CN102442320B - Self-walking type transportation vehicle - Google Patents
Self-walking type transportation vehicle Download PDFInfo
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- CN102442320B CN102442320B CN201110223400.5A CN201110223400A CN102442320B CN 102442320 B CN102442320 B CN 102442320B CN 201110223400 A CN201110223400 A CN 201110223400A CN 102442320 B CN102442320 B CN 102442320B
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Abstract
A kind of self-walking type transportation vehicle, reliably can complete deceleration, even if also can prevent goods from collapsing or derailing when the weight of goods is large or when total length is longer before goods arrival curve path.Self-walking type transportation vehicle (A) is guided by guide rail (GR) support along the transport path comprising straight line path (SR) and curved path (CR) and carries out from walking, possess: load wagon (2), support weight body; Front truck (1), is positioned at load wagon (2) front, is linked by union lever (11) and load wagon (2); Turning feeler mechanism (5), detects the relatively rotating around vertical axis (1A) of front truck (1) relative to union lever (11); And control mechanism, turning feeler mechanism (5) detect front truck (1) from the front truck (1) time straight line path (SR) arrival curve path (CR) relative to union lever (11) around the relatively rotating of vertical axis (1A) time, make moving velocity be low speed based on this detection signal.
Description
Technical field
The present invention relates to a kind of self-walking type transportation vehicle, guided by guide rail support along the transport path comprising curved path and carry out from walking.
Background technology
Carry out in the self-walking type transportation vehicle walked being guided along the transport path comprising straight line path and curved path by guide rail support, goods when travelling to prevent curved path collapses and derails, and needs the moving velocity on curved path is reduced than the moving velocity on straight line path.
In this self-walking type transportation vehicle, be configured to identify curved path in means of delivery side and the means of delivery independently reducing moving velocity as in order to time labour when saving the recovery after power failure and abnormal restoring etc., there is following means of delivery etc.: only on the guide rail of curved path, continuously tape is installed, the magnetic proximity transducer of the magnetic force detecting above-mentioned tape is set in means of delivery front portion, detection signal according to this magnetic proximity transducer detects the situation reaching curved path, and carry out controlling (such as with reference to patent documentation 1) in the mode reducing moving velocity by the control setup be arranged on means of delivery, and, relative to being laid on the ground pair of guide rails be parallel to each other, the position corresponding with above-mentioned guide rail of means of delivery front portion arranges pair of tracks detecting sensor, detected by a state side of the sensor being become to cut-off, detect the situation reaching curved path thus, and carry out controlling (such as with reference to patent documentation 2) in the mode reducing moving velocity by the control setup be arranged on means of delivery.
Patent documentation 1: Japanese Unexamined Patent Publication 06-19539 publication
Patent documentation 2: Japanese Unexamined Patent Publication 11-48963 publication
In the formation that patent documentation 2 is such, due to after detecting that the means of delivery of placing goods reaches the situation of curved path, controlled in the mode reducing moving velocity by control setup, so can not before goods arrival curve path or arrival curve path some after complete deceleration, therefore produce goods sometimes according to the difference of the weight or size etc. of goods and collapse or derail.
And, in the formation that patent documentation 1 is such, need, on the guide rail of all curved paths, tape is 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-walking type transportation vehicle is provided, can before goods arrival curve path or arrival curve path some after reliably complete deceleration, even if the larger situation of the weight of goods or the longer situation of total length inferior, also can prevent goods from collapsing or derailing.
In order to solve above-mentioned problem, the present invention is a kind of self-walking type transportation vehicle, is guided and carry out, from walking, it is characterized in that along the transport path comprising straight line path and curved path by guide rail support, possess: load wagon, placing or suspention are supported that the weight body of goods is supported; Front truck, is positioned at the front of this load wagon, is linked by union lever and above-mentioned load wagon; Turning feeler mechanism, to above-mentioned front truck detecting around relatively rotating of vertical axis relative to above-mentioned union lever; And control mechanism, above-mentioned front truck when above-mentioned turning feeler mechanism detects that above-mentioned front truck enters into above-mentioned curved path from above-mentioned straight line path relative to above-mentioned union lever around the relatively rotating of vertical axis time, make moving velocity be low speed based on this detection signal, or after specified time, make moving velocity be low speed from the above-mentioned detection signal of acceptance.
According to such formation, be positioned at and placing or suspention are supported that the front truck in the load wagon front (downstream) that the weight body of goods is supported is linked by union lever, when self-walking type transportation vehicle is from straight line path arrival curve path, front truck enters curved path at first.
And, owing to possessing, around vertical axis, the turning feeler mechanism detected is relatively rotated relative to union lever to front truck, therefore, it is possible to front truck when detecting that front truck enters into curved path with high-speed travel state from straight line path by this turning feeler mechanism is relative to the relatively rotating around vertical axis of union lever, therefore, it is possible to based on this detection signal immediately or when union lever is longer from the above-mentioned detection signal of acceptance after specified time, make moving velocity be low speed by control mechanism.
Thus, can the load wagon that weight body is supported from before straight line path arrival curve path or enter into curved path some after reliably complete deceleration, so load wagon can not travel on curved path with high-speed travel state, even if therefore the larger situation of the weight of goods or the longer situation of total length inferior, also can prevent goods from collapsing or derailing.
At this, preferably possess: the second turning feeler mechanism, to above-mentioned load wagon detecting around relatively rotating of vertical axis relative to above-mentioned union lever; And control mechanism, above-mentioned load wagon when above-mentioned second turning feeler mechanism detects that above-mentioned load wagon enters into above-mentioned straight line path from above-mentioned curved path relative to above-mentioned union lever around the relatively rotating of vertical axis time, make moving velocity be at a high speed based on this detection signal.
And, also can possess following control mechanism: the above-mentioned front truck when above-mentioned turning feeler mechanism detects that above-mentioned front truck enters into above-mentioned straight line path from above-mentioned curved path relative to above-mentioned union lever around the relatively rotating of vertical axis time, playing above-mentioned load wagon by the time till above-mentioned curved path or from after the time accepted till above-mentioned detection signal plays near outlet that above-mentioned load wagon arrives above-mentioned curved path from accepting this detection signal have passed through, making moving velocity be at a high speed.
According to such formation, self-walking type transportation vehicle state at low speed enters straight line path from curved path, after the load wagon supported weight body have passed curved path, or after near the outlet that the load wagon supported weight body reaches curved path, moving velocity is made to be at a high speed by control mechanism, so load wagon can not travel on curved path with high-speed travel state, even if therefore when the larger situation of the weight of goods or total length longer, also can prevent goods from collapsing or derailing, and after load wagon enters into straight line path by curved path, the moving velocity of self-walking type transportation vehicle can be made immediately for high speed, therefore, it is possible to suppress the reduction of conveyance efficiency.
Further, be preferably, above-mentioned load wagon has linked front load wagon and rear-loading vehicle by the second union lever; Self-walking type transportation vehicle possesses: the second turning feeler mechanism, to above-mentioned rear-loading vehicle detecting around relatively rotating of vertical axis relative to this second union lever; And control mechanism, above-mentioned rear-loading vehicle when above-mentioned second turning feeler mechanism detects that above-mentioned rear-loading vehicle enters into above-mentioned straight line path from above-mentioned curved path relative to above-mentioned second union lever around the relatively rotating of vertical axis time, make moving velocity be at a high speed based on this detection signal.
And, also can be that above-mentioned load wagon has linked front load wagon and rear-loading vehicle by the second union lever; Self-walking type transportation vehicle possesses following control mechanism: the above-mentioned front truck when above-mentioned turning feeler mechanism detects that above-mentioned front truck enters into above-mentioned straight line path from above-mentioned curved path relative to above-mentioned union lever around the relatively rotating of vertical axis time, playing above-mentioned rear-loading vehicle by the time till above-mentioned curved path or from after the time accepted till above-mentioned detection signal plays near outlet that above-mentioned rear-loading vehicle arrives above-mentioned curved path from accepting this detection signal have passed through, making moving velocity be at a high speed.
According to these configurations, self-walking type transportation vehicle state at low speed enters straight line path from curved path, after the rear-loading vehicle supported weight body have passed curved path, or after near the outlet that the rear-loading vehicle supported weight body reaches curved path, moving velocity is made to be at a high speed by control mechanism, so load wagon and rear-loading vehicle can not travel on curved path with high-speed travel state before supporting weight body, even if therefore when the larger situation of the weight of goods or total length longer, also can prevent goods from collapsing or derailing, and after rear-loading vehicle enters into straight line path by curved path, the moving velocity of self-walking type transportation vehicle can be made immediately for high speed, therefore, it is possible to suppress the reduction of conveyance efficiency.
The effect of invention:
As mentioned above, according to self-walking type transportation vehicle of the present invention, be positioned at and the front truck in the load wagon front that weight body is supported is linked by union lever, when self-walking type transportation vehicle is from straight line path arrival curve path, front truck enters curved path at first, the relatively rotating around vertical axis of front truck when front truck enters into curved path with high-speed travel state from straight line path relative to union lever is detected by turning feeler mechanism, moving velocity is made to be low speed based on this detection signal by control mechanism, therefore following remarkable result is played: before goods arrival curve path, reliably can complete deceleration, even if therefore the larger situation of the weight of goods or the longer situation of total length inferior, also can prevent goods from collapsing or derailing.
Accompanying drawing explanation
Fig. 1 is the front view of the self-walking type transportation vehicle of embodiment of the present invention.
Fig. 2 is that the X-X of Fig. 1 is to looking cutaway view.
Fig. 3 is the birds-eye view of front truck when representing that turning feeler mechanism detects that front truck enters into curved path from straight line path relative to the state in relative rotation around vertical axis of the first union lever.
Fig. 4 is the main portion amplification plan view of the configuration example representing turning feeler mechanism.
Fig. 5 is the main portion amplification plan view of the configuration example representing turning feeler mechanism equally.
Fig. 6 represents the main portion amplification plan view of front truck relative to the state of the turning feeler mechanism of the first union lever when vertical axis has relatively rotated.
Fig. 7 be when representing that the second turning feeler mechanism detects that rear-loading vehicle enters straight line path from curved path rear-loading vehicle relative to the birds-eye view of the state in relative rotation around vertical axis of the second union lever.
Fig. 8 is the main portion amplification plan view of the configuration example representing the second turning feeler mechanism.
Fig. 9 is the main portion amplification plan view of the configuration example representing the second turning feeler mechanism equally.
Nomenclature:
A self-walking type transportation vehicle
SR straight line path
CR curved path
FL ground
GR guide rail
1 front truck
1A vertical axis
Load wagon (driving car) before 2
2A, 2C vertical axis
2B horizontal shaft
3 rear-loading vehicles
3A, 3C vertical axis
3B horizontal shaft
4 rear cars
4A vertical axis
5 turning feeler mechanisms
5A limit switch
5B pressing plate
6 second turning feeler mechanisms
6A limit switch
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
Detailed description of the invention
Describe embodiments of the present invention in detail with reference to the accompanying drawings below, the present invention is not limited to mode shown in the drawings, comprises all embodiments of the important document met described in Patent request scope.
In addition, for convenience of description, be expressed as " at a high speed " by setting speed when supporting that the load wagon of goods (by transport object) is positioned on straight line path, setting speed when being positioned at by load wagon on curved path (level curve path), velocity ratio " at a high speed " reduces is expressed as " low speed ".
And, in this manual, along the moving direction (with reference to arrow F in figure) of self-walking type transportation vehicle, by before on front side of it, (downstream) is set to, rear side (upstream side) is set to after, left and right be toward the front time left and right, the figure from left sides is set to front view.
As shown in Figure 1, the self-walking type transportation vehicle A of embodiments of the present invention is, is supported to guide and carry out, from walking, moving along the transport path comprising straight line path and curved path by guide rail GR.
Self-walking type transportation vehicle A, between the front truck 1 and the rear car 4 of rear end of the free car and front end of not supporting goods (by transport object), possess load wagon i.e. front load wagon 2 and the rear-loading vehicle 3 supporting goods, front truck 1 and front load wagon 2 link via the first union lever 11, front load wagon 2 and rear-loading vehicle 3 link via the second union lever 12, and rear-loading vehicle 3 and rear car 4 link via the 3rd union lever 13.
At this, on the second union lever 12 front load wagon 2 and rear-loading vehicle 3 being carried out linking, not shown weight body, control mechanism 7 and the battery 8 of placing goods is installed.
And, leading section and the front truck 1 of the first union lever 11 link for can rotate around vertical axis 1A, the rearward end of the first union lever 11 and the leading section of front load wagon 2 link for can rotate around vertical axis 2A and horizontal shaft (left and right directions axle) 2B, leading section and the front load wagon 2 of the second union lever 12 link for can rotate around vertical axis 2C, rearward end and the rear-loading vehicle 3 of the second union lever 12 link for can rotate around vertical axis 3C, the leading section of the 3rd union lever 13 and the rearward end of rear-loading vehicle 3 link for can rotate around vertical axis 3A and horizontal shaft 3B, rearward end and the rear car 4 of the 3rd union lever 13 link for can rotate around vertical axis 4A.
As shown in Figure 2, guide rail GR is such as the single track of I cross-sectional profile, is fixed on the upper surface of holding components 14 by welding etc., uses supporting bolt 15 and holding-down bolt 16 (with reference to Fig. 4) to lay with the state left upward from ground FL.
In addition, guide rail GR is not limited to single track, also can be two tracks in left and right etc.
As shown in Figure 1 and Figure 2, on front load wagon 2 and rear-loading vehicle 3, be provided with around vertical axis revolving side roller 9A, 9A ... and around the running vehicle wheel 9B that horizontal shaft (left and right directions axle) rotates, by side roller 9A, 9A ... the left and right vertical surface of clamping guide rail GR, and running vehicle wheel 9B rotates in the upper horizontal surface of guide rail GR.And, on front truck 1 and rear car 4, be provided with around vertical axis revolving side roller 10A, 10A ... and around the running vehicle wheel 10B of horizontal rotational shaft, by side roller 10A, 10A ... the left and right vertical surface of clamping guide rail GR, and running vehicle wheel 10B rotates in the upper horizontal surface of guide rail GR.
And, as driving the running vehicle wheel 9B of load wagon 2 before car such as by the driver drives as geared motor, therefore self-walking type transportation vehicle A is while maintenance makes the car 1,2,3,4 before and after it engage with guide rail GR and supported the state guided by guide rail GR, carry out from walking along the guide rail GR forming regulation transport path, its moving velocity is controlled by control mechanism 7.
As shown in Figure 1, self-walking type transportation vehicle A has turning feeler mechanism 5, this turning feeler mechanism 5 pairs of front trucks 1 detecting around relatively rotating of vertical axis 1A relative to the first union lever 11.
Namely, as shown in FIG. 4 and 5, turning feeler mechanism 5 is made up of the limit switch 5A of leading section and the pressing plate 5B be arranged on front truck 1 being arranged on the first union lever 11, as shown in Figure 5, when front truck 1 and front load wagon 2 are on straight line path SR, limit switch 5A is pressed by pressing plate 5B, so limit switch 5A conducting, as shown in Figure 3, when front truck 1 enters into curved path (level curve path) CR from straight line path SR, front truck 1 relatively rotates (with reference to angle B in figure) around vertical axis 1A relative to the first union lever 11, so as shown in the long and two-short dash line of Fig. 6, pressing plate 5B departs from from limit switch 5A, therefore limit switch 5A becomes cut-off.
Thus, can detect that front truck 1 enters into the situation of curved path CR from straight line path SR by this turning feeler mechanism 5, control mechanism 7 shown in Fig. 1 controls from the detection signal (from conducting to the state variation of cut-off) during straight line path SR arrival curve path CR based on the front truck 1 from turning feeler mechanism 5, to make the moving velocity of self-walking type transportation vehicle A (speed command signal to the actuator that the running vehicle wheel 9B of load wagon 2 before driving car drives) for low speed.
Or, when the first union lever 11 is longer, control mechanism 7 also can control as follows: after receiving above-mentioned detection signal from turning feeler mechanism 5, make timer initiation, after the specified time as the setting-up time of this time meter, the moving velocity of self-walking type transportation vehicle A is made to be low speed.
According to this formation, the front truck 1 being positioned at load wagon 2 front before supporting the weight body of placing goods is linked by the first union lever 11, and when self-walking type transportation vehicle A is from straight line path SR arrival curve path CR, front truck enters curved path CR at first.
And, owing to possessing, around vertical axis 1A, the turning feeler mechanism 5 detected is relatively rotated relative to the first union lever 11 to front truck 1, so front truck 1 when can detect that front truck 1 enters into curved path CR with high-speed travel state from straight line path SR by this turning feeler mechanism 5 is relative to the relatively rotating around vertical axis 2A of the first union lever 11, therefore, it is possible to based on this detection signal immediately or when the first union lever 11 is longer from receiving above-mentioned detection signal after specified time, make moving velocity be low speed by control mechanism 7.
Thus, can before weight body is supported load wagon 2 from before straight line path SR arrival curve path CR or enter into curved path CR some after reliably complete deceleration, so load wagon (front load wagon 2 and rear-loading vehicle 3) can not travel on curved path CR with high-speed travel state, even if therefore the larger situation of the weight of goods or the longer situation of total length inferior, also can prevent goods from collapsing or derailing.
And as shown in Figure 1, self-walking type transportation vehicle A has the second turning feeler mechanism 6, this second turning feeler mechanism 6 pairs of rear-loading vehicles 3 detecting around relatively rotating of vertical axis 3C relative to the second union lever 12.
Namely, as shown in FIG. 8 and 9, second turning feeler mechanism 6 is made up of the limit switch 6A of rearward end and the pressing plate 6B be arranged on rear-loading vehicle 3 being arranged on the second union lever 12, when rear-loading vehicle 3 is on curved path CR, because pressing plate 6B departs from from limit switch 6A, therefore limit switch 6A becomes cut-off, as shown in Fig. 7 and Fig. 9, when rear-loading vehicle 3 enters into straight line path SR from curved path CR, limit switch 6A is pressed by pressing plate 6B, and therefore limit switch 6A becomes conducting.
Thus, can detect that rear-loading vehicle 3 enters into the situation of straight line path SR from curved path CR by this turning feeler mechanism 6, the detection signal (from cut-off to the state variation of conducting) that control mechanism 7 shown in Fig. 1 enters into straight line path SR based on the rear-loading vehicle 3 from turning feeler mechanism 6 from curved path CR controls, to make the moving velocity of self-walking type transportation vehicle A (speed command signal to the actuator that the running vehicle wheel 9B of load wagon 2 before driving car drives) for high speed.
In addition, also can cancel the second turning feeler mechanism 6 and turning feeler mechanism 5 is only set, and carrying out following control: the front truck 1 when receiving turning feeler mechanism 5 pairs of front trucks 1 from control mechanism 7 and entering into straight line path SR from curved path CR relatively rotates the signal (state variation from by the end of conducting) that detects relative to the first union lever 11 around vertical axis 1A, have passed through rear-loading vehicle 3 by after the time till curved path CR, or after the time near the outlet that have passed through rear-loading vehicle 3 arrival curve path CR from control mechanism 7 accepts above-mentioned detection signal till (before exit face), moving velocity is made to be at a high speed.
According to this formation, self-walking type transportation vehicle A state at low speed enters straight line path SR from curved path CR, after the rear-loading vehicle 3 supported weight body is by curved path CR, or after near the outlet of the rear-loading vehicle 3 arrival curve path CR that weight body is supported, moving velocity is made to be at a high speed by control mechanism 7, so load wagon 2 and rear-loading vehicle 3 can not travel on curved path CR with high-speed travel state before supporting weight body, even if therefore the larger situation of the weight of goods or the longer situation of total length inferior, also can prevent goods from collapsing or derailing, and after rear-loading vehicle 3 enters into straight line path SR by curved path CR, the moving velocity of self-walking type transportation vehicle A can be made immediately for high speed, therefore, it is possible to suppress the reduction of conveyance efficiency.
In the above description, show following situation: formed by limit switch 5A and pressing plate 5B and around vertical axis 1A, the turning feeler mechanism 5 detected is relatively rotated relative to the first union lever 11 to front truck 1, formed by limit switch 6A and pressing plate 6B and around vertical axis 3C, the second turning feeler mechanism 6 detected is relatively rotated relative to the second union lever 12 to rear-loading vehicle 3, but turning feeler mechanism 5 and the second turning feeler mechanism 6 also can be made up of photoelectric switch etc.
In addition, in the above description, show the situation that self-walking type transportation vehicle A is floor type, but self-walking type transportation vehicle A also can be overhead type, when self-walking type transportation vehicle A is overhead type, can also make to support that the load wagon that the weight body of goods (by transport object) is supported is only one to suspention, this load wagon becomes driving car in this case.
Claims (2)
1. a self-walking type transportation vehicle, is guided by guide rail support along the transport path comprising straight line path and curved path and carries out certainly walking, possessing:
To placing or suspention, load wagon, supports that the weight body of goods is supported; And
Front truck, is positioned at the front of this load wagon, is linked by union lever and above-mentioned load wagon;
The feature of this self-walking type transportation vehicle is also possess:
Turning feeler mechanism, to above-mentioned front truck detecting around relatively rotating of vertical axis relative to above-mentioned union lever;
Second turning feeler mechanism, to above-mentioned load wagon detecting around relatively rotating of vertical axis relative to above-mentioned union lever; And
Control mechanism, above-mentioned front truck when above-mentioned turning feeler mechanism detects that above-mentioned front truck enters into above-mentioned curved path from above-mentioned straight line path relative to above-mentioned union lever around the relatively rotating of vertical axis time, moving velocity is made to be low speed based on this detection signal, or from the above-mentioned detection signal of acceptance, after specified time, make moving velocity be low speed
Above-mentioned control mechanism, above-mentioned load wagon when above-mentioned second turning feeler mechanism detects that above-mentioned load wagon enters into above-mentioned straight line path from above-mentioned curved path relative to above-mentioned union lever around the relatively rotating of vertical axis time, moving velocity is made to be at a high speed based on this detection signal
Above-mentioned union lever is set as following length: above-mentioned load wagon from before above-mentioned straight line path enters above-mentioned curved path or enter into above-mentioned curved path some after reliably can complete deceleration.
2. a self-walking type transportation vehicle, is guided by guide rail support along the transport path comprising straight line path and curved path and carries out certainly walking, possessing:
To placing or suspention, load wagon, supports that the weight body of goods is supported; And
Front truck, is positioned at the front of this load wagon, is linked by union lever and above-mentioned load wagon;
The feature of this self-walking type transportation vehicle is,
Also possess turning feeler mechanism, this turning feeler mechanism to above-mentioned front truck detecting around relatively rotating of vertical axis relative to above-mentioned union lever,
Above-mentioned load wagon has linked front load wagon and rear-loading vehicle by the second union lever,
Above-mentioned self-walking type transportation vehicle also possesses:
Second turning feeler mechanism, to above-mentioned rear-loading vehicle detecting around relatively rotating of vertical axis relative to above-mentioned second union lever; And
Control mechanism, above-mentioned front truck when above-mentioned turning feeler mechanism detects that above-mentioned front truck enters into above-mentioned curved path from above-mentioned straight line path relative to above-mentioned union lever around the relatively rotating of vertical axis time, moving velocity is made to be low speed based on this detection signal, or from the above-mentioned detection signal of acceptance, after specified time, make moving velocity be low speed
Above-mentioned control mechanism, above-mentioned rear-loading vehicle when above-mentioned second turning feeler mechanism detects that above-mentioned rear-loading vehicle enters into above-mentioned straight line path from above-mentioned curved path relative to above-mentioned second union lever around the relatively rotating of vertical axis time, moving velocity is made to be at a high speed based on this detection signal
Above-mentioned union lever is set as following length: above-mentioned front load wagon from before above-mentioned straight line path enters above-mentioned curved path or enter into above-mentioned curved path some after reliably can complete deceleration.
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 CN102442320A (en) | 2012-05-09 |
| CN102442320B true CN102442320B (en) | 2016-04-20 |
Family
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| 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6435634B2 (en) * | 2014-05-09 | 2018-12-12 | 株式会社リコー | Automatic transfer 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JPH0619539A (en) * | 1993-04-28 | 1994-01-28 | Daifuku Co Ltd | Load conveying device |
| JPH1148963A (en) * | 1997-08-05 | 1999-02-23 | Meidensha Corp | Track truck device |
| CN1576195A (en) * | 2003-06-27 | 2005-02-09 | 株式会社大福 | Friction drive conveyor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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2010
- 2010-10-07 JP JP2010227115A patent/JP5678560B2/en active Active
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2011
- 2011-08-05 CN CN201110223400.5A patent/CN102442320B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JPH0619539A (en) * | 1993-04-28 | 1994-01-28 | Daifuku Co Ltd | Load conveying device |
| JPH1148963A (en) * | 1997-08-05 | 1999-02-23 | Meidensha Corp | Track truck device |
| CN1576195A (en) * | 2003-06-27 | 2005-02-09 | 株式会社大福 | Friction drive conveyor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5678560B2 (en) | 2015-03-04 |
| JP2012081779A (en) | 2012-04-26 |
| CN102442320A (en) | 2012-05-09 |
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