CN102442320A - Self-walking type transportation vehicle - Google Patents
Self-walking type transportation vehicle Download PDFInfo
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- CN102442320A CN102442320A CN2011102234005A CN201110223400A CN102442320A CN 102442320 A CN102442320 A CN 102442320A CN 2011102234005 A CN2011102234005 A CN 2011102234005A CN 201110223400 A CN201110223400 A CN 201110223400A CN 102442320 A CN102442320 A CN 102442320A
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Abstract
A self-walking type transportation vehicle can reliably reduce speed before the cargo arrives at a curve path. Cargo collapse or off-rail can be prevented when the weight of the cargo is large or the total length is large. The self-walking type transportation vehicle (A) is supported and guided by a guide rail (GR) for performing self walking along a transportation path which comprises a straight route (SR) and a curve route (CR). The self-walking type transportation vehicle is provided with the following components: a loading vehicle (2) which supports a bearing member; a front vehicle (1) which is provided in front of the loading vehicle (2) and is connected with the loading vehicle (2) through a connecting rod (11); a rotation detecting mechanism (5) which detects relative rotation of the front vehicle (1) relative to the connecting rod (11) around a vertical shaft (1A); and a control mechanism which causes the driving speed to change to the low speed based on a detection signal when the rotation detecting mechanism (5) detects out relative rotation of the front vehicle (1) relative to the connecting rod (11) around the vertical shaft (1A) in entering of the front vehicle (1) into the curve route (CR) from the straight route (SR).
Description
Technical field
The present invention relates to a kind of self-propelled means of delivery, undertaken from walking by guide rail support guiding along the conveyance path that comprises curved path.
Background technology
Undertaken in the self-propelled means of delivery of walking by guide rail support guiding along the conveyance path that comprises straight line path and curved path; Goods when preventing that curved path from going collapses and derails, and the moving velocity on the curved path is reduced than the moving velocity on the straight line path.
In this self-propelled means of delivery; Constitute as the time labour when saving recovery and abnormal restoring after the power failure etc. in the means of delivery side and can discern curved path and independently reduce the means of delivery of moving velocity; There is following means of delivery etc.: tape only is installed continuously on the guide rail of curved path; The magnetic proximity transducer of the magnetic force that detects above-mentioned tape is set in the means of delivery front portion; Detection signal according to this magnetic proximity transducer detects the situation that has arrived curved path, and controls (for example with reference to patent documentation 1) through the control setup that is arranged on the means of delivery with the mode that reduces moving velocity; And; With respect to being laid on the ground pair of guide rails that is parallel to each other; Means of delivery anterior with the corresponding position of above-mentioned guide rail on the pair of tracks detecting sensor is set; Become the state that ends through a side and detect, detect the situation that has arrived curved path thus, and control (for example with reference to patent documentation 2) with the mode that reduces moving velocity through the control setup that is arranged on the means of delivery to the sensor.
Patent documentation 1: japanese kokai publication hei 06-19539 communique
Patent documentation 2: japanese kokai publication hei 11-48963 communique
In the formation of patent documentation 2 that kind; Owing to detecting after the means of delivery that puts goods arrived the situation of curved path; Control with the mode that reduces moving velocity through control setup; Accomplish after some and slow down so can not before the goods arrival curve path or get into curved path, so produce goods sometimes according to the difference of the weight of goods or size etc. and collapse or derail.
And, in the formation of patent documentation 1 that kind, need on the guide rail of all curved paths, tape be installed, so cost increases.
Summary of the invention
Therefore; The present invention carries out in view of above-mentioned condition; Its problem that will solve is, a kind of self-propelled means of delivery is provided, and can before the goods arrival curve path or get into curved path and accomplish deceleration reliably after some; Even the situation in that the bigger situation of the weight of goods or total length are long is inferior, can prevent that also goods from collapsing or derail.
In order to solve above-mentioned problem; The present invention is a kind of self-propelled means of delivery, is undertaken it is characterized in that from walking by guide rail support guiding along the conveyance path that comprises straight line path and curved path; Possess: load wagon, to putting or suspending in midair and support the weight body of goods to support; Front truck is positioned at the place ahead of this load wagon, links through union lever and above-mentioned load wagon; Turning feeler mechanism is to above-mentioned front truck detecting around relatively rotating of vertical axis with respect to above-mentioned union lever; And control mechanism; Above-mentioned turning feeler mechanism detect the above-mentioned front truck of above-mentioned front truck when above-mentioned straight line path enters into above-mentioned curved path with respect to above-mentioned union lever around the relatively rotating of vertical axis the time; Making moving velocity based on this detection signal is low speed, is low speed from accepting above-mentioned detection signal through making moving velocity behind the specified time perhaps.
According to such formation, the front truck that is positioned at putting or suspend in midair load wagon the place ahead (downstream) that the weight body of supporting goods supports links through union lever, and when straight line path got into curved path, front truck got into curved path at first at self-propelled means of delivery.
And; Owing to possess to the turning feeler mechanism that detects around relatively rotating of vertical axis of front truck with respect to union lever; Therefore can detect the relatively rotating around vertical axis of the front truck of front truck at high speed motoring condition when straight line path enters into curved path through this turning feeler mechanism with respect to union lever; Therefore can based on this detection signal immediately or under the long situation of union lever from accepting above-mentioned detection signal through after the specified time, making moving velocity through control mechanism is low speed.
Thus; Can or enter into curved path before the load wagon that weight body is supported gets into curved path from straight line path and accomplish deceleration reliably after some; So load wagon can not go on curved path by the at high speed motoring condition; Even therefore inferior, can prevent that also goods from collapsing or derail in the long situation of the bigger situation of the weight of goods or total length.
At this, preferably possess: second turning feeler mechanism, to above-mentioned load wagon detecting with respect to above-mentioned union lever around relatively rotating of vertical axis; And control mechanism; Above-mentioned second turning feeler mechanism detect the above-mentioned load wagon of above-mentioned load wagon when above-mentioned curved path enters into above-mentioned straight line path with respect to above-mentioned union lever around the relatively rotating of vertical axis the time, making moving velocity based on this detection signal is at a high speed.
And; Also can possess following control mechanism: above-mentioned turning feeler mechanism detect the above-mentioned front truck of above-mentioned front truck when above-mentioned curved path enters into above-mentioned straight line path with respect to above-mentioned union lever around the relatively rotating of vertical axis the time; This detection signal plays the time of above-mentioned load wagon till through above-mentioned curved path, or after accepting near the time till above-mentioned detection signal plays the outlet that above-mentioned load wagon arrives above-mentioned curved path, making moving velocity is at a high speed from accepting having passed through.
According to such formation; Self-propelled means of delivery gets into straight line path with the low speed driving state from curved path; After the load wagon that weight body is supported has passed through curved path, or after the load wagon that weight body is supported has arrived near the outlet of curved path; Making moving velocity through control mechanism is at a high speed; Therefore so load wagon can not go by the at high speed motoring condition,, can prevent that also goods from collapsing or derail even under the long situation of the bigger situation of the weight of goods or total length on curved path; And therefore the moving velocity that can after load wagon enters into straight line path through curved path, make self-propelled means of delivery immediately can suppress the reduction of conveyance efficient at a high speed.
And, being preferably, above-mentioned load wagon has linked preceding load wagon and rear-loading vehicle through second union lever; Self-propelled means of delivery possesses: second turning feeler mechanism, to above-mentioned rear-loading vehicle detecting with respect to this second union lever around relatively rotating of vertical axis; And control mechanism; Above-mentioned second turning feeler mechanism detect the above-mentioned rear-loading vehicle of above-mentioned rear-loading vehicle when above-mentioned curved path enters into above-mentioned straight line path with respect to above-mentioned second union lever around the relatively rotating of vertical axis the time, making moving velocity based on this detection signal is at a high speed.
And, also can for, above-mentioned load wagon has linked preceding load wagon and rear-loading vehicle through second union lever; Self-propelled means of delivery possesses following control mechanism: above-mentioned turning feeler mechanism detect the above-mentioned front truck of above-mentioned front truck when above-mentioned curved path enters into above-mentioned straight line path with respect to above-mentioned union lever around the relatively rotating of vertical axis the time; This detection signal plays the time of above-mentioned rear-loading vehicle till through above-mentioned curved path, or after accepting near the time till above-mentioned detection signal plays the outlet that above-mentioned rear-loading vehicle arrives above-mentioned curved path, making moving velocity is at a high speed from accepting having passed through.
According to these formations; Self-propelled means of delivery gets into straight line path with the low speed driving state from curved path; After the rear-loading vehicle that weight body is supported has passed through curved path, or after the rear-loading vehicle that weight body is supported has arrived near the outlet of curved path; Making moving velocity through control mechanism is at a high speed; Therefore so preceding load wagon and rear-loading vehicle that weight body is supported can not go by the at high speed motoring condition,, can prevent that also goods from collapsing or derail even under the long situation of the bigger situation of the weight of goods or total length on curved path; And therefore the moving velocity that can after rear-loading vehicle enters into straight line path through curved path, make self-propelled means of delivery immediately can suppress the reduction of conveyance efficient at a high speed.
The effect of invention:
As stated; According to self-propelled means of delivery of the present invention; The front truck that is positioned at load wagon the place ahead that weight body is supported links through union lever; When straight line path got into curved path, front truck got into curved path at first at self-propelled means of delivery, detected the relatively rotating around vertical axis of the front truck of front truck at high speed motoring condition when straight line path enters into curved path with respect to union lever through turning feeler mechanism; Making moving velocity based on this detection signal through control mechanism is low speed; Therefore bring into play following remarkable result: accomplished reliably before can be in goods arrival curve path and slow down,, can prevent that also goods from collapsing or derail even therefore inferior in the long situation of the bigger situation of the weight of goods or total length.
Description of drawings
Fig. 1 is the front view of the self-propelled means of delivery of embodiment of the present invention.
Fig. 2 is that the X-X of Fig. 1 is to looking cutaway view.
Fig. 3 is that the expression turning feeler mechanism detects the birds-eye view around the in relative rotation state of vertical axis of the front truck of front truck when straight line path enters into curved path with respect to first union lever.
Fig. 4 is the main portion amplification plan view of the formation example of expression turning feeler mechanism.
Fig. 5 is the main portion amplification plan view of the formation example of expression turning feeler mechanism equally.
Fig. 6 is the main portion amplification plan view of expression front truck with respect to the state of the turning feeler mechanism of first union lever when vertical axis has relatively rotated.
Fig. 7 be expression second turning feeler mechanism detect rear-loading vehicle when curved path gets into straight line path rear-loading vehicle with respect to the birds-eye view around the state in relative rotation of vertical axis of second union lever.
Fig. 8 is the main portion amplification plan view of the formation example of expression second turning feeler mechanism.
Fig. 9 is the main portion amplification plan view of the formation example of expression second turning feeler mechanism equally.
Nomenclature:
The self-propelled means of delivery of A
The SR straight line path
The CR curved path
FL ground
The GR guide rail
1 front truck
The 1A vertical axis
Load wagon (driving cars) before 2
2A, 2C vertical axis
The 2B horizontal shaft
3 rear-loading vehicles
3A, 3C vertical axis
The 3B horizontal shaft
4 back cars
The 4A vertical axis
5 turning feeler mechanisms
The 5A limit switch
The 5B pressing plate
6 second turning feeler mechanisms
The 6A limit switch
The 6B pressing plate
7 control mechanisms
8 batteries
9A, 10A side roller
9B, 10B running vehicle wheel
11 first union levers
12 second union levers
13 the 3rd union levers
14 holding componentss
15 supporting bolts
16 holding-down bolts
The specific embodiment
Specify embodiment of the present invention according to accompanying drawing below, the present invention is not limited to mode shown in the drawings, comprises all embodiments that satisfy the important document that patent request scope put down in writing.
In addition; Explanation for ease; The setting speed that to support the load wagon of goods (by transport object) to be positioned under the situation on the straight line path is expressed as " at a high speed ", load wagon is positioned at setting speed under the situation on the curved path (level curve path), that velocity ratio " at a high speed " has reduced is expressed as " low speed ".
And, in this manual, along the moving direction of self-propelled means of delivery (with reference to arrow F among the figure), with its front side (downstream) be made as preceding, rear side (upstream side) is made as after, about when the place ahead about, will be made as front view from the figure of left sides.
As shown in Figure 1, the self-propelled means of delivery A of embodiment of the present invention is to be supported to guide and carry out from walking, along the conveyance path movement that comprises straight line path and curved path by guide rail GR.
Self-propelled means of delivery A; Be between the back car 4 of front truck 1 and rear end of front end at the free car of not supporting goods (by transport object); Possess promptly preceding load wagon 2 of the load wagon of supporting goods and rear-loading vehicle 3; Front truck 1 links via first union lever 11 with preceding load wagon 2, and preceding load wagon 2 links via second union lever 12 with rear-loading vehicle 3, and rear-loading vehicle 3 links via the 3rd union lever 13 with back car 4.
At this, on second union lever 12 that preceding load wagon 2 and rear-loading vehicle 3 are linked, the not shown weight body, control mechanism 7 and the battery 8 that put goods are installed.
And; The leading section of first union lever 11 and front truck 1 link for rotating around vertical axis 1A; The leading section of the rearward end of first union lever 11 and preceding load wagon 2 links for rotating around vertical axis 2A and horizontal shaft (left and right directions axle) 2B; The leading section of second union lever 12 and preceding load wagon 2 link for rotating around vertical axis 2C; The rearward end of second union lever 12 and rear-loading vehicle 3 link for rotating around vertical axis 3C, and the rearward end of the leading section of the 3rd union lever 13 and rear-loading vehicle 3 links for rotating around vertical axis 3A and horizontal shaft 3B, and the rearward end of the 3rd union lever 13 links for rotating around vertical axis 4A with back car 4.
As shown in Figure 2, guide rail GR for example is the single track of I cross sectional shape, waits through welding to be fixed on the upper surface of holding components 14, uses supporting bolt 15 and holding-down bolt 16 (with reference to Fig. 4) to lay with the state that the FL from ground leaves to the top.
In addition, guide rail GR is not limited to single track, also can be about two tracks etc.
Like Fig. 1 and shown in Figure 2; On preceding load wagon 2 and rear-loading vehicle 3; Be equipped with the side roller 9A that rotates around vertical axis, 9A ... And around the running vehicle wheel 9B of horizontal shaft (left and right directions axle) rotation; Through side roller 9A, 9A ... The left and right sides vertical surface of clamping guide rail GR, and running vehicle wheel 9B rotates on the upper horizontal surface of guide rail GR.And; On front truck 1 and back car 4; Be equipped with the side roller 10A that rotates around vertical axis, 10A ... And around the running vehicle wheel 10B of horizontal rotational shaft; Through side roller 10A, 10A ... The left and right sides vertical surface of clamping guide rail GR, and running vehicle wheel 10B rotates on the upper horizontal surface of guide rail GR.
And; As the running vehicle wheel 9B of the preceding load wagon 2 of driving cars for example by driver drives as geared motor; Therefore the car 1,2,3,4 of self-propelled means of delivery A before and after maintenance makes it engages with guide rail GR and supported in the state of guiding by guide rail GR; Carry out walking certainly along the guide rail GR that forms regulation conveyance path, its moving velocity is by control mechanism 7 controls.
As shown in Figure 1, self-propelled means of delivery A has turning feeler mechanism 5,5 pairs of front trucks 1 of this turning feeler mechanism detecting around relatively rotating of vertical axis 1A with respect to first union lever 11.
That is, like Fig. 4 and shown in Figure 5, turning feeler mechanism 5 is made up of the limit switch 5A of the leading section that is installed in first union lever 11 and the pressing plate 5B that is installed on the front truck 1; As shown in Figure 5, when front truck 1 and preceding load wagon 2 were on the straight line path SR, limit switch 5A was pushed by pressing plate 5B; So limit switch 5A conducting is as shown in Figure 3, at front truck 1 when straight line path SR enters into curved path (level curve path) CR; Front truck 1 relatively rotates (angle B in reference to figure) with respect to first union lever 11 around vertical axis 1A; So such shown in the long and two-short dash line of Fig. 6, pressing plate 5B breaks away from from limit switch 5A, so limit switch 5A becomes and ends.
Thus; Can detect front truck 1 enters into curved path CR from straight line path SR situation through this turning feeler mechanism 5; Control mechanism 7 shown in Figure 1 based on from detection signal when straight line path SR gets into curved path CR of the front truck 1 of turning feeler mechanism 5 (from conducting to the state variation of ending) control (speed command signal of the actuator that the running vehicle wheel 9B as the preceding load wagon 2 of driving cars is driven) is low speed so that the moving velocity of self-propelled means of delivery A.
Perhaps; Under the long situation of first union lever 11; Control mechanism 7 also can be done as follows control: after turning feeler mechanism 5 receives above-mentioned detection signal, make timer initiation; After the specified time of process as the setting-up time of this time meter, the moving velocity that makes self-propelled means of delivery A is a low speed.
According to this formation, the front truck 1 that is positioned at preceding load wagon 2 the place aheads that the weight body that puts goods is supported links through first union lever 11, and when straight line path SR got into curved path CR, front truck got into curved path CR at first at self-propelled means of delivery A.
And; Owing to possess to the turning feeler mechanism 5 that detects around relatively rotating of vertical axis 1A of front truck 1 with respect to first union lever 11; So can detect the relatively rotating around vertical axis 2A of the front truck 1 of front truck 1 at high speed motoring condition when straight line path SR enters into curved path CR with respect to first union lever 11 through this turning feeler mechanism 5; Therefore can based on this detection signal immediately, or under the long situation of first union lever 11 from receiving above-mentioned detection signal through after the specified time, making moving velocity through control mechanism 7 is low speed.
Thus; Can or enter into curved path CR before the preceding load wagon 2 that weight body is supported gets into curved path CR from straight line path SR and accomplish deceleration reliably after some; So load wagon (preceding load wagon 2 and rear-loading vehicle 3) can not go on curved path CR by the at high speed motoring condition; Even therefore inferior, can prevent that also goods from collapsing or derail in the long situation of the bigger situation of the weight of goods or total length.
And as shown in Figure 1, self-propelled means of delivery A has second turning feeler mechanism 6,6 pairs of rear-loading vehicles 3 of this second turning feeler mechanism detecting around relatively rotating of vertical axis 3C with respect to second union lever 12.
That is, like Fig. 8 and shown in Figure 9, second turning feeler mechanism 6 is made up of the limit switch 6A of the rearward end that is installed in second union lever 12 and the pressing plate 6B that is installed on the rear-loading vehicle 3; When rear-loading vehicle 3 was on the curved path CR, because pressing plate 6B breaks away from from limit switch 6A, so limit switch 6A became and ends; Like Fig. 7 and shown in Figure 9; When curved path CR entered into straight line path SR, limit switch 6A was pushed by pressing plate 6B, so limit switch 6A becomes conducting at rear-loading vehicle 3.
Thus; Can detect rear-loading vehicle 3 enters into straight line path SR from curved path CR situation through this turning feeler mechanism 6; Control mechanism 7 shown in Figure 1 is based on controlling from the detection signal (from by the state variation to conducting) that curved path CR enters into straight line path SR from the rear-loading vehicle 3 of turning feeler mechanism 6, and (speed command signal of the actuator that the running vehicle wheel 9B as the preceding load wagon 2 of driving cars is driven) is at a high speed so that the moving velocity of self-propelled means of delivery A.
In addition; Also can cancel second turning feeler mechanism 6 and turning feeler mechanism 5 only is set; And carry out following control: carried out the signal (from state variation) that detects with respect to first union lever 11 around relatively rotating of vertical axis 1A receiving the front truck 1 of 5 pairs of front trucks 1 of turning feeler mechanism when curved path CR enters into straight line path SR from control mechanism 7 by the end of conducting; Passed through rear-loading vehicle 3 through after the time till the curved path CR; Perhaps near control mechanism 7 is accepted outlet that above-mentioned detection signal passed through rear-loading vehicle 3 arrival curve path CR after the time till (before the exit face), making moving velocity is at a high speed.
According to this formation; Self-propelled means of delivery A gets into straight line path SR with the low speed driving state from curved path CR; After the rear-loading vehicle that weight body is supported 3 is through curved path CR, or the outlet of rear-loading vehicle 3 arrival curve path CR that weight body is supported near after; Making moving velocity through control mechanism 7 is at a high speed; So preceding load wagon 2 and rear-loading vehicle 3 that weight body is supported can not go by the at high speed motoring condition,, can prevent that also goods from collapsing or derail even therefore inferior in the long situation of the bigger situation of the weight of goods or total length on curved path CR; And therefore the moving velocity that can after rear-loading vehicle 3 enters into straight line path SR through curved path CR, make self-propelled means of delivery A immediately can suppress the reduction of conveyance efficient at a high speed.
In above explanation; Show following situation: constitute the turning feeler mechanism 5 that around the relatively rotating of vertical axis 1A detect of front truck 1 with respect to first union lever 11 through limit switch 5A and pressing plate 5B; Constitute second turning feeler mechanism 6 that around the relatively rotating of vertical axis 3C detect of rear-loading vehicle 3 through limit switch 6A and pressing plate 6B, but the turning feeler mechanism 5 and second turning feeler mechanism 6 also can be made up of photoelectric switch etc. with respect to second union lever 12.
In addition; In above explanation; The situation that to show self-propelled means of delivery A be floor type, but self-propelled means of delivery A also can be an overhead type, is under the situation of overhead type at self-propelled means of delivery A; Can also make the load wagon of supporting the weight body of goods (by transport object) to support to suspention be merely one, this load wagon becomes driving cars in this case.
Claims (5)
1. a self-propelled means of delivery is undertaken walking certainly by guide rail support guiding along the conveyance path that comprises straight line path and curved path, it is characterized in that possessing:
Load wagon is to putting or suspending in midair and support the weight body of goods to support;
Front truck is positioned at the place ahead of this load wagon, links through union lever and above-mentioned load wagon;
Turning feeler mechanism is to above-mentioned front truck detecting around relatively rotating of vertical axis with respect to above-mentioned union lever; And
Control mechanism; Above-mentioned turning feeler mechanism detect the above-mentioned front truck of above-mentioned front truck when above-mentioned straight line path enters into above-mentioned curved path with respect to above-mentioned union lever around the relatively rotating of vertical axis the time; Making moving velocity based on this detection signal is low speed, is low speed from accepting above-mentioned detection signal through making moving velocity behind the specified time perhaps.
2. self-propelled means of delivery as claimed in claim 1 wherein, possesses:
Second turning feeler mechanism is to above-mentioned load wagon detecting around relatively rotating of vertical axis with respect to above-mentioned union lever; And
Control mechanism; Above-mentioned second turning feeler mechanism detect the above-mentioned load wagon of above-mentioned load wagon when above-mentioned curved path enters into above-mentioned straight line path with respect to above-mentioned union lever around the relatively rotating of vertical axis the time, making moving velocity based on this detection signal is at a high speed.
3. self-propelled means of delivery as claimed in claim 1, wherein,
Possess following control mechanism: above-mentioned turning feeler mechanism detect the above-mentioned front truck of above-mentioned front truck when above-mentioned curved path enters into above-mentioned straight line path with respect to above-mentioned union lever around the relatively rotating of vertical axis the time; This detection signal plays the time of above-mentioned load wagon till through above-mentioned curved path, or after accepting near the time till above-mentioned detection signal plays the outlet that above-mentioned load wagon arrives above-mentioned curved path, making moving velocity is at a high speed from accepting having passed through.
4. self-propelled means of delivery as claimed in claim 1, wherein,
Above-mentioned load wagon has linked preceding load wagon and rear-loading vehicle through second union lever,
Self-propelled means of delivery possesses:
Second turning feeler mechanism is to above-mentioned rear-loading vehicle detecting around relatively rotating of vertical axis with respect to this second union lever; And
Control mechanism; Above-mentioned second turning feeler mechanism detect the above-mentioned rear-loading vehicle of above-mentioned rear-loading vehicle when above-mentioned curved path enters into above-mentioned straight line path with respect to above-mentioned second union lever around the relatively rotating of vertical axis the time, making moving velocity based on this detection signal is at a high speed.
5. self-propelled means of delivery as claimed in claim 1, wherein,
Above-mentioned load wagon has linked preceding load wagon and rear-loading vehicle through second union lever,
Self-propelled means of delivery possesses following control mechanism: above-mentioned turning feeler mechanism detect the above-mentioned front truck of above-mentioned front truck when above-mentioned curved path enters into above-mentioned straight line path with respect to above-mentioned union lever around the relatively rotating of vertical axis the time; This detection signal plays the time of above-mentioned rear-loading vehicle till through above-mentioned curved path, or after accepting near the time till above-mentioned detection signal plays the outlet that above-mentioned rear-loading vehicle arrives above-mentioned curved path, making moving velocity is at a high speed from accepting having passed through.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP227115/2010 | 2010-10-07 | ||
| JP2010227115A JP5678560B2 (en) | 2010-10-07 | 2010-10-07 | Self-propelled carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102442320A true CN102442320A (en) | 2012-05-09 |
| CN102442320B CN102442320B (en) | 2016-04-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110223400.5A Active CN102442320B (en) | 2010-10-07 | 2011-08-05 | Self-walking type transportation vehicle |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5678560B2 (en) |
| CN (1) | CN102442320B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105083413A (en) * | 2014-05-09 | 2015-11-25 | 株式会社理光 | Automatic handing system |
| CN106516529A (en) * | 2016-12-15 | 2017-03-22 | 合肥捷曼信息科技有限公司 | Rail guided vehicle control method based on pressure sensor |
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| JPS6035652A (en) * | 1983-08-08 | 1985-02-23 | 日本電信電話株式会社 | Lift mechanism of elevated type conveyor |
| JPH01195511A (en) * | 1988-01-29 | 1989-08-07 | Shin Kobe Electric Mach Co Ltd | Speed control circuit for unmanned guide type cart |
| JPH05139684A (en) * | 1991-11-22 | 1993-06-08 | Daifuku Co Ltd | Car storage facility using movable body |
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| CN1576195A (en) * | 2003-06-27 | 2005-02-09 | 株式会社大福 | Friction drive conveyor |
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| JPS6166924A (en) * | 1984-09-10 | 1986-04-05 | Sanyo Electric Co Ltd | Recording and reading device for operation of moving body |
| JP3991623B2 (en) * | 2000-09-08 | 2007-10-17 | 株式会社ダイフク | Driving control method for self-propelled vehicles |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6035652A (en) * | 1983-08-08 | 1985-02-23 | 日本電信電話株式会社 | Lift mechanism of elevated type conveyor |
| JPH01195511A (en) * | 1988-01-29 | 1989-08-07 | Shin Kobe Electric Mach Co Ltd | Speed control circuit for unmanned guide type cart |
| JPH05139684A (en) * | 1991-11-22 | 1993-06-08 | Daifuku Co Ltd | Car storage facility using movable body |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105083413A (en) * | 2014-05-09 | 2015-11-25 | 株式会社理光 | Automatic handing system |
| CN105083413B (en) * | 2014-05-09 | 2018-01-23 | 株式会社理光 | Automatic handing system |
| CN106516529A (en) * | 2016-12-15 | 2017-03-22 | 合肥捷曼信息科技有限公司 | Rail guided vehicle control method based on pressure sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5678560B2 (en) | 2015-03-04 |
| CN102442320B (en) | 2016-04-20 |
| JP2012081779A (en) | 2012-04-26 |
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