Positioning device for automated guided vehicles

Abstract

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

Description

[Technical Field]

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

[0002] Conventionally, automated guided vehicles (AGVs) have been used in factories and the like to automatically transport loads between multiple pieces of equipment. The AGVs travel toward the equipment and automatically stop when they reach a position in front of the equipment. After stopping, the AGVs deliver the load to the equipment or receive the load from the equipment. If the position of the AGV is misaligned with the equipment, the load cannot be delivered properly. Therefore, conventionally, a positioning device has been used to position the AGV with respect to the equipment so that the positions of the AGV and the equipment are aligned after the AGV stops in front of the equipment.

[0003] Patent Document 1 describes a positioning device including a positioning pin and a pin hole with a tapered inner peripheral surface. The device has a protrusion that protrudes downward, and the pin hole is formed at the lower end of the protrusion. The positioning pin is provided on an automated guided vehicle and protrudes upward. When positioning the automated guided vehicle, the device moves the pin hole downward, inserting the positioning pin into the pin hole. Because the inner peripheral surface of the pin hole is tapered, if the axis of the positioning pin and the axis of the pin hole are misaligned, the positioning pin comes into contact with the inner peripheral surface of the pin hole as the pin hole moves downward. The positioning pin receives a downward force from the inner peripheral surface of the pin hole and also receives a horizontal force so that the axis of the positioning pin and the axis of the pin hole coincide. The automated guided vehicle moves horizontally due to the force. This eliminates misalignment of the automated guided vehicle. [Prior art documents] [Patent documents]

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

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

[0006] In the above-mentioned positioning device, the AGV receives a downward force during positioning, which increases friction between the wheels of the AGV and the floor surface. This results in relatively large wear on the floor surface. Meanwhile, in factories and the like, the transfer of cargo between the AGV and equipment is repeated. The AGV is positioned for the same equipment many times. Therefore, the above-mentioned positioning device has a problem in that the floor surface in front of the equipment is prone to wear.

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

[0008] The positioning device for an automated guided vehicle disclosed herein includes an automated guided vehicle that transports loads to equipment and transfers the loads to and from the equipment, and positions the automated guided vehicle with respect to the equipment. Here, one of upward and downward refers to a first direction, and the other refers to a second direction. The positioning device includes a first positioning pin extending in the first direction, and a first pinhole member that has an opening that opens toward the second direction and a tapered inner circumferential surface whose inner diameter decreases toward the first direction. One of the first positioning pin and the first pinhole member is provided on the equipment. The other of the first positioning pin and the first pinhole member is provided on the automated guided vehicle. The positioning device includes a first actuator that drives the first positioning pin or the first pinhole member to fit the first positioning pin into the first pinhole member so that an upward force is applied to the automated guided vehicle.

[0009] According to the positioning device for an automated guided vehicle, when the first actuator is driven, the first positioning pin or the first pin hole member is driven, and the first positioning pin fits into the first pin hole member. If the axis of the first positioning pin and the axis of the first pin hole member are misaligned, the first positioning pin comes into contact with the inner surface of the first pin hole member, and the first positioning pin is subjected to a load from the inner surface. This load causes the automated guided vehicle to move horizontally, and the axis of the first positioning pin and the axis of the first pin hole member become aligned. This positions the automated guided vehicle relative to the equipment. Here, when the first positioning pin fits into the first pin hole member, an upward force is applied to the automated guided vehicle. Therefore, when the automated guided vehicle moves horizontally during positioning, friction between the automated guided vehicle and the floor surface is relatively small. This reduces wear on the floor surface.

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

[0011] This eliminates the need to provide the first actuator on the automatic guided vehicle, thereby enabling the automatic guided vehicle to be made smaller and lighter.

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

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

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

[0015] The positioning device for the automated guided vehicle may include a second positioning pin extending in the first direction and a second pin hole member having an opening formed in the second direction and a tapered inner circumferential surface whose inner diameter decreases toward the first direction. One of the second positioning pin and the second pin hole member may be provided on the facility. The other of the second positioning pin and the second pin hole member may be provided on the automated guided vehicle. The positioning device may include a second actuator that drives the second positioning pin or the second pin hole member to fit the second positioning pin into the second pin hole member so as to apply an upward force to the automated guided vehicle. The second positioning pin may be arranged rearward of the first positioning pin. The second pin hole member may be arranged rearward of the first pin hole member. The second actuator may be arranged rearward of the first actuator.

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

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

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

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

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

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

[0022] This allows the transfer of the load between the automatic guided vehicle and the equipment to begin only after the fitting sensor has confirmed that the automatic guided vehicle has been positioned, thereby enabling the transfer of the load to be carried out accurately. [Effects of the Invention]

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

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

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

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

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

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

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

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

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

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

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

[0034] As described above, the bogie 3 is disposed so as to cover the vehicle body 2. As shown in FIG. 6, the coupling device 20 is connected to the upper part of the vehicle body 2. As shown in FIG. 8, the coupling device 20 is disposed below the loading platform 8. In a plan view of the vehicle, the coupling device 20 overlaps the bogie 3 and the vehicle body 2. The coupling device 20 couples the vehicle body 2 and the bogie 3 so that the bogie 3 can move in the left-right direction and the up-down direction of the vehicle relative to the vehicle body 2. The bogie 3 and the vehicle body 2 are immobile relative to each other in the fore-aft direction of the vehicle. The coupling device 20 also couples the vehicle body 2 and the bogie 3 so that the bogie 3 can rotate left-right and forward-backward relative to the vehicle body 2. However, the range of movement and rotation of the bogie 3 relative to the vehicle body 2 is limited in advance to prevent the position of the bogie 3 from shifting significantly relative to the vehicle body 2.

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

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

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

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

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

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

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

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

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

[0044] As shown in FIG. 12, if the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A are misaligned, the first positioning pin 11A contacts the inner peripheral surface 12D of the first pin hole member 12A. At this time, the first pin hole member 12A receives a force from the first positioning pin 11A. Because the inner peripheral surface 12D is tapered, the first pin hole member 12A receives an upward force from the first positioning pin 11A as well as a horizontal force. This horizontal force causes the carriage 3 to move horizontally so that the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A coincide with each other. Although not described further, the same applies to the second positioning pin 11B and the second pin hole member 12B. This positions the carriage 3 relative to the equipment 100.

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

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

[0047] According to the positioning device 10 of this embodiment, after the automated guided vehicle 1 stops in front of the facility 100, driving the first actuator 13A and the second actuator 13B causes the first positioning pin 11A to fit into the first pin hole member 12A, and the second positioning pin 11B to fit into the second pin hole member 12B. If the position of the carriage 3 relative to the facility 100 is misaligned, the carriage 3 moves horizontally so that the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A coincide with each other, and the axis of the second positioning pin 11B and the axis of the second pin hole member 12B coincide with each other. This positions the carriage 3 relative to the facility 100. Therefore, the carriage 3 can be positioned appropriately relative to the facility 100 before the automated guided vehicle 1 transfers the load 200 between the facility 100 and the carriage 3.

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

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

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

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

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

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

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

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

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

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

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

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

[0060] In the above embodiment, the vehicle body 2 and the bogie 3 are movably connected to each other by the coupling device 20, but the vehicle body 2 and the bogie 3 may be integrated so as to be immovable relative to each other. In this case, the coupling device 20 may be omitted.

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

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

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

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

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

Claims

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

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

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

4. The automated guided vehicle, a vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly supported on the vehicle body so as to be movable at least in the left-right direction of the vehicle body and on which luggage can be placed, The bogie has a right wheel and a left wheel disposed to the left of the right wheel, The positioning device for an unmanned guided vehicle as described in claim 3, wherein the other of the first positioning pin and the first pin hole member, and the other of the second positioning pin and the second pin hole member are all positioned to the right of the right wheel, or both are positioned to the left of the left wheel.

5. The automated guided vehicle, a vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly supported on the vehicle body so as to be movable at least in the left-right direction of the vehicle body and on which luggage can be placed, The cart is The right front pillar and a right rear support pillar disposed rearward of the right front support pillar; A left front support arranged to the left of the right front support; A left rear support pillar disposed to the left of the right rear support pillar and to the rear of the left front support pillar; a right front wheel rotatably connected to a lower end of the right front support; a right rear wheel rotatably connected to a lower end of the right rear support; A left front wheel rotatably connected to a lower end of the left front support pillar; a left rear wheel rotatably connected to a lower end of the left rear support pillar, The positioning device for an unmanned guided vehicle as described in claim 3, wherein the first positioning pin and the other of the first pin hole member, and the second positioning pin and the other of the second pin hole member are fixed to the right front pillar and the right rear pillar, respectively, or fixed to the left front pillar and the left rear pillar, respectively.

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

7. The automated guided vehicle, a vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly supported on the vehicle body so as to be movable at least in the left-right direction of the vehicle body and on which luggage can be placed, The positioning device for an automatic guided vehicle according to claim 6 , wherein the first pin hole member is provided in the carriage.

8. A second positioning pin extending in the first direction; a second pinhole member having an opening in the second direction and a tapered inner circumferential surface whose inner diameter decreases toward the first direction; a second actuator that drives the second positioning pin or the second pin hole member to fit the second positioning pin into the second pin hole member so that an upward force is applied to the automatic guided vehicle; One of the second positioning pin and the second pin hole member is provided on the equipment, the other of the second positioning pin and the second pinhole member is provided on the automatic guided vehicle; The second positioning pin is disposed rearward of the first positioning pin, The second pin hole member is disposed rearward of the first pin hole member, The positioning device for an automated guided vehicle according to claim 6 , wherein the second actuator is disposed behind the first actuator.

9. The automated guided vehicle comprises: a vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly supported on the vehicle body so as to be movable at least in the left-right direction of the vehicle body and on which luggage can be placed, The bogie has a right wheel and a left wheel disposed to the left of the right wheel, The positioning device for an unmanned guided vehicle as described in claim 8, wherein the first pin hole member, and the other of the second positioning pin and the second pin hole member are all positioned to the right of the right wheel, or both are positioned to the left of the left wheel.

10. The automated guided vehicle comprises: a vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly supported on the vehicle body so as to be movable at least in the left-right direction of the vehicle body and on which luggage can be placed, The cart is The right front pillar and a right rear support pillar disposed rearward of the right front support pillar; A left front support arranged to the left of the right front support; A left rear support pillar disposed to the left of the right rear support pillar and to the rear of the left front support pillar; a right front wheel rotatably connected to a lower end of the right front support; a right rear wheel rotatably connected to a lower end of the right rear support; A left front wheel rotatably connected to a lower end of the left front support pillar; a left rear wheel rotatably connected to a lower end of the left rear support pillar, 9. A positioning device for an unmanned guided vehicle as described in claim 8, wherein the first pin hole member is fixed to the right front support and the other of the second positioning pin and the second pin hole member is fixed to the right rear support, or the first pin hole member is fixed to the left front support and the second positioning pin and the other of the second pin hole member is fixed to the left rear support.

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

12. the automated guided vehicle further includes a control device that receives a signal from the fitting sensor when the fitting sensor detects that the first positioning pin is fitted into the first pin hole member; The positioning device for an automated guided vehicle according to claim 11 , wherein the control device is configured to start handover or reception of the load between the automated guided vehicle and the facility after receiving the signal from the fitting sensor.

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