments are merely examples, and those that a person skilled in the art can easily come up with by appropriately modifying the embodiments while maintaining the gist of the invention are naturally included in the scope of the present invention. In addition, in order to make the explanation clearer, the drawings may show the width, thickness, shape, etc. of each part in a schematic manner compared to the actual embodiment. However, the shapes shown in the drawings are merely examples and do not limit the interpretation of the present invention.

[0018] In this specification, for convenience of explanation, the terms "above", "upper", "upper part", "below", "lower part", and "lower part" are used to merely explain the vertical relationship of each component. For example, when explaining the positional relationship of components of a structure (e.g., a cart or an automatic transport robot), the surface side on which the structure is installed (e.g., the floor surface side) may be referred to as "lower", "lower part", or "lower part" based on the normal use of the structure.

[0019] In this specification, the letters "first," "second," or "third" attached to each component are convenient labels used to distinguish each component, and have no other meaning unless otherwise specified.

[0020] In this specification and drawings, the same reference numerals are used to collectively represent multiple identical or similar components, and capital or lowercase letters may be added to each of the multiple components to distinguish them from one another. In addition, a hyphen and a natural number may be used to distinguish between multiple parts of one component.

[0021] In this specification, the term "automatic transport robot" refers to a robot that is coupled with a cart and can travel automatically while transporting the cart to a specified location as instructed. Note that the term "robot" includes vehicles.

[0022] In this specification, the term "cart" refers to a vehicle that can be loaded with materials and moved using casters.

[0023] In this specification, "automatic driving" includes not only driving according to instructions based on a program, but also autonomous driving by a control device equipped in the automatic transport robot. Autonomous driving includes not only driving of the automatic transport robot toward a destination along a predetermined route, but also driving while following a target.

[0024] First Embodiment [1. Overview of the configuration of the connecting unit 10] FIG. 1 is a schematic diagram illustrating an automatic transfer robot 20 and a dolly 30 connected by a connection unit 10 according to an embodiment of the present invention. The connection unit 10 includes a first coupler 100 and a second coupler 200. The first coupler 100 and the second coupler 200 are installed on the automatic transfer robot 20 and the dolly 30, respectively. Specifically, the first coupler 100 is installed on the upper part of the automatic transfer robot 20, and the second coupler 200 is installed on the lower part of the platform of the dolly 30. The automatic transfer robot 20 enters below the platform of the dolly 30 and raises the first coupler 100. The raised first coupler 100 is connected to the second coupler 200 and fixed. That is, the automatic transfer robot 20 and the dolly 30 are connected. At this time, the automatic transfer robot 20 does not need to lift the casters of the dolly 30 off the floor surface. The cart 30 connected to the automatic transfer robot 20 can rotate its casters in accordance with the movement of the automatic transfer robot 20, and can move while being towed by the automatic transfer robot 20. In addition, by turning the automatic transfer robot 20 connected to the cart 30, the direction in which the cart 30 is towed can be changed.

[0025] The first coupler 100 and the second coupler 200 included in the connection unit 10 are detachably attached to the automatic transfer robot 20 and the cart 30, respectively. Therefore, the connection unit 10 can be applied to any automatic transfer robot 20 and cart 30. It is preferable that the automatic transfer robot 20 includes a lifting mechanism for lifting and lowering the first coupler 100, but this is not limited thereto. Although details are omitted, the lifting mechanism for lifting and lowering the first coupler 100 has a simple configuration, so it can also be attached separately to the automatic transfer robot 20.

[0026] The configurations of the first coupler 100 and the second coupler 200 will be described in detail below.

[0027] [2. Configuration of the first coupler 100] FIG. 2 is a schematic side view and a plan view showing the configuration of the first coupler 100 of the connection unit 10 according to one embodiment of the present invention. As shown in FIG. 2, the first coupler 100 includes a main body 110, a first movable pin 120, a second movable pin 130, and a convex portion 140. The first movable pin 120 and the second movable pin 130 are provided on the upper part of the main body 110. The convex portion 140 is provided between the first movable pin 120 and the second movable pin 130 on the upper part of the main body 110. The convex portion 140 has a curved upper surface. The maximum height of the curved convex portion 140 from the main body 110 is lower than the heights of the first movable pin 120 and the second movable pin 130 from the main body 110. In addition, in a plan view, the width of the convex portion 140 is smaller than the width of the main body 110, but is not limited to this. However, the width of the protrusion 140 can be determined by the configuration of the second coupler 200. The shape of the protrusion 140 in a plan view is not particularly limited.

[0028] The first movable pin 120 includes a first pressing portion 121, a first support 122, and a first ball portion 123. The second movable pin 130 includes a second pressing portion 131, a second support 132, and a second ball portion 133. The first support 122 and the second support 132 are each provided on the upper portion of the main body 110. The first pressing portion 121 and the second pressing portion 131 are fitted into the first support 122 and the second support 132, respectively. In addition, the upper edge portions of the first pressing portion 121 and the second pressing portion 131 each have a curved surface. That is, the upper edge portions of the first pressing portion 121 and the second pressing portion 131 each have a rounded shape. The first ball portion 123 and the second ball portion 133 are rotatably supported by the first pressing portion 121 and the second pressing portion 131, respectively. The first movable pin 120 and the second movable pin 130 can extend and retract. More specifically, the first movable pin 120 and the second movable pin 130 can extend and retract by the first pressing portion 121 and the second pressing portion 131 being pushed up or down.

[0029] The first coupler 100 is used with the main body 110 attached to the automatic transfer robot 20. The main body 110 has a configuration for interlocking the extension and retraction motion of the first movable pin 120 and the extension and retraction motion of the second movable pin 130, and the details of this configuration will be described later. In addition, the first movable pin 120 and the second movable pin 130 have different configurations because they operate differently when connected to the second coupler 200. Here, the configurations of the first movable pin 120 and the second movable pin 130 and the details of the interlocking motion of the first movable pin 120 and the second movable pin 130 will be described with reference to Figs. 3 to 5.

[0030] FIG. 3 is a schematic cross-sectional view showing the configuration of the first movable pin 120 and the second movable pin 130 of the first coupler 100 of the connection unit 10 according to one embodiment of the present invention. Here, the second movable pin 130 will be used for explanation. The second pressing portion 131 is provided with a second fitting groove 134, and the second support 132 is fitted into the second fitting groove 134. The second movable pin 130 further includes a second biasing member 135. The second biasing member 135 is provided on the second support 132 and biases the second pressing portion 131. The second biasing member 135 is connected to the second pressing portion 131 in the second fitting groove 134.

[0031] Therefore, in the second movable pin 130, the second pressing portion 131 is pushed up by the biasing force of the second biasing member 135. Similarly, in the first movable pin 120, the first pressing portion 121 is pushed up by the biasing force of the first biasing member 125 (not shown).

[0032] [3. Configuration of the second coupler 200] Fig. 4 is a schematic plan view and a cross-sectional view showing the configuration of the second coupler 200 of the connection unit 10 according to one embodiment of the present invention. Specifically, Fig. 4(A) is a plan view of the surface to be connected to the first coupler 100. Fig. 4(B) and Fig. 4(C) show cross-sectional views of the second coupler 200 taken along the lines A-A' and B-B' shown in Fig. 4(A).

[0033] As shown in FIG. 4(A), the second connector 200 includes a base material 210, a first groove 220, a second groove 230, a third groove 240, and four movable pin locking grooves 250. The first groove 220 has a circular shape. The second groove 230 has a cross shape. The depth of the first groove 220 is constant, whereas the depth of the second groove 230 varies. The bottom surface of the second groove 230 is curved in a concave shape so that the center of the cross shape is the deepest. In other words, the second groove 230 has a curved recess. The first groove 220 is provided so as to surround the cross shape of the second groove 230, and the first groove 220 and the second groove 230 are connected at four points. In addition, a movable pin locking groove 250 is provided in the first groove 220 to which the second groove 230 is connected. That is, in the first groove 220, four movable pin locking grooves 250 are provided with 90-degree rotational symmetry. Therefore, as shown in FIG. 4(B) and FIG. 4(C), the depth of the movable pin locking groove 250 (distance from the surface of the base material 210) is deeper than the depth of the first groove 220 or the maximum depth of the second groove 230. Although details will be described later, when the first coupler 100 and the second coupler 200 are connected, the movable pin locking groove 250 can lock the first movable pin 120 or the second movable pin 130 of the first coupler. Therefore, the depth of the movable pin locking groove 250 is equal to or greater than the height of the first movable pin 120 or the second movable pin. Furthermore, the recess of the second groove 230 approximately coincides with the protrusion 140 of the first coupler 100. Although details will be described later, when the first coupler 100 and the second coupler 200 are coupled, the recess of the second groove 230 comes into contact with the protrusion 140 and the load of the bogie 30 is transmitted to the protrusion 140, so that the load of the bogie 30 can be dispersed.

[0034] The width of the first groove 220 is equal to or greater than the diameter of each of the first movable pin 120 and the second movable pin. As a result, when the first coupler 100 is rotated by the rotation of the automatic transfer robot 20, the first groove 220 serves as a guide for the first movable pin 120 and the second movable pin 130. That is, the first movable pin 120 and the second movable pin 130 can rotate along the first groove 220. The width of the second groove 230 is equal to or greater than the diameter of each of the first movable pin 120 and the second movable pin 130 and the width of the convex portion 140. As a result, the second groove 230 serves as a guide for the first movable pin 120 and the second movable pin 130, and the convex portion 140 can fit into the concave portion of the second groove 230.

[0035] The third groove 240 has an opening on the end face of the base material 210 and is provided at the end of the base material 210. The third groove narrows from the end of the base material 210 toward the center, and is connected to the first groove 220 and the second groove 230. The third groove 240 is inclined so that the depth becomes shallower from the end of the base material 210 toward the center. When the first coupler 100 and the second coupler 200 are connected, the first movable pin 120 and the second movable pin 130 enter from the third groove 240. There is variation in the positions of the first movable pin 120 and the second movable pin 130 that enter, but since the third groove 240 has the above-mentioned configuration, the first movable pin 120 and the second movable pin 130 can be entered while adjusting their positions.

[0036] [4. Method of connecting the first coupler 100 and the second coupler 200] 5 to 8 are schematic diagrams illustrating the connection between the first coupler 100 and the second coupler 200 of the connection unit 10 according to one embodiment of the present invention.

[0037] The first coupler 100 is installed on the automatic transfer robot 20 so that the first movable pin 120 and the second movable pin 130 are in the forward direction (front) and backward direction (rear) of the automatic transfer robot 20, respectively. At this time, the first movable pin 120 and the second movable pin 130 of the first coupler 100 are urged by the first urging member 125 and the second urging member 135, respectively, and are extended. The first coupler 100 is also installed on the automatic transfer robot 20 so that the first movable pin 120 enters the second groove portion 230, but has a height that does not contact the bottom surface of the second groove portion 230. Here, the position of the lower surface of the main body 110 at a height where the first movable pin 120 extends and does not contact the bottom surfaces of the first groove portion 220 and the second groove portion 230 is described as the first position. Furthermore, even when the first coupler 100 is rotated by the rotation of the automatic transport robot 20, it is preferable that the position of the underside of the main body 110 maintains the first position and that the first movable pin 120 and the second movable pin 130 do not come into contact with the first groove portion 220.

[0038] The automatic transfer robot 20 enters below the cart 30 to couple with the cart 30. In the first position, the first movable pin 120 of the first coupler 100 enters from the third groove 240 of the second coupler 200 and moves along the second groove 230 (see FIG. 5). In the first position, the first movable pin 120 passes through the first movable pin locking groove 250-1 without being locked therein.

[0039] The automatic transfer robot 20 stops at a predetermined position (a position where the first movable pin 120 is in the second groove 230) and raises the main body 110 of the first coupler 100. In the first movable pin 120, the first ball portion 123 contacts the bottom surface of the second groove 230. Since the upper edge portion of the first pressing portion 121 has a curved surface, the end portion of the first pressing portion 121 does not contact the bottom surface of the second groove 230, and the generation of particles can be suppressed. In addition, the first biasing member 125 contracts and the first pressing portion 121 is pressed down (see FIG. 6). Here, the position of the lower surface of the main body 110 when the first movable pin 120 contacts the bottom surface of the second groove 230 is defined as the second position.

[0040] The automatic transfer robot 20 starts to move forward. The first movable pin 120 advances along the second groove 230 and stops at a position where it overlaps with the second movable pin locking groove 250-2. Since the first movable pin 120 is provided with the first ball portion 123, the first ball portion 123 rotates to reduce friction when the first movable pin 120 moves. In addition, when the first movable pin 120 moves, the second groove portion 230 serves as a guide. Since the bottom surface of the second groove portion 230 has a recess, the first movable pin 120 is deeply inserted into the second groove portion 230 and is difficult to come out. As the first movable pin 120 moves, the second movable pin 130 enters from the third groove portion 240. The second movable pin 130 advances along the inclined bottom surface of the third groove portion 240, and the second pressing portion 131 is pressed down. When the first movable pin 120 overlaps with the second movable pin locking groove 250-2, the first pressing portion 121 is pushed up by the biasing force of the first biasing member 125 (see FIG. 7). That is, the first movable pin 120 is locked by the second movable pin locking groove 250-2. Also, when the second movable pin 130 overlaps with the first movable pin locking groove 250-1, the second pressing portion 131 is pushed up by the biasing force of the second biasing member 135. That is, the second movable pin 130 is locked by the first movable pin locking groove 250-1. This fixes the position of the first coupler 100 with respect to the second coupler 200.

[0041] The automatic transfer robot 20 raises the main body 110 so that the first pressing portion 121 and the second pressing portion 131 come into contact with the second movable pin locking groove 250-2 and the first movable pin locking groove 250-1, respectively (see FIG. 8). Here, the position of the lower surface of the main body 110 is defined as the third position. In the third position, the first ball portion 123 and the second ball portion 133 are pressed into the first pressing portion 121 and the second pressing portion 131, respectively. Also, in the third position, the convex portion 140 comes into contact with the bottom surface of the second groove portion 230. That is, the convex portion 140 and the concave portion of the second groove portion 230 are fitted together. In this manner, the first coupler 100 and the second coupler 200 are coupled together.

[0042] When the first coupler 100 and the second coupler 200 are coupled together, the load of the dolly 30 is supported by the first movable pin 120, the second movable pin 130, and the convex portion 140. In the coupling unit 10, the contact area between the first coupler 100 and the second coupler 200 can be increased by fitting the convex portion 140 into the concave portion of the second groove portion 230. Therefore, the coupling unit 10 can distribute the load of the dolly 30. When the dolly 30 is transported by the automatic transport robot 20, the main body 110 may be rotated 90 degrees. By rotating the main body 110 90 degrees, the load of the dolly 30 can be received by the side of the convex portion 140. In other words, by increasing the area of ​​the convex portion 140, the area that receives the load can be distributed.

[0043] [5. Method for releasing the connection between the first coupler 100 and the second coupler 200] FIG. 9 is a schematic diagram illustrating the release of the connection between the first coupler 100 and the second coupler 200 of the connection unit 10 according to one embodiment of the present invention.

[0044] When the automatic transfer robot 20 reaches a predetermined destination, it releases the connection with the cart 30. The automatic transfer robot 20 lowers the main body 110 of the first coupler 100 to the first position (see FIG. 9). This releases the first movable pin 120 and the second movable pin 130 from the second movable pin locking groove 250-2 and the first movable pin locking groove 250-1, respectively.

[0045] Next, the automatic transfer robot 20 retreats and exits from under the dolly 30. At this time, the first movable pin 120 advances along the second groove portion 230 and passes through the first movable pin locking groove 250-1. In this manner, the connection between the first coupler 100 and the second coupler 200 is released.

[0046] According to the connection unit 10 of this embodiment, when the automatic transfer robot 20 enters the cart 30, the first movable pin 120 and the second movable pin 130 of the first coupler 100 can adjust the variation in height between the automatic transfer robot 20 and the cart 30 (i.e., the variation in the distance between the automatic transfer robot 20 and the cart 30). In addition, since the first movable pin 120 moves while being guided by the second groove portion 230 of the second coupler 200, the variation in the connection position can be adjusted. In addition, in the connection unit 10, the convex portion of the first coupler 100 and the concave portion of the second groove portion 230 of the second coupler 200 are fitted together, so that the load of the cart 30 can be distributed.

[0047] <Second embodiment> A connection unit 10A that is different from the connection unit 10 will be described with reference to Figures 10 and 11. When the configuration of the connection unit 10A is the same as the configuration of the connection unit 10, the description thereof may be omitted.

[0048] [1. Configuration of the first coupler 100A] FIG. 10 is a schematic side view (FIG. 10(A) and a plan view (FIG. 10(B)) showing the configuration of a first coupler 100A of a connection unit 10A according to an embodiment of the present invention. As shown in FIG. 10, the first coupler 100A includes a main body 110, a first movable pin 120A, a second movable pin 130A, and a protrusion 140. The first movable pin 120A also includes a first pressing portion 121A, a first support The second movable pin 130 includes a second pressing portion 131A, a second support 132, and a plurality of first ball portions 123A. The second movable pin 130 includes a second pressing portion 131A, a second support 132, and a plurality of second ball portions 133A. Each of the plurality of first ball portions 123A is rotatably supported by the first pressing portion 121A. Similarly, each of the plurality of second ball portions 133A is rotatably supported by the second pressing portion 131A.

[0049] [2. Configuration of the second coupler 200A] Fig. 11 is a schematic side view and a cross-sectional view showing the configuration of the second coupler 200A of the connection unit 10A according to one embodiment of the present invention. Specifically, Fig. 11(A) is a plan view of the surface that is connected to the first coupler 100A. Fig. 11(B) shows a cross-sectional view of the second coupler 200A cut along the line CC' shown in Fig. 11(A).

[0050] As shown in FIG. 11(A), the second coupler 200A includes a base material 210, a first groove portion 220, a second groove portion 230, a third groove portion 240, and a movable pin locking groove 250A. A plurality of semispherical recesses 251A are provided on the bottom surface of the movable pin locking groove 250A. The plurality of recesses 251A correspond to the plurality of first ball portions 123A or the plurality of second ball portions 133A. That is, when the first coupler 100A and the second coupler 200A are connected to each other, the plurality of first ball portions 123A and the plurality of second ball portions 133A each fit into the plurality of recesses 251A.

[0051] According to the connection unit 10A of this embodiment, when the first coupler 100A and the second coupler 200A are connected, each of the multiple first ball portions 123A and the multiple second ball portions 133A engage with the multiple recesses 251A, thereby firmly fixing the first coupler 100A to the second coupler 200A.

[0052] The above-described embodiments of the present invention may be combined as appropriate as long as they are not mutually inconsistent. Furthermore, those in which a person skilled in the art appropriately adds or removes components or modifies designs, or adds or omits steps or modifies conditions based on the embodiments, are also included in the scope of the present invention as long as they include the gist of the present invention.

[0053] Even if there are other effects and advantages different from those brought about by the above-mentioned embodiments, those which are clear from the description in this specification or which can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0054] 10, 10A: connection unit, 20: automatic transfer robot, 30: cart, 100, 100A: first coupler, 110: main body, 120, 120A: first movable pin, 121, 121A: first pressing portion, 122: first support pillar, 123, 123A: first ball portion, 124: first fitting groove, 125: first urging member, 130, 130A: second movable pin, 131, 131A: second pressing portion, 132: second support pillar, 133, 133A: second ball portion, 134: second fitting groove, 135: second urging member, 140: protrusion, 200, 200A: second coupler, 210: Base material, 220: First groove portion, 230: Second groove portion, 240: Third groove portion, 250: Movable pin locking groove, 250-1: First movable pin locking groove, 250-2: Second movable pin locking groove, 250A: Movable pin locking groove, 251A: Recessed portion

Claims

1. A connection unit including a first connector installed on an automatic transport robot and a second connector installed on a cart, The first coupler includes: The main body, a first movable pin and a second movable pin, each of which is extendable and retractable, provided on the main body; a curved protrusion provided on the main body and located between the first movable pin and the second movable pin, The second connector comprises: A substrate; a groove portion provided in the base material and serving as a guide for movement of the first movable pin or the second movable pin; and four movable pin locking grooves for locking the first movable pin or the second movable pin in the groove portion, The groove portion is A circular first groove portion; a cross-shaped second groove portion intersecting the first groove portion; an end surface of the base material is opened, and a third groove portion is connected to the first groove portion and the second groove portion; a bottom surface of the second groove portion includes a curved recess portion that fits into the protrusion portion, A coupling unit, wherein the four movable pin engagement grooves are provided at points where the first groove portion and the second groove portion intersect.

2. The connecting unit according to claim 1 , wherein the third groove portion has a width that narrows from the end surface toward the center of the base material.

3. The connection unit according to claim 1 or 2, wherein the third groove portion is inclined so that its depth becomes shallower from the end surface toward the center of the base material.

4. the first movable pin includes a first pressing portion and a first ball portion rotatably supported by the first pressing portion, The connection unit according to claim 1 , wherein the second movable pin includes a second pressing portion and a second ball portion rotatably supported by the second pressing portion.

5. A method for connecting a first coupler, which is installed on an automatic transport robot and includes a first movable pin and a second movable pin, each of which is extendable and retractable, and a curved convex portion between the first movable pin and the second movable pin, to a second coupler, which is installed on a cart and includes a groove portion including a curved concave portion at least in a portion thereof and four movable pin locking grooves within the groove portion, The first movable pin is inserted into the groove without contacting a bottom surface of the groove, The first connector is raised, and the first movable pin is contracted or extended while contacting the bottom surface of the groove portion; The first movable pin is moved along the groove, and the second movable pin is contracted or extended while being brought into contact with the bottom surface of the groove; The first movable pin and the second movable pin are moved along the groove portion; Extending each of the first movable pin and the second movable pin, and engaging the first movable pin and the second movable pin with two of the four movable pin engaging grooves; a connecting method comprising: lifting the first connector and engaging the protrusion with the recess.

6. the first movable pin includes a first pressing portion and a first ball portion rotatably supported by the first pressing portion, the second movable pin includes a second pressing portion and a second ball portion rotatably supported by the second pressing portion, The connecting method according to claim 5 , wherein the first movable pin and the second movable pin move along the groove portion while rotating the first ball portion and the second ball portion, respectively.

7. 7. The connecting method according to claim 6, wherein when the first coupler is raised, the first ball portion and the second ball portion are pressed against the first pressing portion and the second pressing portion, respectively, and the first pressing portion and the second pressing portion come into contact with bottom surfaces of two of the four movable pin engagement grooves.

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