Position correction mechanism, position correction device set, and moving device with position correction function

Abstract

To provide a position correction mechanism capable of performing the positioning without moving a moving device which arrives at the vicinity of a target position.SOLUTION: A position correction mechanism, which is movably supported by a moving device and performs position correction with respect to a pair of shafts 9 provided on a target position includes a pair of engagement bodies 51A, 51B which have an engagement part 511, are turned around turning shafts 519A, 519B parallel to the shaft 9 and are engaged with the shafts 9 and a driving unit which turns the engagement bodies 51A, 51B in such engagement directions as to engage the engagement bodies 51A, 51B with the shafts 9 and in such disengagement directions as to disengage engagement of the engagement bodies 51A, 51B.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a position correction mechanism that performs alignment to a target position.

Background Art

[0002] As a position correction mechanism for positioning a device itself, for example, "an automatic guided vehicle stop positioning clamp mechanism, characterized by comprising: a sensor that detects arrival of an automatic guided vehicle; a processing unit that receives an arrival detection signal from the sensor and instructs start of a stop positioning operation for the automatic guided vehicle; a cylinder that performs a compression operation in response to an operation start instruction from the processing unit and moves a piston rod inward; a chain attached to the piston rod and interlocked with the piston rod of the cylinder; and a metal fitting attached to a tip end of the chain, which clamps the automatic guided vehicle and performs stop positioning in accordance with movement of the chain" has been proposed (for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] In the above-described clamp mechanism, when positioning an automatic guided vehicle that has reached the vicinity of a target position, it is necessary to move the automatic guided vehicle. The problem to be solved by the present invention is to provide a position correction mechanism capable of aligning a mobile device that has reached the vicinity of a target position without moving the device.

Means for Solving the Problem

[0005] A position correction mechanism according to one aspect of the present invention is a position correction mechanism that corrects the position of a pair of shafts that are movably supported by a moving device and provided at a target position, comprising: a pair of engaging bodies having engaging portions and rotating around a pivot axis parallel to the shafts to engage with the shafts; and a drive unit that rotates the engaging bodies in an engagement direction to engage with the shafts and in a release direction to disengage the engaging bodies. A position correction device set according to one aspect of the present invention comprises a position correction device that is movably supported on a moving device and corrects the position of a pair of shafts provided at a target position, and a mounting unit for attaching the position correction device to the moving device, wherein the position correction device comprises the position correction mechanism described above. A movable device with a position correction function according to one aspect of the present invention comprises a movable device that moves to at least a target position, and a position correction device that is movably supported by the movable device and corrects the position of a pair of shafts provided at the target position, wherein the position correction device comprises the position correction mechanism described above. [Effects of the Invention]

[0006] According to the present invention, positioning can be performed without moving the moving device once it has reached near the target position. [Brief explanation of the drawing]

[0007] [Figure 1] This is a perspective view of a mobile device with a position correction function, seen from above. (a) shows the engaging body in the retracted state, and (b) shows the engaging body in the extended state. [Figure 2] This is a perspective view from above of a mobile device with a position correction function in a disassembled state. [Figure 3] This is a diagram of a position correction device mounted in a mounting unit form with a mounting base attached. (a) is a view from above, and (b) is a cross-sectional view of section AA of (a) viewed from the direction of the arrow, with a portion enlarged. [Figure 4] These are perspective views of the position correction device, with (a) being a view from above and (b) being a view from below. [Figure 5] This is a perspective view from above, showing the top wall of the position correction device's casing in an upward position. [Figure 6] (a) is a perspective view of the position correction unit seen from above, and (b) is a view of the position correction unit seen from above with the frame moved. [Figure 7] (a) is an enlarged cross-sectional view of the driving shaft and the rotating shaft of the position correction unit passing through the central axis, and (b) is an enlarged perspective view of the lower driving cam. [Figure 8] This diagram illustrates the operation of the position correction unit. (a) shows the state in which the engaging body is engaged with the second shaft, (b) shows the state in which the engaging body is engaged with the first shaft, and (c) shows the state in which the engaging body is engaged with the first shaft. [Figure 9] This diagram illustrates the positional relationship of the position correction units. [Modes for carrying out the invention]

[0008] <Overview> A first position correction mechanism according to one aspect of the present invention is a position correction mechanism that corrects the position of a pair of shafts that are movably supported by a moving device and provided at a target position, comprising: a pair of engaging bodies having engaging portions and rotating around a pivot axis parallel to the shafts to engage with the shafts; and a drive unit that rotates the engaging bodies in an engagement direction to engage with the shafts and in a release direction to disengage the engaging bodies. As a result, during alignment, the position correction mechanism, which is movably supported by the moving device, moves, allowing alignment to be performed without moving the moving device once it has reached near the target position.

[0009] A second position correction mechanism according to one aspect of the present invention includes a Geneva mechanism in the first position correction mechanism that maintains the state in which the engaging portion is engaged with the shaft. This makes it easy to provide a maintenance mechanism. Furthermore, the engaged state can be maintained without placing a load on the drive motor.

[0010] A third position correction mechanism according to one aspect of the present invention is a first or second position correction mechanism in which the pair of engaging bodies and the drive unit are housed in a housing movably supported by the moving device, a pair of second shafts parallel to the pair of shafts and extending into the housing are provided on the moving device side, the engaging body has the engaging portion on one side in the circumferential direction around the pivot axis and a second engaging portion on the other side in the circumferential direction that engages with the second shaft. This allows the position correction mechanism to be positioned relative to the second shaft. Furthermore, since it utilizes engaging bodies that engage with the first shaft, it can be easily implemented.

[0011] A fourth position correction mechanism according to one aspect of the present invention is a position correction mechanism according to any of the first to third aspects, wherein the drive unit comprises one drive motor, a gear rotated by the drive motor, and a pair of driving cams that mesh with the gear from a direction parallel to the rotation axis and have cams, and the engaging body rotates around the rotation axis in accordance with the movement of the cams. This simplifies the structure of the unit that drives the engaging body. Furthermore, since only one drive motor is used, it can be implemented with low power consumption.

[0012] A first position correction device set according to one aspect of the present invention comprises a position correction device that is movably supported on a moving device and corrects the position of a pair of shafts provided at a target position, and a mounting unit for attaching the position correction device to the moving device, wherein the position correction device comprises the first to fourth position correction mechanisms described above. Furthermore, the position correction device can be easily attached to the moving device.

[0013] A first movable device with position correction function according to one aspect of the present invention comprises a movable device that moves to at least a target position, and a position correction device that is movably supported by the movable device and corrects the position of a pair of shafts provided at the target position, wherein the position correction device comprises the first to fourth position correction mechanisms described above.

[0014] <Embodiment> 1. Overall Structure A position correction mechanism (position correction unit) according to the embodiment is detachably provided on a moving device (automated guided vehicle) 2. This enables easy application to moving devices that are already in use. As shown in FIG. 1, a moving device 1 with a position correction function includes, for example, an automated guided vehicle 2, a position correction device 5 that is detachable from and movably supported by the automated guided vehicle 2, and a mounting table 3 provided on the position correction device 5. Here, the position correction device 5 is attached to the automated guided vehicle 2 via an attachment unit 4. The automated guided vehicle 2 is configured to be automatically (unmannedly) movable to a preset target position. For example, the automated guided vehicle 2 uses a rechargeable battery as a driving source. The automated guided vehicle 2 transfers workpieces to and from another device at the target position. The workpiece is placed on the mounting table 3. The position correction device 5 includes an engaging body 51 that can be protruded and retracted to engage with a pair of shafts 9 (see FIG. 8) provided at the target position. FIG. 1(a) shows the retracted state of the engaging body 51, and FIG. 1(b) shows the protruding state of the engaging body 51. When the engaging body 51 is in the protruding state, it engages with the shafts 9, thereby performing position correction (positioning) of the device itself. The mounting table 3 is provided on the position correction device 5. Accordingly, after the automated guided vehicle 2 moves to (the vicinity of) the target position by a program or the like, the position correction device 5 corrects its position relative to the shafts 9, thereby accurately positioning the workpiece on the mounting table 3 provided on the position correction device 5. Each device will be described below.

[0015] 2. Configuration of Each Device (1) Automated Guided Vehicle Description will be mainly given with reference to FIG. 2. The automated guided vehicle 2 includes moving wheels, a battery, a drive motor, a control unit, an operation unit 21, and the like in a housing 20. The attachment unit 4 is detachably attached to an upper surface 20a of the housing 20. Screws 29 are used here for attachment.

[0016] (2) Attachment Unit Description will be mainly given with reference to FIG. 2 and FIG. 3. The mounting unit 4 includes a mounting base 41 that is attached to the automated guided vehicle 2, and a shaft 42 for fixing the position of the position correction device 5 when the engaging body 51 is retracted. Here, in order to distinguish between the shaft 9 at the target position and the shaft 42 of the mounting unit 4, for convenience, the shaft at the target position is referred to as the first shaft, and the shaft of the mounting unit 4 as the second shaft. If there is no need to distinguish between them, they may simply be referred to as shafts. The mounting base 41 includes, for example, a frame 43 fixed to the automated guided vehicle 2 by screws 29, and a cover 44 that covers the frame 43 from above. The frame 43 is made by connecting members with a "U" shape or "L" shape in cross-section. As an example, the frame 43 has two members 431 that are long in the first direction and spaced apart in the second direction, and these two members 431 are connected in the middle of the first direction by two members 433 that are long in the second direction (see Figure 3). The first direction here is the direction in which the pair of second shafts 42 are aligned. The cover 44 has a top wall portion 441 and a peripheral wall portion 443 that extends downward from the periphery of the top wall portion 441. The cover 44 is fixed to the frame 43 by screws 49. The second shaft 42 extends vertically and there are two of them. The second shaft 42 is attached (fixed) to the mounting plate 45 using, for example, screws, welding, etc. In this case, welding is used. The upper surface of the mounting plate 45 becomes a support surface that movably supports the position correction device 5 (see enlarged view of Figure 3(b)).

[0017] (3) Mounting platform The mounting table 3 is provided on the upper surface of the position correction device 5. Here, the mounting table 3 is supported so as to be able to move up and down. The mounting table 3 comprises a rectangular or square mounting plate 31 on which the workpiece is placed, and rods 33 provided at the corners of the mounting plate 31. The rods 33 extend in the vertical direction and are inserted into through holes (guide holes) of the support unit (sleeve) 53 of the position correction device 5, and are supported so as to be able to move up and down. The mounting platform 3 moves up and down as the back surface of the mounting plate 31 is pushed up by the lifting unit 54 of the position correction device 5.

[0018] (4)Position correction device As shown in Figure 4, the position correction device 5 comprises at least a movable unit 52 that is movable relative to the automated guided vehicle 2, a position correction unit 55 that engages with the first shaft 9 to position itself, and a support unit 53 that supports the mounting base 3. Depending on the configuration of the mounting base 3, the support unit 53 may not be required. The position correction device 5 here includes a lifting unit 54 that raises and lowers the mounting platform 3 in the vertical direction. The movable unit 52, support unit 53, lifting unit 54, and position correction unit 55 are all housed in the housing 50. The following describes each unit.

[0019] (4-1) Cabinet As shown in Figure 4, the housing 50 has a box-like (rectangular parallelepiped) or similar shape with small vertical dimensions. The housing 50 has a top wall 501, a bottom wall 502, and a peripheral wall 503. The contact portion (free roller 547) of the lifting unit 54 moves up and down through the through hole 501a in the top wall portion 501 of the housing 50. The spherical body 521 of the movable unit 52 protrudes downward through a through-hole 502 in the bottom wall portion 502 of the housing 50. The second shaft 42, which is attached to the automated guided vehicle 2, enters the interior of the housing 50 through the through-hole 502a in the bottom wall portion 502. The peripheral wall portion 503 of the housing 50 has a notch 503a, and the position correction unit 55 is positioned using this notch 503a. The through groove 503b for extending and retracting the engaging body 51 of the position correction unit 55 is provided in a manner continuous with the through groove 575a of the position correction unit 55.

[0020] (4-2) Movable Unit The movable unit 52 utilizes a ball caster that can move in all directions. The ball caster consists of a sphere 521 and a flanged case 523 that houses the sphere 521, with the flange portion of the flanged case 523 fixed to the bottom wall portion 502. There are multiple movable units 52 (in this case, eight) and they are evenly spaced.

[0021] (4-3) Support Unit This will be explained using Figure 5. The support unit 53 utilizes a bush or sleeve to receive the rod 33 of the mounting base 3 from above. The support unit 53 utilizes a flanged sleeve having a cylindrical portion 531 and a flange portion 533 at the upper end of the cylindrical portion 531. The support unit 53 is supported by being inserted from above into a through hole in the top wall portion 501 of the housing 50, with the flange portion 533 facing upwards.

[0022] (4-4) Lifting Unit This will be explained using Figure 5. The lifting unit 54 includes a movable means that moves up and down, and a drive means that moves the movable means up and down. Here, a slider-crank mechanism is used as the movable means, and an actuator is used as the driving means. The movable mechanism consists of a first link 541, one end of which is fixed, and the other end of a second link 543, one end of which is attached to a slider 542. These two links are rotatably connected by a connecting pin 544. As the slider 542 slides, the connecting pin 544 moves up and down. The actuator is a so-called slider type. The slider 542 is composed of a fixed bearing that screws onto a ball screw 545. The ball screw 545 is rotationally driven by a drive means 546. When the slider 542 moves towards one end of the first link 541 due to the rotation of the ball screw 545, the connecting pin 544 rises, and when it moves away from one end of the first link 541, the connecting pin 544 lowers. A free roller 547 is provided on the connecting pin 544, and the free roller 547 contacts the back surface of the mounting plate 31 of the mounting base 3, smoothly pushing up the mounting base 3.

[0023] (4-5) Position correction unit The position correction unit 55 is modularized as shown in Figure 6(a). As shown in Figure 5, the position correction unit 55 is provided on the housing 50 such that a portion of it protrudes from the notched portion 503a of the peripheral wall portion 503 of the housing 50. As shown in Figure 6, the position correction unit 55 is provided on a frame 57 with an engaging body 51 having engaging portions 511 for engaging with a pair of first shafts 9, and a drive unit 56 that drives the engaging body 51 in an engagement direction to engage with the first shafts 9 and in a release direction to release the engagement of the engaging body 51. Furthermore, since the engaging body 51 here has an engaging portion 513 that also engages with the second shaft 42, the direction of engagement with the first shaft 9 is the direction of release from the second shaft 42, and the direction of engagement with the second shaft 42 is the direction of release from the first shaft 9.

[0024] (4-5-1) Frame The frame 57 includes, for example, a bottom plate 571, a top plate 573, and side plates 575. The base plate 571 and the top plate 573 are arranged facing each other in the direction in which the shafts 9 and 42 extend, and the engaging body 51 and the drive unit 56 are arranged between the base plate 571 and the top plate 573. The base plate 571 and the top plate 573 are square, rectangular, etc. In this case, they are rectangular in shape, elongated in the direction in which the shafts 9 and 42 (see Figure 8) are aligned. The top plate 573 has a through hole 573a for the support unit 53. The side plate 575 has a through groove 575a for the engaging body 51.

[0025] (4-5-2) Engaging body The engaging body 51 has an engaging portion 511 on its plate-shaped portion 512 that engages with at least the first shaft 9. The engaging body 51 (plate-shaped portion 512) is supported so as to be rotatable around a pivot shaft 519 parallel to the first shaft. The engaging body 51 is rotated by the drive unit 56 in a plane perpendicular to the pivot shaft 519 (in this case, a horizontal plane). The pivot shaft 519 is fixed to the frame 57, more specifically to the bottom plate 571 and the top plate 573, by screws or the like. When the engaging body 51 engages with the first shaft 9 and is positioned, as shown in Figure 9, when the two pivot shafts 519 are viewed from the direction of extension of the pivot shaft 519, the imaginary line L2 passing through the centers of the two pivot shafts 519 is positioned so that it is parallel to the imaginary line L1 passing through the center of the first shaft 9. The engaging body 51 is fixed to a spacer 583 that is rotatably mounted on the pivot shaft 519, and rotates as the spacer 583 rotates. The engaging body 51 has an engaging portion 513 on its plate-shaped portion 512 that engages with the second shaft 42. The engaging portion that engages with the first shaft 9 is referred to as the "first engaging portion," and the engaging portion that engages with the second shaft 42 is referred to as the "second engaging portion." If there is no need to distinguish between the first and second, they are simply referred to as engaging portions 511 and 513. The plate-shaped portion 512 is fan-shaped, with engaging portions 511 and 513 provided on its radial section. Here, the plate-shaped portion 512 is fan-shaped with a central angle of 90°. In other words, it is shaped like a quarter of a circle. The plate-shaped portion 512 is rotatably supported on the central angle side. This allows the through groove 575a of the frame 57 and the through groove 503b of the housing 50 to be shortened.

[0026] The engaging portions 511 and 513 are formed to extend inward in the circumferential direction from the radial portion (the portion where the end face extends radially). As shown in Figure 8, the engaging portion 511 receives the shafts 9 and 42 from the receiving openings 511a and 513a to the inner portions 511b and 513b in the circumferential direction. The engaging portion 511 has a shape in which the opening width decreases as it moves from the receiving openings 511a and 513a to the inner side in the receiving direction. Here, when viewed from the extending direction of the shafts 9 and 42, it has a "V" shape. The receiving ports 511a and 513a are larger than the shafts 9 and 42. For example, the opening width of the receiving ports 511a and 513a is 2 to 5 times the diameter of the shafts 9 and 42. This allows the engaging body 51 to engage with the shafts 9 and 42 even when it is located far from the shafts 9 and 42. If the diameter is less than 2 times, the shafts 9 and 42 will have difficulty entering the engaging parts 511 and 513, and if it is greater than 5 times, the engaging body 51 will become larger. The inner portions 511b and 513b of the engaging parts 511 and 513 are the same as or smaller than the diameter of the shafts 9 and 42. This improves positioning accuracy. As shown in Figure 9, the engaging portions 511 and 513 are located on a virtual circumference L5 that is centered on the pivot shaft 519 and passes through the centers of the shafts 9 and 42, and have a shape that is nearly symmetrical with respect to the virtual circumference L5.

[0027] (4-5-3) Drive Unit This will be explained primarily using Figure 6(b) and Figure 7. The drive unit 56 synchronizes and rotates a pair of engaging bodies 51 around the pivot shaft 519. The drive unit 56 utilizes, for example, a cam mechanism and a gear mechanism. The drive unit 56 comprises a driving shaft 561 parallel to the pivot shaft 519, a driving cam 562 rotatably supported on the driving shaft 561 and having a cam 562a, a driven cam 563 having a groove 563a for the cam 562a and supported on the pivot shaft 519, and a drive means 564 for rotating the driving cam 562. The driving cam 562, driven cam 563, and pivot shaft 519 are in pairs, corresponding to the pair of engaging bodies 51. The drive shaft 561 is supported (fixed) to the bottom plate 571 and the top plate 573 by screws. As shown in Figure 7(a), the drive shaft 561 has a stepped shape with a large diameter section in the axial middle portion, and a pair of drive cams 562 are mounted opposite each other on the small diameter sections on both sides (upper and lower ends) via bearings 581. The pair of drive cams 562 correspond to a pair of engaging bodies 51. This makes it possible to miniaturize the drive unit 56.

[0028] In a pair of driving cams 562, the side where the other driving cam 562 exists is designated as the inside, and the side where the other driving cam 562 does not exist is designated as the outside. The driving cam 562 is disc-shaped and has a cam 562a on its outer main surface. The cam 562a is composed of a free roller that can rotate around an axis parallel to the pivot shaft 519. As shown in Figure 7(b), the cam 562a is attached by inserting the threaded portion through the through hole of the driving cam 562 from the outside and screwing it into the inner nut 582. The use of the free roller makes it easier for the cam 562a to enter the groove 563a of the driven cam 563 and to move within the groove 563a. The driving cam 562 has a gear portion 562b on its inner main surface. Here, the gear portion 562b is composed of teeth formed by the irregularities in the extension direction of the driving shaft 561, and these teeth extend radially and are arranged in multiples in the circumferential direction. In other words, the gear portion 562b is composed of teeth for a bevel gear. The driving cam 562 has a stepped portion 562c on its outer main surface, which is thicker towards the center. The stepped portion 562c, together with the driven cam 563, constitutes an (external) Geneva mechanism. When viewed from the extending direction of the driving shaft 561, the stepped portion (side surface) has a circular shape (arc shape) with respect to the central axis of the driving shaft 561. In the stepped portion 562c, the portion where the cam 562a is provided is the entry area into the groove 563a of the driven cam 563, and is recessed towards the center. The cam 562a is provided on the outer circumference of the stepped portion 562c. Furthermore, the driving cam 562 also functions as a Geneva gear. This simplifies the structure of the drive unit 56.

[0029] The driven cam 563 is rotatably mounted around a pivot shaft 519 that rotatably supports the engaging body 51. As shown in Figure 7(a), the driven cam 563 has a plate-shaped portion 563b that is fixed to the engaging body 51. The plate-shaped portion 563b is fixed via a spacer 583. The spacer 583 is cylindrical and rotatably mounted on the pivot shaft 519 via a bearing 584. The driven cam 563 is fixed to one end face of the spacer 583, and the engaging body 51 is fixed to the other end face, respectively, by screws (not shown). As a result, the driven cam 563 and the engaging body 51 rotate together around the pivot shaft 519. The driven cam 563 has a groove 563a that receives the cam 562a of the driving cam 562. The groove 563a extends radially around the connection point with the pivot shaft 519 (the central axis of the pivot shaft 519). As a result, when the driving cam 562 rotates, the cam 562a moves along the circumference around the driving shaft 561, and as the cam 562a enters the groove 563a and moves within the groove 563a, the driven cam 563 (and engaging body 51) rotates around the pivot shaft 519.

[0030] As shown in Figure 8, the driven cam 563 has a contact portion 563c that abuts against the stepped portion of the driving cam 562 when the engaged body 51 is positioned on the first shaft 9. The curvature of the contact portion 563c is equal to the curvature of the stepped portion. The driven cam 563 also has a contact portion 563d that abuts against the stepped portion of the driving cam 562 when the engaged body 51 is positioned on the second shaft 42. The curvature of the contact portion 563d is equal to the curvature of the stepped portion. This allows the engaged state (positioning state) of the engaged body 51 to be maintained. Here, the contact portion 563c that comes into contact with the first shaft 9 when engaged is referred to as the first contact portion 563c, and the contact portion 563d that comes into contact with the second shaft 42 when engaged is referred to as the second contact portion 563d, for convenience. If there is no need to distinguish between them, they are simply referred to as contact portions 563c and 563d. The contact portions 563c and 563d are arc-shaped and are formed by the end faces on both sides of the groove portion 563a. In other words, when viewed from the direction of extension of the pivot shaft 419, the driven cam 563 has a shape close to a rectangle, with one of its first corners supported by the pivot shaft 419, and the contact portions 563c and 563d are formed by the end faces corresponding to the two sides adjacent to the second angle located diagonally opposite to the first corner.

[0031] As shown in Figure 7(a), the drive means 564 comprises a gear 586 positioned between a pair of driving cams 562 and meshing with the gear portion 562b, and a drive motor 587 that rotates the gear 586. The axis of rotation of the gear 586 is perpendicular to the driving shaft 561. As a result, the rotation of the gear 576 causes the driving cams 562 to rotate around the driving shaft 561 in opposite directions. The drive means 564 is fixed (supported) to the frame 57 via a mounting bracket 588. The pair of driving cams 562 and the pair of driven cams 563 are positioned so as to be point-symmetric with respect to the intersection of the central axis of the driving shaft 561 and the central axis of the gear 586. This simplifies the design.

[0032] 3. Operation Description This will be explained using Figure 8. Figure 8 is a view of the driving shaft 561 from the direction of extension. For convenience, the engaging body 51 on the left side of the page will be referred to as "left engaging body 51A," and the components associated with the left engaging body 51A will be designated "left" and their designations "A." Similarly, the engaging body on the right side will be referred to as "right engaging body 51B," and the components associated with the right engaging body 51B will be designated "right" and their designations "B." Note that although the right drive cam 562B is not shown in Figure 8, it is still labeled. Also, if there is no need to distinguish between left and right, the labels "right" and "left" may be omitted.

[0033] (1) Second engagement state Figure 8(a) shows the state in which the second engaging portion 513 of the engaging bodies 51A and 51B is engaged with the second shaft 42. In this state, the contact portion 563d of the driven cams 563A and 563B is in contact with the stepped portion 562c of the driving cams 562A and 562B. This maintains the engaged state of the second engaging portion 513. Furthermore, in the contact state, there is no need to drive the drive motor 587 of the drive unit 56, and no load is applied to the drive motor 587. In the engaged state of the second engaging portion 513, the cam 562a of the driving cams 562A and 562B is located outside the groove 563a of the driven cams 563A and 563B, and the engaging bodies 51A and 51B are located inside the housing 50. The second engaging portion 513 engages when the automated guided vehicle 2 is moving or in standby mode. By engaging the second engaging portion 513 with the second shaft 42, the position correction device 5 does not move relative to the automated guided vehicle 2, thereby suppressing rattling or displacement of the workpiece and enhancing safety.

[0034] (2) Transition from the second engagement state to the first engagement state When the automated guided vehicle 2 reaches the target position, that is, the location (position) where the pair of first shafts 9 are located, the second engagement state is released and the engaging bodies 51A and 51B rotate around the pivot shafts 519A and 519B so that the first engaging portion 511 engages with the first shafts 9. This transition from the second engagement state to the first engagement state is explained in Figure 8(b). First, when the automated guided vehicle 2 stops at the target position, the drive motor 587 is activated, causing the gear 586 to rotate, which in turn causes the left drive cam 562A to rotate clockwise and the right drive cam 562B to rotate counterclockwise. As a result, the cam 562a of the driving cams 562A and 562B moves along the circumferential direction, and the cam 562a enters the groove 563a of the driven cams 563A and 563B and moves back and forth toward the rear, causing the left engaging body 51A and the left driven cam 56A to rotate counterclockwise around the pivot shaft 519A, and the right engaging body 51B and the right driven cam 56B to rotate clockwise around the pivot shaft 519B. The rotation of the engaging bodies 51A and 51B releases the second engagement state, and the engaging bodies 51A and 51B move closer to the first shaft 9. At this time, because the first engaging portion 511 has a large notch shape in the receiving opening 511a, the engaging bodies 51A and 51B can engage with the first shaft 9 even if the position of the unmanned transport device 2 is misaligned relative to the first shaft 9.

[0035] (3) First engagement state From the state shown in Figure 8(b), if the left driving cam 562A rotates clockwise and the right driving cam 562B rotates counterclockwise, the left engaging body 51A and the left driven cam 56A rotate counterclockwise around the pivot shaft 519A, and the right engaging body 51B and the right driven cam 56B rotate clockwise around the pivot shaft 519B. As a result, the first engaging portion 511 of the engaging bodies 51A and 51B moves even closer to the first shaft 9. In this case, if the central axis of the first shaft 9 is located on the virtual circumference line L5 (see Figure 9), the inner portion 511b of the first engaging portion 511 will come into direct contact with the first shaft 9, and the first engaging portion 511 will engage with the first shaft 9 without any positional correction relative to the first shaft 9. On the other hand, if the central axis of the first shaft 9 is not located on the virtual circumference line L5 (see Figure 9), the engaging bodies 51A and 51B rotate until the inner portion 511b of the engaging portion 511 comes into contact with the first shaft 9, while the side surface 511c facing the first engaging portion 511 abuts against the first shaft 9. In other words, the first engaging portion 511 engages with the first shaft 9 while being corrected for its position relative to the first shaft 9. In this way, the pair of first engaging portions 511 engage with the pair of first shafts 9 from the outside (by clamping them), and the position correction device 5 (workpiece) is positioned relative to the first shafts 9. Here, "outside" refers to the side of the first shaft 9 where the other first shaft 9 is not present. Furthermore, as the left driving cam 562A rotates clockwise and the right driving cam 562B rotates counterclockwise, cam 562a retracts from the groove 563a of the driven cams 563A and 563B, and the contact portion 563c of the driven cams 563A and 563B comes into contact with the stepped portion 562c of the driving cams 562A and 562B. This maintains the engaged state of the engaging bodies 51A and 51B, that is, the positioning state of the position correction device 5 (workpiece) relative to the first shaft 9.

[0036] (4) Transition from the first engagement state to the second engagement state The transition from the first engagement state to the second engagement state is the reverse of the operations described in (2) and (3) above, and therefore the explanation is omitted.

[0037] 4. Others (1) As shown in Figure 9, the distance D1 between the central axis of the pivot shaft 519 and the central axis of the first shaft 9 is set to be the same as the distance D2 between the central axis of the pivot shaft 519 and the central axis of the second shaft 42. This makes it possible to make the shapes of the first engaging portion 511 and the second engaging portion 513 the same, which simplifies the design of the engaging body 51. (2) As shown in Figure 9, the inner portions 511b and 513b of the engaging parts 511 and 513 of the engaging body 51 are located on a virtual circumference L5 whose radius is distance D1 or distance D2 and whose center is the central axis of the pivot shaft 519. This allows the first shaft 9 or the second shaft 42 to be precisely aligned. (3) As shown in Figure 9, the angle A between the imaginary line L1 passing through the centers of the pair of first shafts 9 and the imaginary line L4 passing through the central axis of the first shaft 9 and the central axis of the pivot shaft 519 is set to approximately 90° (80~100°). As a result, the pair of first shafts 9 engage along the virtual line L1, making it difficult for them to disengage. Furthermore, the virtual line L4 also passes through the central axis of the second shaft 42 in this case. (4) In Figure 9, the distance between the central axis of the driving shaft 561 and the central axes of the two rotating shafts 519 is set to be the same. This allows the pair of engaging bodies 51, the pair of driven cams 563, the pair of cams 562a, and the pair of driving cams 562 to have the same structure, thus simplifying their design.

[0038] <Variation> The above describes the movable device 1 with position correction function according to the embodiment, but the invention is not limited to these embodiments, and may also be modified in the following ways, for example. Furthermore, the embodiment and the modification may be combined, or the modification may be combined with each other. In addition, examples not described in the embodiment or modification, or design changes that do not depart from the gist of the invention are also included in the present invention.

[0039] 1. Mobile device In this embodiment, the position correction device 5 was attached to an automated guided vehicle (AGV) 2, which is an example of a mobile device, but it may also be attached to a manned device, for example. The power source may be electricity, or it may be a fuel such as diesel or gasoline. The position correction device 5 was equipped with a mounting table 3 for placing a workpiece, but it may be equipped with other functions in place of or in combination with the mounting table. Other functions include a gripping function equipped with a pair of claws, and a lifting function in which a flat plate moves forward and backward to insert and remove workpieces, etc. An example of a mobile device is the automated guided vehicle (AGV) 2, which has a position correction device 5 attached via a separate mounting unit 4. However, the mounting unit may be integrated into the device, or the mounting unit and the position correction device may be integrated into the device. The mobile device 1 with position correction function attaches the position correction device 5 to the automated guided vehicle 2 using a mounting unit 4, but the position correction device may also be attached using a mounting unit of a different structure. An example of a mounting unit of a different structure is a structure that has a fitting part that fits onto the upper side of the mobile device, and the fitted state is fixed with fasteners such as screws or pins.

[0040] 2.Position correction device (1) The position correction device 5 is equipped with a lifting unit 54, but depending on the application and purpose of the mobile device with position correction function, it may not be necessary to provide a lifting unit. Alternatively, the lifting unit may be provided on the automated guided vehicle side. (2) The position correction unit 55 is provided so that a part of it protrudes from the housing 50, but it may also be provided so that it is located inside the housing. (3) The pivot shaft 519 is fixed to the frame 57 by screws or the like, but it may be mounted on the frame so as to be rotatable. In this case, the bearing 584 provided between the spacer 583 and the pivot shaft 519 is not required. The pivot shaft 519 may also be mounted on the housing so as to be rotatable or non-rotatable. (4) The engaging body 51 is a sector with a central angle of 90°, but as shown in Figure 9, it may be a sector with a central angle other than 90° as long as the engaging parts 511 and 513 are located on a virtual circumference L5 centered on the pivot shaft 519. The centers of the engaging parts 511 and 513 and the shafts 9 and 42 are located on the virtual circumference L5. The pair of engaging bodies 51 have the same configuration, but their shape, size, etc., may differ. (5) When viewed from the direction of extension of the pivot shaft 519, the outer edge of the engaging body 51 is arc-shaped, but it may be straight, V-shaped, or L-shaped. If the outer edge is a right-angle V-shape, the engaging body will be rectangular. Also, if the outer edge is a V-shape with an angle of less than 90° and the central angle is less than 90°, the engaging body will be rhombic. (6) Although one engaging portion 511, 513 was provided on the radial portion, multiple engaging portions may be provided. This makes it possible to engage with multiple pairs of shafts with different spacings between them. When multiple engaging portions are provided, they may be of the same configuration or different configurations. The number of engaging portions in a pair of engaging bodies may be the same or different.

[0041] (7) The size of the engaging portions 511 and 513 is the same, that is, the shafts 9 and 42 have the same shape and diameter (see Figure 8), but the size of the engaging portion of the first shaft may be the same as or different from the engaging portion of the second shaft, as long as it fits into the engaging portion. (8) The engaging portions 511 and 513 are the same shape and the same size, but they may be different in shape or size. (9) The engaging body 51 has two engaging portions 511 and 513, but it is sufficient to have the first engaging portion 511 and it is not necessary to have the second engaging portion. (10) The driving shaft 561 is fixed to the frame 57, but it may be mounted on the frame so as to be rotatable. In this case, the bearing 581 provided between the driving cam 562 and the driving shaft 561 is not required. The driving shaft 561 may also be mounted on the housing so as to be rotatable or non-rotatable. (11) The driven cam 563 is for the cam 562a and has a groove 563a that is open at the cam-side end, but it may also have a closed through hole (guide hole) at the cam-side end.

[0042] (12) The driving cam 562 has a gear portion 562b and a stepped portion 562c on its front and back sides, but if the engaged state of the engaging body 51 is fixed by other means, the stepped portion does not need to be included. In other words, the Geneva mechanism does not need to be included. (13) The driven cam 563 has contact portions 563c and 563d formed by the end faces on both sides of the groove portion 563a, but it may also be constructed by making the side surface of the protruding portion that protrudes in the thickness direction from the plate-like portion 563b into an arc shape. (14) The driven cam 563 has two contact portions 563c and 563d, but it is sufficient to have the first contact portion 563c and it is not necessary to have the second contact portion. (15) The movable unit 52 was provided on the position correction device 5, but it may also be provided on the mounting unit 4, for example. In this case, the housing is also supported so as to be movable by the mounting unit. (16) The pair of driving cams 562 mesh with one gear 586 in between (i.e., there is one drive motor 587), but one driving cam may be driven by one drive motor.

[0043] (17) The first shaft 9 may extend in the vertical direction, or it may extend in the horizontal direction, for example. When the first shaft extends in the horizontal direction, this can be done by providing the driving shaft and the rotating shaft in the horizontal direction. Furthermore, if the first shaft extends horizontally, the position correction device will perform position correction in the vertical direction. (18) The engaging body 51 and the driven cam 563 are configured as separate parts, but they may be configured as a single unit. In this case, this can be done by lengthening the cam of the driving cam or by providing the cam on the gear part of the driving cam. (19) The position correction mechanism may be a position correction device or may be incorporated into the device as a position correction unit. (20) The position correction device 5 (position correction mechanism) was equipped with a Geneva mechanism as a mechanism to maintain the engaged state, but it is not required to be equipped with a Geneva mechanism. It may also be equipped with other mechanisms other than a Geneva mechanism. Other mechanisms include, for example, a mechanism in which a lock pin fits into a recess or through hole provided in the engaging body. (21) In the embodiment, the position correction device 5 (position correction mechanism) was provided with a second shaft, but the second shaft may or may not be provided. If it is provided, it may be engaged by an engaging body that engages with the first shaft, or it may be engaged by an engaging body other than the engaging body that engages with the first shaft. (22) The position correction device 5 (mechanism) of the embodiment included one drive motor 587, a gear 586 that is rotated by the drive motor 587, and a pair of driving cams 562 that mesh with the gear 586 from a direction parallel to the pivot shaft 519 and have cams. However, other drive mechanisms may be included, for example, a mechanism that drives each engaging body 51 individually, or a mechanism that pushes out the engaging bodies by the rotation of the drive motor (for example, a rack and pinion mechanism). [Explanation of symbols]

[0044] 1. Mobile device with position correction function 2. Automated Guided Vehicles (Mobile Vehicles) 5 Position correction device 9. First shaft (shaft) 51 Engaging body 52 Movable Units 55 Position Correction Unit

Claims

1. In a position correction mechanism that corrects the position of a pair of shafts that are movably supported by a mobile device and positioned at a target location, A pair of engaging bodies having an engaging portion and rotating around a pivot axis parallel to the shaft to engage with the shaft, A drive unit that rotates the engaging body in an engagement direction to engage the engaging body with the shaft and in a release direction to disengage the engaging body. Equipped with, The Geneva mechanism is provided to maintain the state in which the engaging portion is engaged with the shaft. Position correction mechanism.

2. In a position correction mechanism that corrects the position of a pair of shafts that are movably supported by a mobile device and positioned at a target location, A pair of engaging bodies having an engaging portion and rotating around a pivot axis parallel to the shaft to engage with the shaft, A drive unit that rotates the engaging body in an engagement direction to engage the engaging body with the shaft and in a release direction to disengage the engaging body. Equipped with, The pair of engaging bodies and the drive unit are housed in a housing that is movably supported by the moving device. A pair of second shafts, parallel to the pair of shafts and extending into the housing, are provided on the moving device side. The engaging body has the engaging portion on one side in the circumferential direction around the pivot axis, and a second engaging portion on the other side in the circumferential direction that engages with the second shaft. Position correction mechanism.

3. In a position correction mechanism that corrects the position of a pair of shafts that are movably supported by a mobile device and positioned at a target location, A pair of engaging bodies having an engaging portion and rotating around a pivot axis parallel to the shaft to engage with the shaft, A drive unit that rotates the engaging body in an engagement direction to engage the engaging body with the shaft and in a release direction to disengage the engaging body. Equipped with, The aforementioned drive unit is One drive motor, A gear rotated by the aforementioned drive motor, A pair of driving cams having cams that mesh with the gear in a direction parallel to the pivot axis and sandwich it. Equipped with, The engaging body rotates around the pivot axis in accordance with the movement of the cam. Position correction mechanism.

4. In a position correction mechanism that corrects the position of a pair of shafts that are movably supported by a mobile device and positioned at a target location, A pair of engaging bodies having an engaging portion and rotating around a pivot axis parallel to the shaft to engage with the shaft, A drive unit that rotates the engaging body in an engagement direction to engage the engaging body with the shaft and in a release direction to disengage the engaging body. Equipped with, The Geneva mechanism is provided to maintain the state in which the engaging portion is engaged with the shaft. The pair of engaging bodies and the drive unit are housed in a housing that is movably supported by the moving device. A pair of second shafts, parallel to the pair of shafts and extending into the housing, are provided on the moving device side. The engaging body has the engaging portion on one side in the circumferential direction around the pivot axis, and a second engaging portion on the other side in the circumferential direction that engages with the second shaft. Position correction mechanism.

5. A position correction device that corrects the position of a pair of shafts that are movably supported by a moving device and are positioned at a target location, Mounting unit for attaching the position correction device to the moving device Equipped with, The position correction device comprises a position correction mechanism according to any one of claims 1 to 4. Position correction device set.

6. A moving device that moves to at least the target position, A position correction device that is movably supported by the moving device and corrects the position of a pair of shafts provided at the target position, Equipped with, The position correction device comprises a position correction mechanism according to any one of claims 1 to 4. A mobile device with position correction function.

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