JP2023106749A - Positioning structure and transport device - Google Patents

Abstract

To provide a positioning structure capable of positioning four shafts easily, and a transport device.SOLUTION: A positioning structure 1 comprises a connection member 10 including a pin part 12 projecting from an upper surface of a base part 11 and extending in an axial direction; and a connected member 20 having a fitting hole 22 into which the pin part 12 can be inserted. The pin part 12 includes, at its upper end part, a first columnar part 13 having a shape other than a perfect circle when viewed in the axial direction. The fitting hole 22 communicates with a first hole part 23, a second hole part 24, and a third hole part 25 in this order. The first hole part 23 has a tapered inner wall that gradually becomes smaller toward the second hole part 24. The second hole part 24 has a tapered inner wall that gradually becomes smaller toward the third hole part 25 and has a taper ratio smaller than that of the first hole part 23. The first column part 13 of the pin part 12 can be fitted into the third hole part 25.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a positioning structure and a conveying device.

2. Description of the Related Art A delivery robot, an automatic guided vehicle (AGV), a cart for transport, a stretcher, or the like, which realizes movement of a transport vehicle loaded with a transport object and traveling on a floor surface, is known. For example, in recent years, the development of an automatic transport robot (AMR: Autonomous Mobile Robot) that performs transport work in a factory, a warehouse, or the like is underway. The AMR is easy to introduce because it is possible to map the site and confirm the position of the object to be transported with the installed camera, and it can be expected to significantly reduce labor and cost.

By the way, when AMR is connected to an object to be conveyed, it is determined based on an image captured by a camera that the AMR is in a connectable position. can push up. For this reason, it is required to use a positioning jig for the connecting portion for accurate connection.

For example, Patent Document 1 discloses a jig that regulates the movement of the pin in the radial direction and positions the axis by fitting a fitting hole having a circular cross section with a cylindrical pin. disclosed. Further, in Patent Document 2, a tapered fitting hole having a circular cross-sectional outer shape and a tapered fitting hole with a smaller diameter toward the bottom and a tapered cylindrical pin having a smaller diameter toward the tip are fitted. discloses a jig for restricting radial movement of a pin and positioning the axis.

JP 2010-253614 A JP 2010-207967 A

By the way, when positioning in the direction of rotation about the pin axis is required, the jigs disclosed in Patent Documents 1 and 2 require two or more sets of pins and fitting holes to position the object. . However, positioning at two or more positions is complicated because it is not easy to match the positions of the pins and the fitting holes at all positions.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a positioning structure and a conveying device that can easily perform four-axis positioning.

A positioning structure according to an aspect of the present invention includes a connecting member including a pin portion projecting from an upper surface of a base portion and extending in an axial direction, and a connected member having a fitting hole into which the pin portion can be inserted. The pin portion includes a first column portion having a shape other than a perfect circle when viewed in the axial direction, and the fitting hole includes a first hole portion, a second hole portion, and a third hole portion. Communicating in sequence, the first hole has a tapered inner wall that tapers toward the second hole, and the second hole tapers toward the third hole. It has a tapered inner wall with a taper ratio smaller than that of the first hole, and the first column of the pin can be fitted into the third hole.

As a result, the positioning structure performs positioning in two horizontal axial directions with the first hole, positioning in the direction of rotation about the vertical axis with the second hole, and vertical one-axis positioning with fitting in the third hole. By positioning in the axial direction, four-axis positioning is possible with only a combination of a pair of fitting holes and pin portions. Further, when the connecting member moves in the direction of the second hole with respect to the member to be connected in the first hole, one angular portion of the upper edge of the first column contacts the inner wall of the first hole. It moves in the direction of the radial center by being guided by the inner wall. Further, when the connecting member moves in the direction of the third hole with respect to the connected member in the second hole, the corner-shaped portions located at both ends of the major axis of the first column contact the inner wall of the second hole. It rotates around the axis by being guided toward the angular portion of the second hole while being in contact with it. That is, in the positioning structure, by simply inserting the pin portion into the fitting hole from the state in which the pin portion and the fitting hole are opposed to each other, the positioning structure can be adjusted in two horizontal directions, in a rotating direction about a vertical axis, and in one vertical direction. , positioning is easily possible on four axes.

In the positioning structure according to an aspect of the present invention, the third hole opens to the upper surface side of the connected member, and the first column is fitted in the third hole, The top surface is positioned at the same height as or below the top surface of the member to be connected.

Accordingly, since the first column portion does not protrude upward from the connected member, it is possible to prevent the connecting member from interfering with the object to which the connected member is attached. Further, by making the top surface of the first column portion the same height as the top surface of the member to be connected, or bringing it closer to the height of the top surface, it contributes to downsizing of the positioning structure in the vertical direction.

In the positioning structure according to an aspect of the present invention, the fitting hole has a minor axis L at the interface between the first hole and the second hole, and a major axis D at the upper surface of the first column. , then L=1/D.

As a result, in the second hole, the angular portions located at both ends of the major axis of the first column are guided in the direction toward the angular portions of the second hole, and the connecting member is rotated about the vertical axis. can be done.

In the positioning structure according to an aspect of the present invention, the cross-sectional shape of the third hole cut along a plane perpendicular to the axial direction is a regular polygon, and the second hole cut along a plane perpendicular to the axial direction is a regular polygon. The cross-sectional shape of the hole is a regular polygon or circular shape having a number of vertices equal to or smaller than the number of vertices of the cross section of the first column section cut along a plane orthogonal to the axial direction, and a plane orthogonal to the axial direction. The cross section of the first hole cut by 2 is a regular polygon or circular shape having the number of vertices equal to or smaller than the number of vertices of the cross section of the second hole cut along a plane orthogonal to the axial direction.

As a result, since the cross-sectional shape of the fitting hole cut along a plane perpendicular to the axial direction is rotationally symmetrical, the angle of rotation before positioning in the rotational direction becomes small, and fitting can be easily performed.

A conveying apparatus according to an aspect of the present invention includes a connection mechanism including the positioning structure, a driving wheel supported by an apparatus main body to convey the apparatus main body, and provided movably in one direction with respect to the apparatus main body. a sliding member; an elevating mechanism that connects the device main body and the connecting member and moves the connecting member up and down with respect to the device main body as the sliding member moves; and a direct-acting actuator that moves in the one direction with respect to the connecting member, and the connecting member rises from below the connected member fixed to the lower surface side of the object to be conveyed, so that the connecting member moves through the connected member. An object to be conveyed can be held, and can be separated from the connected member and the object to be conveyed by descending.

As a result, the transport device slips under the object to be transported, and the connection mechanism including the positioning structure for positioning with four axes connects to the object to be transported from below. It is easy to switch between forward and reverse, and stable running is possible. In addition, the positioning structure is such that by simply inserting the pin portion of the connecting member into the fitting hole in a state in which the pin portion of the connecting member faces the fitting hole of the member to be connected, the positioning structure can be adjusted in two horizontal axial directions, in the rotating direction about the vertical axis, Since they are positioned sequentially in one vertical direction, the conveying device and the object to be conveyed can be easily positioned on four axes. In addition, when crawling under the object to be conveyed before connecting to the object to be conveyed, the connecting mechanism can be lowered to reduce the total height of the conveying device, so that the object to be conveyed on a low floor can be handled. Further, since the connection with the object to be transported can be easily released by lowering the connection mechanism, a plurality of objects to be transported can be transported one after another.

ADVANTAGE OF THE INVENTION According to this invention, the positioning structure and conveyance apparatus which can position four axes easily can be provided.

1 is a perspective view schematically showing a configuration example of a positioning structure according to an embodiment; FIG. FIG. 2 is a perspective view of the connected member of the positioning structure shown in FIG. 1 as viewed from below. 3 is a side view showing, in partial cross section, a state in which the connecting member and the connected member of the positioning structure shown in FIG. 1 are fitted together; FIG. 4 is a plan view of FIG. 3. FIG. FIG. 5 is a side view showing, in partial cross section, one state of positioning by the positioning structure shown in FIG. 6 is a plan view of FIG. 5. FIG. FIG. 7 is a side view showing a state after FIG. 5 with a partial cross section. 8 is a plan view of FIG. 7. FIG. FIG. 9 is a side view showing a state after FIG. 7 with a partial cross section. 10 is a plan view of FIG. 9. FIG. FIG. 11 is a perspective view showing a configuration example of a conveying device according to an application form. 12 is a plan view of the conveying device shown in FIG. 11. FIG. FIG. 13 is a perspective view showing a configuration example of an elevating mechanism of the conveying device shown in FIG. 11. FIG. 14 is a perspective view showing a raised state of the lifting mechanism of FIG. 13. FIG. 15 is a perspective view showing a configuration example of the sliding member in the state of FIG. 14. FIG. 16 is a side view, partly in section, showing a state before connection of the conveying apparatus shown in FIG. 11 to an object to be conveyed. FIG. 17 is a side view, partly in section, showing a state after the transport apparatus shown in FIG. 11 is connected to a transport object; FIG.

A form (embodiment) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited by the contents described in the following embodiments. In addition, the components described below include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the components described below can be combined as appropriate.

[Embodiment]
A configuration of the positioning structure 1 according to the embodiment will be described with reference to FIGS. 1 to 4. FIG. FIG. 1 is a perspective view schematically showing a configuration example of a positioning structure 1 according to an embodiment. FIG. 2 is a perspective view of the connected member 20 of the positioning structure 1 shown in FIG. 1 as viewed from below. FIG. 3 is a side view showing a state in which the connecting member 10 and the connected member 20 of the positioning structure 1 shown in FIG. 1 are fitted together. 4 is a plan view of FIG. 3. FIG. In the following description, one horizontal direction is referred to as the X-axis direction, a horizontal crossing direction orthogonal to the X-axis direction is referred to as the Y-axis direction, and a vertical direction orthogonal to the X-axis direction and the Y-axis direction is referred to as the Z-axis direction. called direction. Also, the direction of rotation about the Z-axis is referred to as the θ rotation direction.

The positioning structure 1 of the embodiment is a structure for positioning a first object and a second object with respect to four axes. The positioning structure 1 connects a first target positioned below and a second target positioned above in a mutually fittable and separable manner in the vertical direction (Z-axis direction). The positioning structure 1 includes a connecting member 10 attached to the upper surface of a first object, and a connected member 20 attached to the lower surface of a second object.

In the state where the connecting member 10 and the connected member 20 are fitted together, the positioning structure 1 maintains the fitted state by the weight of the connected member 20 and the second object. The positioning structure 1 moves the connecting member 10 and the connected member 20 relative to each other horizontally (XY plane direction) and vertically (Z Axial) movement and turning (θ rotation direction) movement are restricted.

The first object is, for example, a conveying apparatus 100 (see) in an application mode shown in FIGS. 11 to 17 described later. Further, the second object is, for example, a transport object B (see FIGS. 16 and 17) transported by the transport device 100. FIG. The conveying apparatus 100 has drive wheels 120, and is an apparatus that conveys the object B to be conveyed by getting under the object B to be conveyed and running while connecting to the object B to be conveyed from below. The object to be conveyed B is a conveying vehicle that includes at least a vehicle body and a plurality of driven wheels capable of moving the vehicle body in a horizontal direction while maintaining the vehicle body in a horizontal posture, and has a gap that allows the conveying device 100 to slip under the vehicle body. is. The transport object B is, for example, a cart, a transport cart, a stretcher, or the like.

The connecting member 10 can be connected to and separated from the connected member 20 . The connection member 10 includes a base portion 11 and a pin portion 12 . The base portion 11 is a portion to be attached to the first object, and in the embodiment, is formed in a substantially quadrangular prism shape having a square shape with rounded corners in a plan view. The base 11 is attached, for example, with its bottom surface and side surfaces supported by the first object.

The pin portion 12 is formed so as to protrude from the central portion of the upper surface side of the base portion 11 and extend in the axial direction (Z-axis direction). The pin portion 12 can be inserted into a fitting hole 22 of a member to be connected 20 to be described below from below. The pin portion 12 includes a first column portion 13 and a second column portion 14 .

The first columnar portion 13 is positioned at the upper end portion of the pin portion 12 and has a columnar shape whose axial direction is parallel to the Z-axis direction and whose XY cross-sectional shape is constant. The first columnar portion 13 of the embodiment shown in FIG. 1 has a quadrangular columnar shape whose cross section (hereinafter referred to as an XY cross section) cut along a plane orthogonal to the axial direction is a square shape including rounded corners. However, in the present embodiment, any shape other than a true circular column may be used, and a prism other than a square column or an elliptical column may be used. Furthermore, the XY cross-sectional shape of the first columnar portion 13 may be a Reuleaux polygon, a lemon shape, or a shape in which the sides protrude outward. That is, the first columnar portion 13 has a shape other than a perfect circle when viewed in the axial direction. The XY cross-sectional shape of the first columnar portion 13 is preferably rotationally symmetrical.

Further, the angular portion 13a corresponding to the side edge of the first columnar portion 13 may have a rounded or chamfered shape as in the embodiment. In addition, when the first columnar portion 13 is an elliptical cylinder, both end portions of the long axis are regarded as the angular portions 13a. Moreover, in the embodiment, the upper surface 13b of the first columnar portion 13 is formed as a flat surface parallel to the XY plane.

The second columnar portion 14 is positioned below the first columnar portion 13, and has a columnar shape whose axial direction is parallel to the Z-axis direction and which is exponentially tapered or parabolic tapered. The side surface of the upper end portion of the second column portion 14 is continuous with the side surface of the lower end portion of the first column portion 13 , and the side surface of the lower end portion is continuous with the upper surface of the base portion 11 .

The connected member 20 can be connected to and separated from the connecting member 10 . The connected member 20 has a plurality of (four in the embodiment) fixing holes 21 and fitting holes 22 . The fixing hole 21 is a hole penetrating through the connected member 20 in the Z-axis direction, and includes, for example, a female thread on the inner peripheral surface. For example, with the upper surface 20a of the connected member 20 aligned with the lower surface of the second object, a screw or the like is screwed into the fixing hole 21 from below so that the upper surface 20a is aligned with the lower surface of the second object. fixed to

The fitting hole 22 is a hole penetrating the connected member 20 in the Z-axis direction, and the pin portion 12 of the connecting member 10 can be inserted from below. The fitting hole 22 is formed in the central portion of the connected member 20 in plan view. In the connected member 20 of the embodiment, the thickness in the Z-axis direction of the portion where the fitting hole 22 is formed is formed to be greater than the thickness of the surrounding portion including the portion where the fixing hole 21 is formed. The fitting hole 22 communicates with the first hole portion 23, the second hole portion 24, and the third hole portion 25 in this order.

The first hole portion 23 is located below the second hole portion 24 and the third hole portion 25 in the embodiment. The first hole portion 23 is a hole that opens on the lower surface side of the connected member 20 and whose axial direction is parallel to the Z-axis direction. The first hole portion 23 has a tapered inner wall that gradually narrows toward the second hole portion 24 . The XY cross-sectional shape of the first hole portion 23 of the embodiment is a square shape including rounded corners. The XY cross-sectional shape of the first hole portion 23 is preferably rotationally symmetrical.

The second hole 24 is positioned between the first hole 23 and the third hole 25 . The second hole portion 24 is a hole that communicates with the upper portion of the first hole portion 23 and whose axial direction is parallel to the Z-axis direction. The second hole portion 24 has a tapered inner wall that gradually becomes smaller toward the third hole portion 25 and has a taper ratio smaller than that of the first hole portion 23 . The XY cross-sectional shape of the second hole 24 of the embodiment is a square with rounded corners. The second hole portion 24 preferably has a rotationally symmetrical XY cross-sectional shape.

The third hole portion 25 is located above the first hole portion 23 and the second hole portion 24 in the embodiment. The third hole portion 25 is a hole that communicates with the upper portion of the second hole portion 24, has an axial direction parallel to the Z-axis direction, and has a constant XY cross-sectional shape. The third hole portion 25 is a hole into which the first column portion 13 of the pin portion 12 of the connection member 10 can be fitted. The third hole 25 of the embodiment opens on the upper surface 20a side of the member 20 to be connected. The third hole 25 of the embodiment has a square XY cross-sectional shape including rounded corners, but does not include concave corners and concave curved surfaces on the outer periphery, and the θ Any shape may be used as long as rotation in the rotational direction can be regulated. The XY cross-sectional shape of the third hole portion 25 is preferably rotationally symmetrical.

In the connecting member 10, when the pin portion 12 is inserted through the fitting hole 22 from below, the first column portion 13 is sequentially guided by the first hole portion 23 and the second hole portion 24 of the fitting hole 22, and the third pin portion 10 is guided to the third hole portion 24 of the fitting hole 22. It fits into the hole 25 . In addition, when the short diameter of the fitting hole 22 at the boundary surface between the first hole portion 23 and the second hole portion 24 is L, and the long diameter at the upper surface 13b of the first column portion 13 of the connecting member 10 is D, It is formed so that the relationship of L=1/D is established.

By fitting the first column portion 13 into the third hole portion 25, the connection member 10 and the connected member 20 are positioned in the XY plane direction and the θ rotation direction. Further, the first column portion 13 is fitted into the third hole portion 25, and the lower end portion of the connected member 20 is supported in contact with the upper surface of the base portion 11 of the connecting member 10, whereby the connecting member 10 and the connecting member 10 are supported. The connection member 20 is positioned in the Z-axis direction. That is, the connecting member 10 and the connected member 20 can be positioned on four axes.

The fitting hole 22 has an outer peripheral edge of the lower end portion of the first hole portion 23 in a state where the first column portion 13 is fitted in the third hole portion 25 in a plan view. To position. In the connecting member 10 of the embodiment, when the first columnar portion 13 is fitted into the third hole portion 25 and the base portion 11 supports the connected member 20 from below, the upper surface 13b of the first columnar portion 13 is , is maintained at the same height as the top surface 20a of the member to be connected 20 or at a position below the top surface 20a.

Although the XY cross-sectional shape of the second hole portion 24 of the embodiment is a square shape including rounded corners, the second hole portion 24 of the embodiment is not limited to a square shape. For example, when the XY cross-sectional shape of the first columnar portion 13 and the third hole portion 25 is a regular polygonal shape, the second hole portion 24 does not include concave corners and concave curved surfaces on the outer periphery, and the XY cross-sectional shape is Any regular polygonal shape having the number of vertices of the XY cross section of the first columnar portion 13 and the third hole portion 25 or less may be used.

Although the XY cross-sectional shape of the first hole portion 23 of the embodiment is a square shape including rounded corners, the shape of the first hole portion 23 is not limited to a square shape in the present embodiment. For example, when the XY cross-sectional shape of the second hole 24 is a regular polygonal shape, the first hole 23 does not include concave corners and concave curved surfaces on the outer periphery, and the XY cross-sectional shape is the shape of the second hole 24. Any regular polygonal shape or circular shape having the number of vertices of the XY cross section or less may be used.

Next, the positioning operation between the connecting member 10 and the connected member 20 of the positioning structure 1 will be described with reference to FIGS. 5 to 10. FIG. FIG. 5 is a side view partially showing a state of positioning by the positioning structure 1 shown in FIG. 6 is a plan view of FIG. 5. FIG. FIG. 7 is a side view showing a state after FIG. 5 with a partial cross section. 8 is a plan view of FIG. 7. FIG. FIG. 9 is a side view showing a state after FIG. 7 with a partial cross section. 10 is a plan view of FIG. 9. FIG. 5, 7 and 9 show the connected member 20 in cross section. In addition, in FIGS. 6, 8 and 10, outlines of portions that are invisible in top view are indicated by dotted lines. More specifically, the outline of the invisible portion of the connecting member 10 is indicated by a long dotted line, and the outline of the invisible portion of the connected member 20 is indicated by a short dotted line.

First, an operator slips a first object to which the connection member 10 is attached under a second object to which the connection member 20 is attached, and attaches the connection member 10 to the object as shown in FIG. It is moved to a position in the vicinity of directly below the connection member 20 . As shown in FIG. 6 , in a state before positioning in which the connecting member 10 is not fitted to the connected member 20 , the third hole portion 25 of the fitting hole 22 of the connected member 20 is inserted into the third hole portion 25 of the connecting member 10 . One columnar portion 13 is shifted both in the XY plane direction and in the θ rotation direction.

The operator moves the connection member 10 upward. The operator, for example, drives an elevating mechanism provided for the first object (e.g., an elevating mechanism 140 of a conveying apparatus 100 in an application mode described later) to raise the connection member 10 . At this time, the upper edge of one angular portion 13 a of the first column portion 13 of the connecting member 10 contacts the inclined inner wall of the first hole portion 23 . The connection member 10 is guided by the inclined inner wall of the first hole portion 23 in the direction indicated by the arrow in FIG. Move toward the radial center.

7 and 8, specifically, the upper surface 13b of the first columnar portion 13 is at the boundary height between the first hole portion 23 and the second hole portion 24. , and the connecting member 10 is positioned in the horizontal direction (XY plane direction) with respect to the connected member 20 . At this time, on the boundary surface between the first hole portion 23 and the second hole portion 24, all the four angular portions 13a at the upper edge of the first columnar portion 13 contact the inner wall.

When the operator further moves the connecting member 10 upward, the XY cross-sectional shape of the second hole 24 at the height of the upper surface 13b of the first column 13 gradually becomes smaller. At the upper end edge of the first columnar portion 13, the angular portions 13a positioned at both ends of the major axis are all in contact with the inclined inner wall of the second hole portion 24, so that the upper surface 13b of the first columnar portion 13 Each angular portion 13a is guided toward the angular portion of the second hole portion 24 so that the major axis of . That is, the connection member 10 turns around the axis (moves in the θ rotation direction) as indicated by arrows in FIGS. 7 and 8 .

9 and 10, specifically, the upper surface 13b of the first columnar portion 13 is at the boundary height between the second hole portion 24 and the third hole portion 25. , and the connecting member 10 is positioned in the turning direction (θ rotating direction) with respect to the connected member 20 . At this time, on the boundary surface between the second hole portion 24 and the third hole portion 25, the upper edge of the first column portion 13 is entirely in contact with the inner wall.

When the operator further moves the connecting member 10 upward, the third hole portion 25 of the member to be connected 20 is aligned in the horizontal direction (XY plane direction) and the turning direction (θ rotation direction). , the first column portion 13 of the connection member 10 is inserted. The connecting member 10 stops at the position shown in FIGS. 3 and 4, more specifically, at the position where the upper surface of the base portion 11 of the connecting member 10 and the lower end of the connected member 20 are in contact with each other. direction). In this manner, the connecting member 10 is positioned along four axes by fitting the first column portion 13 into the third hole portion 25 of the connected member 20 .

In the description of the embodiment, the connection member 10 is moved and positioned with respect to the connection member 20 , but the connection member 20 may be moved and positioned with respect to the connection member 10 . Further, for example, the height position of the connected member 20 (the position in the Z-axis direction) and the horizontal position of the connecting member 10 (the position in the XY plane direction and the θ rotation direction) are fixed, and the connecting member 10 is moved vertically. By moving upward (in the Z-axis direction), the member to be connected 20 may be moved in the horizontal direction (the XY plane direction and the θ rotation direction).

As described above, the positioning structure 1 of the embodiment includes a connection member 10 including a pin portion 12 that protrudes from the upper surface of a base portion 11 and extends in the axial direction (Z-axis direction), and a fitting hole into which the pin portion 12 can be inserted. 22, the pin portion 12 includes, at its upper end portion, a first column portion 13 having a shape other than a perfect circle when viewed in the axial direction; The hole portion 23, the second hole portion 24, and the third hole portion 25 communicate with each other in this order. The second hole portion 24 gradually becomes smaller toward the third hole portion 25 and has a tapered inner wall with a taper ratio smaller than that of the first hole portion 23. The third hole portion 25 is a pin portion. Twelve first pillars 13 are fittable.

According to this, the positioning structure 1 performs positioning in horizontal two-axis directions (XY plane directions) with the first hole 23, and performs positioning in the rotation direction (θ rotation direction) about the vertical axis with the second hole 24. , and by positioning in one vertical direction (Z-axis direction) by fitting in the third hole 25, only a combination of a pair of fitting holes 22 and the pin portion 12 can perform four-axis Positioning is possible. When the connecting member 10 moves toward the second hole 24 with respect to the member 20 to be connected in the first hole 23, one angular portion 13a of the upper edge of the first column 13 moves toward the first hole. By contacting the inner wall of the portion 23 and being guided by the inner wall, it moves in the radial direction. Further, when the connecting member 10 moves toward the third hole portion 25 with respect to the member to be connected 20 in the second hole portion 24, the angular portions 13a located at both ends of the major axis of the first column portion 13 move toward the second hole portion 24. While being in contact with the inner wall of the second hole portion 24, it is guided toward the angular portion of the second hole portion 24, thereby rotationally moving around the axis. That is, in the positioning structure 1, by simply inserting the pin portion 12 into the fitting hole 22 from the state in which the pin portion 12 and the fitting hole 22 are opposed to each other, the positioning structure 1 can rotate in two horizontal axial directions, in the rotating direction about the vertical axis, and in the rotating direction around the vertical axis. Positioning is performed sequentially along one vertical axis, so four-axis positioning is easily possible.

Further, in the positioning structure 1 of the embodiment, the third hole portion 25 opens toward the upper surface 20a of the member to be connected 20, and the first column portion 13 is fitted in the third hole portion 25. The upper surface 13b is positioned at the same height as or below the upper surface 20a of the member 20 to be connected.

According to this, since the first column portion 13 does not protrude upward from the connected member 20, it is possible to prevent the connecting member 10 from interfering with the object to which the connected member 20 is attached. Further, by setting the top surface 13b of the first column 13 to the same height as the top surface 20a of the member to be connected 20 or bringing it closer to the top surface 20a, it contributes to downsizing of the positioning structure 1 in the vertical direction.

In addition, in the positioning structure 1 of the embodiment, the fitting hole 22 has a short diameter L at the interface between the first hole portion 23 and the second hole portion 24, and a long diameter D at the upper surface 13b of the first column portion 13. , then L=1/D.

According to this, the angular portions 13a positioned at both ends of the major axis of the first column portion 13 are guided in the direction toward the angular portions of the second hole portions 24, and the connecting member 10 is rotated around the vertical axis. can be done.

Further, in the positioning structure 1 of the embodiment, the cross-sectional shape of the third hole 25 cut along a plane (XY plane) orthogonal to the axial direction (Z-axis direction) is a regular polygonal shape, and the plane orthogonal to the axial direction The cross-sectional shape of the second hole portion 24 cut in the direction of the axis is a regular polygonal shape or a circular shape having the number of vertices equal to or less than the number of vertices of the cross section of the first columnar portion 13 cut in the plane orthogonal to the axial direction, The cross section of the first hole 23 cut along a plane perpendicular to the axial direction has a regular polygonal shape or a circular shape with the number of vertices equal to or less than the number of vertices of the cross section of the second hole 24 cut along a plane perpendicular to the axial direction. .

According to this, since the cross-sectional shape of the fitting hole 22 cut along a plane perpendicular to the axial direction is rotationally symmetrical, the angle of rotation before positioning in the rotational direction becomes small, and fitting can be easily performed. can.

[Applicable form]
Next, a configuration of a conveying apparatus 100 according to an application form including the positioning structure 1 of the embodiment will be described with reference to FIGS. 11 to 15. FIG. FIG. 11 is a perspective view showing a configuration example of the conveying device 100 according to the embodiment. 12 is a plan view of the conveying device 100 shown in FIG. 11. FIG. FIG. 13 is a perspective view showing a configuration example of the lifting mechanism 140 of the conveying device 100 shown in FIG. 14 is a perspective view showing the lifted state of the lifting mechanism 140 of FIG. 13. FIG. 15 is a perspective view showing a configuration example of the sliding member 130 in the state of FIG. 14. FIG. In addition, in these drawings, constituent elements other than the constituent elements according to the invention are omitted as appropriate. Further, in the following description, the horizontal longitudinal direction (horizontal direction in FIG. 12) of the conveying device 100 is referred to as the "front-rear direction", and the lateral direction (vertical direction in FIG. 12) is referred to as the "width direction".

In the application form, the first object to which the connection member 10 is attached on the upper surface side is the conveying device 100 . Further, the second object to which the member to be connected 20 is attached on the lower surface side is the transfer object B (see FIGS. 16 and 17). The conveying device 100 is a device that crawls under an object to be conveyed B (see FIGS. 16 and 17), connects to the object to be conveyed B from below, and conveys the object to be conveyed B by traveling.

The object to be conveyed B is a conveying vehicle that includes at least a vehicle body and a plurality of driven wheels capable of moving the vehicle body in a horizontal direction while maintaining the vehicle body in a horizontal posture, and has a gap that allows the conveying device 100 to slip under the vehicle body. is. The transport object B is, for example, a cart, a transport cart, a stretcher, or the like. As shown in FIG. 11, the conveying apparatus 100 of the embodiment includes an apparatus main body 110, four driving wheels 120, a sliding member 130, an elevating mechanism 140, a linear actuator 150, and a connecting mechanism 160. Prepare.

The apparatus main body 110 supports main components of the transfer apparatus 100 such as the driving wheels 120, the sliding member 130, the lifting mechanism 140, and the direct-acting actuator 150 on a plate-shaped base 111 in a horizontal posture. The base 111 is formed with driving wheel openings 111 a for exposing a portion of each driving wheel 120 below the base 111 . In addition, the base 111 has four sets of eight driving wheel support portions 112 that support the rotation shafts of the respective driving wheels 120, and a fixing portion 151 (see FIG. 13, etc.) of the linear motion actuator 150, which are fixed to the base 111. It has an actuator support portion 113 and various support members for other components provided on the base 111 .

Further, the apparatus main body 110 has a cover member 115 that covers the sides and top of the components provided on the base 111 . The cover member 115 has a lifting mechanism opening 115a. The lifting mechanism opening 115 a is provided in the central portion of the upper surface 115 b of the cover member 115 . A connection mechanism 160, which will be described later, appears and disappears from the lifting mechanism opening 115a as it moves up and down. In the conveying apparatus 100 of the embodiment, the height from the contact surface of the driving wheel 120 to the running surface to the upper surface 115b of the cover member 115 is 125 mm. The device main body 110 includes a base 111 and a cover member 115 forming a substantially rectangular parallelepiped housing.

In the embodiment, a total of four drive wheels 120 are provided on the front, rear, left, and right sides of the apparatus main body 110 . The drive wheel 120 is, in the embodiment, a mecanum wheel capable of omnidirectional movement, but may be, for example, an omni wheel. Each drive wheel 120 is rotatable about a rotation axis by a drive wheel support portion 112 fixed to a base 111 . A set of driving wheel support portions 112 includes, in the embodiment, two supporting members arranged to face each other with one driving wheel 120 interposed therebetween. The support members support both ends of the rotating shaft of one drive wheel 120 .

Rotational driving force is transmitted from a rotary actuator 121 to the driving wheels 120 . Rotary actuators 121 include four rotary actuators 121 that drive each drive wheel 120 . The rotary actuator 121 includes, for example, a BLDC (Brush-Less Direct-Current) motor. In the embodiment, the rotary actuator 121 is arranged adjacent to the drive wheels 120 in the space between the drive wheels 120 arranged in front and behind such that the output shaft is parallel to the rotation axis of the drive wheels 120, and the pulleys and Torque is transmitted to drive wheels 120 via a belt or the like.

A rotary actuator 121 is controlled by a motor driver 122 . In the embodiment, four motor drivers 122 are arranged on one end side of the device main body 110 in the front-rear direction and above a fixing portion 151 of a linear motion actuator 150, which will be described later. Also, the rotary actuator 121 and the motor driver 122 are driven by power supplied from the battery 123 . The battery 123 is arranged on the other end side of the device main body 110 in the front-rear direction. Further, the device body 110 is provided with an emergency stop button 124 and a relay switch 125 . When the emergency stop button 124 is pressed by the operator, the conveying apparatus 100 turns off the main power supply by the relay switch 125 and the power supply from the battery 123 is stopped.

The sliding member 130 is provided movably in the front-rear direction with respect to the base 111 of the apparatus main body 110 . For example, the sliding member 130 may be provided so as to be movable along a guide rail provided in a horizontal posture and parallel to the front-rear direction. The sliding member 130 has a pair of guide shaft portions 131 and a fixed portion 132 .

The guide shaft portion 131 is a shaft member extending in the width direction of the device main body 110 . The guide shaft portion 131 is provided coaxially and integrally with a slide shaft member 144b that is inserted into a pair of guide holes 141b of an elevation mechanism 140, which will be described later, or is fixed to the slide shaft member 144b, or is slidable. It is provided in common with the shaft member 144b. The sliding member 130 can move in the front-rear direction with respect to the base 111 within the range in which the guide shaft portion 131 and the sliding shaft member 144b can move within the guide hole 141b.

A movable portion 152 of a linear motion actuator 150 , which will be described later, is fixed to the fixed portion 132 . The sliding member 130 moves in the front-rear direction with respect to the base 111 together with the movable portion 152 when the linear motion actuator 150 drives and expands and contracts.

In the embodiment, the sliding member 130 is formed in a U-shape in a plan view such that a fixed portion 132 fixed to the linear motion actuator 150 is a concave portion 133 . That is, the end portion in the contracting direction of the direct-acting actuator 150 has a bifurcated shape with respect to the fixed portion 132 . The guide shaft portion 131 is provided at each of the two-forked ends. The sliding member 130 is provided with a concave portion 133 in a direction in which the linear motion actuator 150 extends with respect to the guide shaft portion 131 . That is, the slide member 130 is formed such that the connection portion of the linear motion actuator 150 with the movable portion 152 is located in the direction in which the linear motion actuator 150 extends with respect to the connection portion with the lifting mechanism 140 .

The lift mechanism 140 includes, in an embodiment, a scissor link mechanism that includes an X-shaped link. The elevating mechanism 140 connects the base 111 of the apparatus main body 110 and a connection mechanism 160 described later, and supports the connection mechanism 160 so as to be vertically movable while maintaining a horizontal posture. The elevating mechanism 140 elevates the connecting mechanism 160 with respect to the apparatus main body 110 as the sliding member 130 moves in the front-rear direction. The lifting mechanism 140 of the embodiment includes a base fixing portion 141 , a connecting mechanism fixing portion 142 , a first link arm 143 , a second link arm 144 and a central shaft member 145 .

The base fixing portion 141 is fixed to the base 111 of the apparatus main body 110 . In the embodiment, the base fixing portion 141 includes a pair of support frames extending in the front-rear direction and having an L-shaped cross section. The base fixing portion 141 is fixed to the base 111 at the L-shaped bottom portion. The base fixing portion 141 has an axial hole 141a and a guide hole 141b in a flange portion that is bent upward from one end in the width direction of the L-shaped bottom portion.

The shaft hole 141a is a round hole provided at the end of the base fixing portion 141 extending in the front-rear direction in the direction in which the direct-acting actuator 150 extends. The shaft hole 141a is horizontally oriented and penetrates the device main body 110 in the width direction. A rotary shaft member 143a provided on the lower end side of the first link arm 143 is inserted through the shaft hole 141a.

The guide hole 141b is an elongated hole that extends from the end of the base fixing portion 141 extending in the front-rear direction on the side where the direct-acting actuator 150 contracts to the center. The guide hole 141b is horizontally oriented and penetrates in the width direction of the apparatus main body 110 . A sliding shaft member 144b provided on the lower end side of the second link arm 144 is inserted through the guide hole 141b.

The connection mechanism fixing portion 142 is fixed to a sensor mounting member 161 positioned at the lower end of the connection mechanism 160 which will be described later. In the embodiment, the connection mechanism fixing portion 142 includes a pair of support frames extending in the front-rear direction and having an inverted L-shaped cross section. The connection mechanism fixing portion 142 is fixed to the sensor mounting member 161 at the inverted L-shaped top surface portion. The connection mechanism fixing portion 142 has a shaft hole 142a and a guide hole 142b in a flange portion bent downward from one widthwise edge of the inverted L-shaped top surface portion.

The shaft hole 142a is a round hole provided at the end of the connecting mechanism fixing portion 142 extending in the front-rear direction in the direction in which the direct acting actuator 150 extends. The shaft hole 142 a is horizontally oriented and penetrates in the width direction of the device main body 110 . A rotating shaft member 144a provided on the upper end side of the second link arm 144 is inserted through the shaft hole 142a.

The guide hole 142b is an elongated hole that extends from the end of the connection mechanism fixing portion 142 extending in the front-rear direction on the side where the direct-acting actuator 150 contracts to the center. The guide hole 142b is provided in a horizontal posture and penetrates in the width direction of the apparatus main body 110 . A sliding shaft member 143b provided on the upper end side of the first link arm 143 is inserted through the guide hole 142b.

The first link arm 143 connects the base fixing portion 141 and the connection mechanism fixing portion 142 . The first link arm 143 is rotatably supported by the base fixing portion 141 about an axis parallel to the width direction of the apparatus main body 110 via a rotating shaft member 143a provided at the lower end in the longitudinal direction. be. The rotary shaft member 143 a is inserted through the shaft hole 141 a provided in the base fixing portion 141 . The rotating shaft member 143a is, for example, a pin member.

The first link arm 143 is slidable in the longitudinal direction of the device body 110 and in the width direction of the device body 110 with respect to the connection mechanism fixing portion 142 via a sliding shaft member 143b provided at the upper end in the longitudinal direction. is rotatably supported about an axis parallel to the The sliding shaft member 143b is inserted through a guide hole 142b provided in the connection mechanism fixing portion 142 . The sliding shaft member 143b is, for example, a pin member.

The second link arm 144 connects the base fixing portion 141 and the connection mechanism fixing portion 142 . The second link arm 144 is rotatably supported by the connection mechanism fixing portion 142 about an axis parallel to the width direction of the device main body 110 via a rotation shaft member 144a provided at the upper end in the longitudinal direction. be. The rotary shaft member 144 a is inserted through a shaft hole 142 a provided in the connection mechanism fixing portion 142 . The rotating shaft member 144a is, for example, a pin member.

The second link arm 144 is slidable in the longitudinal direction of the apparatus main body 110 and in the width direction of the apparatus main body 110 with respect to the base fixing portion 141 via a sliding shaft member 144b provided at the lower end in the longitudinal direction. is rotatably supported about an axis parallel to the The sliding shaft member 144b is inserted through a guide hole 142b provided in the base fixing portion 141. As shown in FIG. The slide shaft member 144 b is fixed to the guide shaft portion 131 of the slide member 130 so as to be concentric with the guide shaft portion 131 . The sliding shaft member 144b is, for example, a bolt.

The central shaft member 145 rotatably connects the longitudinal central portions of the first link arm 143 and the second link arm 144 . The central shaft member 145 is, for example, a pin member.

The linear actuator 150 is a uniaxial actuator that extends and contracts in the longitudinal direction of the device body 110 . The linear motion actuator 150 expands and contracts by the driving force of the driving source, for example, when the control device mounted on the device main body 110 drives the driving source. Linear actuator 150 includes a fixed portion 151 and a movable portion 152 .

In the embodiment, the fixed part 151 is a cylindrical housing whose axis is horizontal and parallel to the front-rear direction of the apparatus main body 110 . The fixed portion 151 is open at one end in the longitudinal direction and accommodates a part of the movable portion 152 therein. The fixed portion 151 is fixed at the other end in the longitudinal direction to the actuator support portion 113 provided on the base 111 of the apparatus main body 110 .

In the embodiment, the movable part 152 is a shaft whose axis is horizontal and parallel to the front-rear direction of the device main body 110 . A portion of the movable portion 152 on one end side in the longitudinal direction is housed inside the fixed portion 151 . The other end in the longitudinal direction of the movable portion 152 is fixed to the fixed portion 132 of the sliding member 130 .

The movable portion 152 can linearly move in the front-rear direction with respect to the fixed portion 151 and the apparatus main body 110 . The movable part 152 linearly moves in the front-rear direction with respect to the fixed part 151 and the apparatus main body 110 by the expansion and contraction of the linear actuator 150 . The linear motion actuator 150 linearly moves the sliding member 130 in the front-rear direction by linearly moving the movable portion 152 in the front-rear direction.

The connection mechanism 160 is connected to the transfer object B (see FIGS. 16 and 17) by rising from below. The connection mechanism 160 includes, in the embodiment, a sensor mounting member 161, a plurality of sensors 162, the connection member 10 of the embodiment, the cover member 164, and the connected member 20 of the embodiment. In the connecting mechanism 160, the sensor mounting member 161, the plurality of sensors 162, the connecting member 10, and the cover member 164 are moved up and down by the lifting mechanism 140 as the sliding member 130 moves in the front-rear direction.

The sensor mounting member 161 is fixed to the connecting mechanism fixing portion 142 of the lifting mechanism 140 . A plurality of sensors 162 are attached to the sensor attachment member 161 . The sensor mounting member 161 is formed, for example, downward from the center of the upper surface, and accommodates and supports the sensor 162 on the bottom surface of a recess (not shown) that accommodates the connecting member 10 . The sensor mounting member 161 is formed, for example, downward from the upper surface around the recess, and accommodates and supports the sensors 162 in a plurality of slits (not shown) that open to the side surfaces of the recess.

In the application form, the sensor mounting member 161 supports the base portion 11 of the connecting member 10 via a plurality of sensors 162 . The connecting member 10 is provided so as not to come into direct contact with the sensor mounting member 161 . The connection member 10 is moved up and down together with the sensor mounting member 161 by the lifting mechanism 140 . In the state in which the connection member 10 is lowered most by the lifting mechanism 140, the upper surface 13b of the pin portion 12 is at the same height as the upper surface 115b of the cover member 115 of the apparatus main body 110 or lower than the upper surface 20a.

The plurality of sensors 162 includes load cells that detect loads in an embodiment. The plurality of sensors 162 are, for example, 4-axis sensors including ten load cells. Forces applied to the connecting member 10 from the connected member 20 and the transfer object B (see FIGS. 16 and 17) are transmitted from the connecting member 10 to the plurality of sensors 162 .

The cover member 164 is a protective member that covers the sensor 162 supported by the sensor mounting member 161 from above. The cover member 164 is fixed to the sensor mounting member 161 and provided so as not to come into direct contact with the connecting member 10 .

The connected member 20 is attached to the lower surface side of the transfer object B (see FIGS. 16 and 17). The connected member 20 has, for example, a screw or the like screwed into the fixing hole 21, and the upper surface 20a is fixed to the lower surface of the object B to be transferred.

The conveying device 100 crawls under the object to be conveyed B (see FIGS. 16 and 17) to which the connected member 20 is attached, raises the connecting member 10 by the lifting mechanism 140, and inserts the pin portion 12 into the fitting hole 22. It is connected to the object to be conveyed B by fitting together. By fitting the pin portions 12 into the fitting holes 22, the conveying device 100 can be moved horizontally (in the XY plane direction), vertically (in the Z-axis direction), and in a turning direction about the vertical axis with respect to the object to be conveyed B. It is positioned by four axes (in the θ rotation direction). At this time, the conveying device 100 conveys the conveying object B by traveling because the pin portion 12 pulls the conveying object B in the traveling direction through the fitting hole 22 when the conveying device 100 is traveling. Further, the conveying device 100 pulls the object to be conveyed B in the right/left turn movement direction or the turning movement direction via the connection mechanism 160 . As a result, the object to be transported B turns left or right or turns according to the right or left turn or turning operation of the conveying device 100 .

Note that the conveying device 100 may include a plurality of connected members 20 . By attaching the connected member 20 to each of the plurality of objects B to be transported, the plurality of objects B to be transported can be sequentially transported by the transport apparatus 100 .

Next, the operation of connecting the conveying apparatus 100 to the conveying object B will be described with reference to FIGS. 16 and 17. FIG. FIG. 16 is a side view showing a partial cross section of the conveying apparatus 100 shown in FIG. 11 before being connected to the object to be conveyed B. FIG. FIG. 17 is a side view, partly in cross section, showing a state after the transporting apparatus 100 shown in FIG. 11 is connected to the object to be transported B. FIG.

When the conveying object B is conveyed by the conveying apparatus 100 of the embodiment, the operator attaches the connected member 20 to the conveying object B in advance. The operator fixes the upper surface 20a of the member to be connected 20 to the lower surface side of the object to be transferred B using, for example, a screw (not shown) or the like. When there are a plurality of objects B to be conveyed by the conveying device 100, the connected members 20 are attached to all the objects B to be conveyed in advance. Further, the operator drives the lifting mechanism 140 via the sliding member 130 by the direct acting actuator 150 to lower the sensor mounting member 161 and the connecting member 10 .

At the time of connection, the drive wheels 120 are first driven to run the transfer device 100 so as to get under the transfer object B to which the member to be connected 20 is attached, as shown in FIG. Next, the pin portion 12 of the connecting member 10 is positioned to face directly below the fitting hole 22 of the member to be connected 20 .

Next, the linear motion actuator 150 is driven in the direction of extension. As the linear motion actuator 150 extends, the movable portion 152 moves the sliding member 130 in the front-rear direction toward the rotating shaft member 143a (to the right in FIGS. 16 and 17). Then, as shown in FIG. 17, the slide shaft member 144b of the second link arm 144 moves along with the slide member 130 within the guide hole 141b of the base fixing portion 141 toward the rotation shaft member 143a.

Along with this, the second link arm 144 rotates around the axis of the rotation shaft member 144a, and the first link arm 143 connected via the central shaft member 145 rotates around the axis of the rotation shaft member 143a. At the same time, the sliding shaft member 143b moves within the guide hole 142b of the connecting mechanism fixing portion 142 toward the rotating shaft member 144a. As a result, the sensor mounting member 161 and the connection member 10 are lifted together with the connection mechanism fixing portion 142 .

The rising connecting member 10 approaches the connected member 20 from below, and the pin portion 12 is inserted into the fitting hole 22 from below and fitted. As a result, the connecting member 10 restricts the movement of the connected member 20 in the horizontal direction and the turning direction about the vertical axis and supports it from below to hold the object to be conveyed B. 100 is connected to the transport object B;

Note that when the pin portion 12 and the fitting hole 22 are misaligned in the horizontal direction when the connecting member 10 is lifted, the fitting hole 22 may be displaced as shown in FIGS. The pin portion 12 is positioned in the horizontal direction (XY plane direction) by guiding the first column portion 13 of the pin portion 12 through the first hole portion 23 of the pin portion 12 . Further, when the positions of the pin portion 12 and the fitting hole 22 are misaligned in the rotational direction, as shown in FIGS. By guiding the first pillars 13 of 12, the pin portion 12 is rotated in the rotation direction (θ rotation direction) around the vertical axis and positioned with respect to the fitting hole 22 . Then, as shown in FIGS. 9 and 10 of the embodiment, the connection member 10 rises, and the first column portion 13 and the third hole portion 25 are fitted.

When the conveying device 100 is separated from the object to be conveyed B, the direct acting actuator 150 is driven in the contracting direction. As the linear motion actuator 150 contracts, the movable portion 152 moves the sliding member 130 toward the fixed portion 151 (to the left in FIGS. 16 and 17) in the front-rear direction. Then, along with the sliding member 130 , the sliding shaft member 144 b of the second link arm 144 moves within the guide hole 141 b of the base fixing section 141 toward the fixing section 151 .

Along with this, the second link arm 144 rotates around the axis of the rotation shaft member 144a, and the first link arm 143 connected via the central shaft member 145 rotates around the axis of the rotation shaft member 143a. At the same time, the sliding shaft member 143b moves in the guide hole 142b of the connecting mechanism fixing portion 142 toward the fixing portion 151 side. As a result, the sensor mounting member 161 and the connection member 10 are lowered together with the connection mechanism fixing portion 142 .

In the lowered connecting member 10 , the pin portion 12 is pulled downward from the fitting hole 22 and separated below the connected member 20 . As a result, the conveying device 100 is separated from the object B to be conveyed.

As described above, the conveying apparatus 100 of the application form includes the connection mechanism 160 including the positioning structure 1, the drive wheels 120 supported by the apparatus main body 110 for conveying the apparatus main body 110, and the an elevating mechanism 140 that connects the apparatus main body 110 and the connecting member 10 and raises and lowers the connecting member 10 with respect to the apparatus main body 110 as the sliding member 130 moves; and a direct acting actuator 150 for moving the sliding member 130 in one direction with respect to the apparatus main body 110. The connecting member 10 is lifted from below the connected member 20 fixed to the lower surface side of the object B to be conveyed. , the object to be conveyed B can be held via the member to be connected 20, and the object to be conveyed B can be separated from the member to be connected 20 and the object to be conveyed B by descending.

According to this, the conveying device 100 slips under the conveying object B, and the connection mechanism 160 including the positioning structure 1 for positioning with four axes is connected to the conveying object B from below. , right and left turns, turning, switching between forward and reverse, etc. are easy, and stable running is possible. In addition, the positioning structure 1 is configured such that by simply inserting the pin portion 12 of the connecting member 10 into the fitting hole 22 of the connected member 20 in a state in which the pin portion 12 is opposed to the fitting hole 22 of the connected member 20, the positioning structure 1 can move in two horizontal directions, Positioning is performed sequentially in the direction of rotation about the vertical axis and in the direction of one vertical axis, so the transporting device 100 and the object to be transported B can be easily positioned on the four axes. In addition, when crawling under the object to be conveyed B before connecting to the object to be conveyed B, the connection mechanism 160 can be lowered to reduce the total height of the conveying apparatus 100. Therefore, it is possible to cope with the object B having a low floor. is. Further, since the connection with the object to be transported B can be easily released by lowering the connection mechanism 160, a plurality of objects to be transported B can be transported one after another.

In addition, this embodiment is not limited to the said aspect. That is, various modifications can be made without departing from the gist of the present embodiment.

Reference Signs List 1 positioning structure 10 connecting member 11 base portion 12 pin portion 13 first column portion 13a angular portion 13b upper surface 14 second column portion 20 connected member 20a upper surface 21 fixing hole 22 fitting hole 23 first hole portion 24 second hole portion 25 Third hole 25a Corner portion 100 Conveying device 110 Apparatus body 111 Base 111a Driving wheel opening 112 Driving wheel supporting portion 113 Actuator supporting portion 115 Cover member 115a Elevating mechanism opening 115b Upper surface 120 Driving wheel 121 Rotary actuator 122 Motor Driver 123 Battery 124 Emergency stop button 125 Relay switch 130 Sliding member 131 Guide shaft portion 132 Fixed portion 133 Concave portion 140 Lifting mechanism 141 Base fixing portion 141a Shaft hole 141b Guide hole 142 Connection mechanism fixing portion 142a Shaft hole 142b Guide hole 143 1st link arm 143a rotating shaft member 143b sliding shaft member 144 second link arm 144a rotating shaft member 144b sliding shaft member 145 central shaft member 150 direct acting actuator 151 fixed part 152 movable part 160 connecting mechanism 161 sensor mounting member 162 Sensor 164 Cover member B Conveying object

Claims (5)

a connecting member including an axially extending pin portion protruding from the upper surface of the base;
a connected member having a fitting hole into which the pin portion can be inserted;
with
The pin portion is
The upper end portion includes a first column portion having a shape other than a perfect circle when viewed in the axial direction,
The fitting hole has a first hole portion, a second hole portion, and a third hole portion communicating in order,
The first hole has a tapered inner wall that gradually becomes smaller toward the second hole,
The second hole has a tapered inner wall that gradually becomes smaller toward the third hole and has a taper ratio smaller than that of the first hole,
The first column portion of the pin portion can be fitted into the third hole portion,
positioning structure. The third hole opens to the upper surface side of the member to be connected,
In a state where the first pillar is fitted in the third hole, the top surface of the first pillar is located at the same height as or below the top surface of the member to be connected,
The positioning structure according to claim 1. In the fitting hole, L=1/D, where L is the minor axis of the interface between the first hole and the second hole, and D is the major axis of the upper surface of the first column. ,
The positioning structure according to claim 1 or 2. A cross-sectional shape of the third hole cut along a plane perpendicular to the axial direction is a regular polygon,
A cross-sectional shape of the second hole cut along a plane perpendicular to the axial direction is a regular polygon having a number of vertices less than or equal to the number of vertices of a cross-section of the first column section cut along a plane perpendicular to the axial direction; or circular,
The cross section of the first hole cut along a plane perpendicular to the axial direction has a regular polygonal shape with the number of vertices equal to or less than the number of vertices of the cross section of the second hole cut along a plane perpendicular to the axial direction, or is circular,
The positioning structure according to any one of claims 1 to 3. a connection mechanism including the positioning structure according to any one of claims 1 to 4;
a drive wheel that is supported by an apparatus body and conveys the apparatus body;
a sliding member provided movably in one direction with respect to the device main body;
an elevating mechanism that connects the device main body and the connection member and raises and lowers the connection member with respect to the device main body as the sliding member moves;
a linear motion actuator that moves the sliding member in the one direction with respect to the apparatus main body;
with
The connecting member can hold the object to be conveyed through the member to be conveyed by rising from below the member to be conveyed fixed to the lower surface of the object to be conveyed. It is possible to leave the transport object,
Conveyor.

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