JPH042532A - Unmanned container carrier equipped with automatic cover opening and closing device - Google Patents
Unmanned container carrier equipped with automatic cover opening and closing deviceInfo
- Publication number
- JPH042532A JPH042532A JP2101614A JP10161490A JPH042532A JP H042532 A JPH042532 A JP H042532A JP 2101614 A JP2101614 A JP 2101614A JP 10161490 A JP10161490 A JP 10161490A JP H042532 A JPH042532 A JP H042532A
- Authority
- JP
- Japan
- Prior art keywords
- lid
- container
- closing device
- opening
- closing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000002994 raw material Substances 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 210000005069 ears Anatomy 0.000 description 2
- 238000009700 powder processing Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
Landscapes
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、搬送する容器の蓋を自動的に開閉する装置を
備えた容器無人搬送車に関するものであり、材料供給位
置と材料処理加工位置の間を蓋付移動容器によって搬送
する分野、特に、食品、製薬、化学、合成樹脂などの産
業分野で有効に利用されるものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic container guided vehicle equipped with a device that automatically opens and closes the lid of a container to be transported, and the present invention relates to an automatic container guided vehicle that is equipped with a device that automatically opens and closes the lid of a container to be transported. It is effectively used in the field of transportation between containers using a moving container with a lid, particularly in the industrial fields of food, pharmaceuticals, chemicals, synthetic resins, etc.
無人搬送車自体は従来より公知であり、蓋付移動容器を
用いて材料を供給位置から加工処理位置に移す場合には
、無人搬送車に蓋付移動容器を乗せて搬送し、人手によ
って蓋を開閉するか、各処理位置に設置されている蓋開
は機で開閉していた。Automated guided vehicles themselves have been known for a long time, and when moving materials from a supply position to a processing position using a moving container with a lid, the moving container with a lid is placed on the automated guided vehicle, transported, and the lid is manually removed. The lid opening installed at each processing position was opened and closed by a machine.
手動開閉としては、例えば第7A乃至7C図に示す如く
、容器の天板Fの開口部Oの周囲の一部には1対の支持
片40.40があって、耳30・30を両側方に突出し
た蓋りにはピン挿入用の孔り、hを穿孔しておき、蓋の
開閉は、第7C図に示す工具のピンp、pを蓋の孔り、
hに嵌入した後、ハンドルを手でまわしで行なっていた
。For manual opening/closing, for example, as shown in FIGS. 7A to 7C, there is a pair of support pieces 40, 40 around the opening O of the top plate F of the container, and the ears 30 and 30 are placed on both sides. The protruding lid has a hole h for inserting a pin, and to open and close the lid, insert the pins p and p of the tool shown in Figure 7C into the hole in the lid.
After inserting it into the h, I turned the handle by hand.
従来の無人搬送車で移動容器を自動的に搬送しても、容
器の移動が省力化出来るだけであって、容器を運び終っ
た段階で、容器の蓋を手動で開閉する場合は省力化の効
果が少く、全工程の自動化が達成a来ない。また、移動
容器の蓋の開閉の必要な各処理位置にそれぞれ蓋開閉機
を設備する場合は、設備費の増大とスペースの増大を招
き、且つ自動化の全工程の維持管理が複雑化してコスト
高を招いていた。Even if a conventional automated guided vehicle automatically transports a moving container, it only saves labor when moving the container, but it does not save labor if the lid of the container is manually opened and closed after transporting the container. It has little effect and automation of the entire process cannot be achieved. In addition, if a lid opening/closing machine is installed at each processing position where it is necessary to open and close the lids of mobile containers, this will increase equipment costs and space, and the maintenance and management of the entire automation process will become complicated, resulting in high costs. was inviting.
〔課題を解決するための手段及び作用〕無人搬送車に自
動蓋開閉装置を載置し、該蓋開閉装置がこれから遂行さ
れるべき作業、例えば蓋の挾持、蓋の回動等、に関する
情報と、容器がその作業をすべき位置に置かれていると
いう位置情報とを受けて、無人で移動容器の蓋を開け、
閉じ、又は蓋の位置を移動させるようにした。[Means and effects for solving the problem] An automatic lid opening/closing device is mounted on an automatic guided vehicle, and information regarding the work that the lid opening/closing device is to perform from now on, such as clamping the lid, rotating the lid, etc. , upon receiving the location information indicating that the container is placed in the position where the work should be performed, the lid of the moving container is opened unattended.
The lid can be closed or moved.
従って、移動容器は、無人搬送車で所定の位置に搬送さ
れ、且つ所定位置で設定どおりの無人蓋開閉作業を搬送
車自体が実施するたt、各蓋開閉位置での蓋開は工具又
は蓋開は機が不要となり、スペース利用の合理化、全工
程をとおしての省力化、自動化が達成出来た。Therefore, the moving container is transported to a predetermined position by an automated guided vehicle, and the guided vehicle itself performs the unmanned lid opening/closing operation as set at the predetermined position. Opening eliminates the need for a machine, resulting in rationalization of space usage, labor savings, and automation throughout the entire process.
構成:
第1図に示す如く、自動蓋開閉装置を、全方位走行可能
な手段としてのメカナムホイール(商品名)Wを備え、
中央部にサイドフォーク3及びマスト2を配置した無人
搬送車に適用した。Configuration: As shown in Fig. 1, the automatic lid opening/closing device is equipped with a Mecanum wheel (trade name) W as a means for running in all directions.
It was applied to an automatic guided vehicle with side forks 3 and mast 2 arranged in the center.
第2A図は自動蓋開閉装置部のみの斜視図であり、第2
B図はその側面図であって、自動蓋開閉装置はこれら図
面に示す如く、無人搬送車1に垂直に立設固定した柱4
に対して、固定アーム5を水平方向に突設固定し、また
、支持部材60と一体のスリーブ6′を柱4に対して嵌
着して回動自在化させ、回動アーム6を支持部材60か
ら水平方向に突設配設し、支持部材60の下方延長部6
2に固定した油圧シリンダー63の作用によって回動フ
レーム6のレール61に沿った上下摺動を行うようにし
た。Fig. 2A is a perspective view of only the automatic lid opening/closing device;
Figure B is a side view of the automatic lid opening/closing device, and as shown in these figures, the automatic lid opening/closing device is mounted on a pillar 4 that is vertically erected and fixed to the automatic guided vehicle 1.
The fixed arm 5 is fixedly protruding from the support member 6 in the horizontal direction, and a sleeve 6' integrated with the support member 60 is fitted onto the column 4 to allow rotation. The downwardly extending portion 6 of the support member 60 is arranged to protrude horizontally from the support member 60 .
The rotating frame 6 is vertically slid along the rail 61 by the action of a hydraulic cylinder 63 fixed to the rotating frame 6.
また、固定フレーム5の先端にジヨイントJ7で駆動ア
ーム7を回動自在に軸支すると共に、駆動アーム7の下
面にはリニアサーボモータM7を固定し、モータM7の
回動によって出没するシャフトS7の先端と、連結ロッ
ド8の先端とをジョイン)Jaで軸支すると共にロッド
8の基端を支持部材60に固定した。In addition, a drive arm 7 is rotatably supported at the tip of the fixed frame 5 by a joint J7, and a linear servo motor M7 is fixed to the lower surface of the drive arm 7, so that a shaft S7 that moves in and out as the motor M7 rotates. The distal end and the distal end of the connecting rod 8 were pivotally supported by a joint (joint) Ja, and the proximal end of the rod 8 was fixed to a support member 60.
回動フレーム6の先端にはつかみ装置9を配設した。第
3図はつかみ装置9の下面図であり、第4図はつかみ装
置9をフレーム6から取出した略示側面図である。A gripping device 9 is disposed at the tip of the rotating frame 6. 3 is a bottom view of the gripping device 9, and FIG. 4 is a schematic side view of the gripping device 9 taken out from the frame 6.
つかみ装置9は、図に示す如く、スリーブ10てフレー
ム6に回動自在に支承し、スリーブ10と一体に基板1
1及び側板12を固定し、両側板12.12間に2本の
案内レール13.13を並設固定した。As shown in the figure, the gripping device 9 is rotatably supported on the frame 6 by a sleeve 10, and is integrally attached to the substrate 1 with the sleeve 10.
1 and side plates 12 were fixed, and two guide rails 13.13 were fixed in parallel between both side plates 12.12.
15’の下面に固定し、各取付板15・15′の両端に
は2個の摺動片14.14’を固定し、各摺動片14゜
14′をそれぞれ案内レール13に嵌合すると共に、各
取付板15.15’にはそれぞれ対向突出するラック1
6.16’を固定し、各ラック16.16’でピニオン
19を挟着し、ピニオン19を挟持片往復動用サーボモ
ータM、のモータシャフトS9に固定した。15', two sliding pieces 14 and 14' are fixed to both ends of each mounting plate 15 and 15', and each sliding piece 14 and 14' is fitted to the guide rail 13, respectively. In addition, each mounting plate 15, 15' has a rack 1 protruding from the opposite side.
6.16' was fixed, a pinion 19 was clamped between each rack 16.16', and the pinion 19 was fixed to a motor shaft S9 of a servo motor M for reciprocating the clamping piece.
また、20.20’はそれぞれラック1646’をピニ
オン19に噛合させるた約の支持ロールである。Further, 20 and 20' are support rolls that engage the rack 1646' with the pinion 19, respectively.
また、スリーブ10に固定された歯車G、をフレーム6
上に固定した旋回用サーボモータM6の歯車G6と噛合
させた。In addition, the gear G fixed to the sleeve 10 is attached to the frame 6.
It meshed with the gear G6 of the turning servo motor M6 fixed above.
作用;
第6A図及び第6B図に示す如く、容器の天板に原料投
入用の開口部○があり、開口部の周囲の対称2個所に蓋
支持片40がある従来同様の容器本体に対し、蓋りの両
側方に従来同様の耳30を備えてはいるが、蓋上面に両
外方にV字形に突出した対称2個所のつかみしろ31を
有する蓋を備えた移動容器を用いて、粉体処理工程に於
ける原料投入位置から粉体処理位置への運搬に本発明無
人搬送車を使用した。Effect: As shown in Figures 6A and 6B, compared to the conventional container body, which has an opening ○ for inputting raw materials on the top plate of the container, and lid support pieces 40 at two symmetrical locations around the opening. , using a portable container equipped with a lid that is equipped with conventional ears 30 on both sides of the lid, but has two symmetrical gripping margins 31 that protrude outward in a V-shape on both sides of the lid, The automatic guided vehicle of the present invention was used for transportation from a raw material input position to a powder processing position in a powder processing process.
まず、空の容器を載置した無人搬送車(AGV)が原料
供給位置へ走行し、AGVが原料投入位置に到達したこ
とを位置センサーが検出すると、作業制御手段(コンピ
ュータ)が空容器に供給すべき原料を投入するた島、容
器の蓋を開ける指示を出し、蓋開閉装置は第5図(a)
の状態からリニアサーボモータM、に対するパルス指令
によって、M7が回転してシャツ)S7を矢印A、の運
動で出して、フレーム6に柱4を中心とする矢印R6の
回動を付与し、フl/−ムロを第5図(b)の状態、即
ちフレーム6の下面のつかみ装置9が閉じた蓋の真上の
状態、にする。次いで、指令によって油圧シリンダー6
3が作用して、フレーム6は支持部材60上のレール6
1に沿って降下し、つかみ装置9のリミットスイッチ(
図示なし)が作動してフレーム6の降下を停正し、停止
信号に続く蓋挾持指令によってサーボモータM9が回転
し、ピニオンI9の回転による両ラック16.16’の
内方への引寄せ(矢印A9)により、両側の取付板15
.15’を摺動片14.14’の案内レール上の摺動を
介して、内方へ引き寄せ、挟持片17.17’のV字形
谷形状の挾持面18.18’が蓋りのつかみしろ31の
外面のV字形山形状をしっかり挾持する。すると、次の
蓋回転指令によってサーボモータM6が回転して、歯車
G6とG9との噛合回転によってつかみ装置9全体を矢
印R8に回転し、蓋の耳30を容器本体の支持片40か
ら外す。次いで油圧シリンダー63による」1昇で蓋を
挟持したつかみ装置、即ちフレーム6、を持ち上げた後
、リニアサーボモータM。First, an automatic guided vehicle (AGV) carrying an empty container travels to the raw material supply position, and when the position sensor detects that the AGV has reached the raw material input position, the work control means (computer) supplies the empty container to the raw material supply position. When the raw materials to be prepared are put in, instructions are given to open the lid of the container, and the lid opening/closing device is shown in Figure 5 (a).
In response to a pulse command to the linear servo motor M, M7 rotates and moves the shirt S7 in the direction of arrow A, giving the frame 6 the rotation of arrow R6 about the pillar 4, and 1/-Muro is brought to the state shown in FIG. 5(b), that is, the gripping device 9 on the lower surface of the frame 6 is directly above the closed lid. Next, the hydraulic cylinder 6 is activated by a command.
3 acts on the frame 6 to support the rail 6 on the support member 60.
1 and press the limit switch (
(not shown) operates to stop the lowering of the frame 6, the servo motor M9 rotates in response to the lid clamping command following the stop signal, and the pinion I9 rotates to pull both racks 16 and 16' inward ( By arrow A9), attach the mounting plates 15 on both sides.
.. 15' is pulled inward through sliding on the guide rail of the sliding piece 14.14', and the V-shaped valley-shaped clamping surface 18.18' of the clamping piece 17.17' grips the lid. Firmly hold the V-shaped peak on the outer surface of No.31. Then, the servo motor M6 is rotated by the next lid rotation command, and the entire gripping device 9 is rotated in the direction of arrow R8 by the meshing rotation of the gears G6 and G9, and the lug 30 of the lid is removed from the support piece 40 of the container body. Next, after the hydraulic cylinder 63 lifts up the gripping device holding the lid, that is, the frame 6, the linear servo motor M is moved.
は蓋移動の指令によってモータM7のシャフトS、を矢
印A7方向へ引寄せ、フレーム6は第5図(b)から(
C)の位置に回動して停止する。The shaft S of the motor M7 is pulled in the direction of the arrow A7 by the lid movement command, and the frame 6 is moved from FIG.
Rotate to position C) and stop.
すると、油圧シリンダー63の作用によってフレーム6
を下げ、蓋を容器上の仮置台C2上に置いてリミットス
イッチによりフレーム下降を停止し、次いで蓋解放指令
によって、サーボモータM、を回転してピニオン19及
びラック16.16’の作用で両挾持片17・17′を
外方に拡げ(矢印A9)、蓋を放置したま一次の信号に
よってフレーム6の上昇後、リニアモータM、が作動し
て、矢印R6の回動でフレーム6を再び第5図(a)の
休止位置に退避する。蓋の開けられた容器は原料投入機
の準備がととのったことにより、AGVはフォークリフ
トで容器を原料供給位置にセットする。そして重量セン
サーによって原料の投入作業完了を検知した作業制御手
段(コンピュータ)は、蓋開閉装置に容器の蓋を閉じる
指令を出す。すると蓋開閉装置は、前述の蓋の開放作業
と逆の作業順序によって蓋を閉止した後、フレーム6が
、即ち蓋開閉装置が休止位置(第5図(a))に退避し
た状態になり、次の行先指令に従ってAGVは原料入り
容器を所定位置へと運搬する。Then, the frame 6 is moved by the action of the hydraulic cylinder 63.
is lowered, the lid is placed on the temporary stand C2 above the container, and the frame lowering is stopped by the limit switch. Then, in response to the lid release command, the servo motor M is rotated, and the pinion 19 and the rack 16, 16' rotate the lid. After expanding the clamping pieces 17 and 17' outward (arrow A9) and leaving the lid alone, the frame 6 is raised by the primary signal, and then the linear motor M is activated and the frame 6 is moved again by rotation as indicated by the arrow R6. It retreats to the rest position shown in FIG. 5(a). Since the container with the lid opened is ready for the raw material feeder, the AGV uses a forklift to set the container at the raw material supply position. Then, the work control means (computer) detects the completion of the raw material loading work using the weight sensor, and issues a command to the lid opening/closing device to close the lid of the container. Then, after the lid opening/closing device closes the lid in the reverse order of the lid opening operation described above, the frame 6, that is, the lid opening/closing device is retracted to the rest position (FIG. 5(a)). According to the next destination command, the AGV transports the raw material container to a predetermined location.
この自動蓋開閉装置は、挟持片自体の直線運動(矢印A
、)、つかみ装置の旋回(矢印R,)、及びつかみ装置
の回動(矢印R6)の3種類の単純な動作手段から成る
た袷、無人搬送車にコンパクトに設置出来、且つ運動が
円滑に遂行出来、制御も簡単である。This automatic lid opening/closing device is characterized by linear movement of the clamping piece itself (arrow A
, ), rotation of the gripping device (arrow R,), and rotation of the gripping device (arrow R6), which are comprised of three simple operating means, can be installed compactly on an automatic guided vehicle and can be moved smoothly. It is easy to perform and control.
その他:
蓋開閉装置の挾持片1747’の寸法及び挾持面18.
18’の形状は、対象容器の蓋のつかみしろ31の形状
・寸法と対応したものであれば十分である。Others: Dimensions and clamping surface 18 of the clamping piece 1747' of the lid opening/closing device.
It is sufficient that the shape of 18' corresponds to the shape and dimensions of the grip 31 of the lid of the target container.
また、フレーム6、即ち、つかみ装置9、の上下動は油
圧シリンダー63に代えてリニアモータを用いても良い
。Moreover, a linear motor may be used instead of the hydraulic cylinder 63 for vertical movement of the frame 6, that is, the gripping device 9.
また、つかみ装置が蓋を置いたり取り上げたりする場合
のつかみ装置の上下動は、使用する蓋の形状によって必
ずしも必要ではない。Further, the vertical movement of the gripping device when the gripping device places or picks up the lid is not necessarily required depending on the shape of the lid used.
自動蓋開閉装置を無人搬送車に装備したため、搬送する
容器を自ら開閉出来、容器の蓋の開閉の必要な各場所毎
に、蓋開閉用工具又は蓋開閉用装置を個別に用意する必
要がなく、スペース及び設備コストが低減出来、この無
人搬送車は、容器の移動と蓋の開閉とを含めた作業の無
人運転を達成する。Since the automated guided vehicle is equipped with an automatic lid opening/closing device, it can open and close the containers being transported by itself, eliminating the need to prepare separate lid opening/closing tools or lid opening/closing devices for each location where container lids need to be opened and closed. , space and equipment costs can be reduced, and this automatic guided vehicle achieves unmanned operation of operations including moving containers and opening and closing lids.
第1図は、本発明の全体斜視図である。
第2A図は、蓋開閉装置部の略示斜視図であり、第2B
図はその側面図である。
第3図は、つかみ装置部の下面図であり、第4図は、つ
かみ装置部の1部省略側面図である。
第5図(a)(b)(c)は蓋開閉装置の作用説明図で
あって、(a)はつかみ装置が休止位置に、(b)は蓋
の真上の位置に、(C)は仮置台上の位置にある状態を
示している。
第6A図は、本発明の無人搬送車に使用する容器の部分
平面図であり、第6B図は同部分断面図である。
第7A図は、従来の無人搬送車に使用していた容器の部
分平面図であり、第7B図は同部分断面図であり、第7
C図は従来の蓋開閉用工具の側面図である。
1・・・車体、
3・・・サイドフォーク、
5・・・固定アーム、
6′・・・スリーブ、
8・・・連結ロッド、
10・・・スリーブ、
12・・・側板、
14.14’・・・摺動片、
16.16’・・・ラック、
18.18’・・・挾持面、
20.20’・・・支持ローノへ
31・・・つかみしろ、
60・・・支持部材、
62・・・下方延長部、
2・・・マスト、
4・・・柱、
6・・・回動フレーム、
7・・・駆動アーム、
9・・・つかみ装置、
11・・・基板、
13・・・案内レール、
15.15’・・・取付板、
17・17’・・・挾持片、
19・・・ピニオン、
30・・・耳、
40・・・支持片、
61・・・レーノベ
63・・・油圧シリンダー
第2A図
第2B図
第
図
第6A図
第6B図FIG. 1 is an overall perspective view of the present invention. FIG. 2A is a schematic perspective view of the lid opening/closing device, and FIG.
The figure is a side view thereof. FIG. 3 is a bottom view of the gripping device, and FIG. 4 is a partially omitted side view of the gripping device. Figures 5 (a), (b), and (c) are explanatory diagrams of the operation of the lid opening/closing device, in which (a) the gripping device is in the rest position, (b) the gripping device is in the position directly above the lid, and (C) indicates the position on the temporary stand. FIG. 6A is a partial plan view of a container used in the automatic guided vehicle of the present invention, and FIG. 6B is a partial sectional view thereof. FIG. 7A is a partial plan view of a container used in a conventional automated guided vehicle, and FIG. 7B is a partial cross-sectional view of the same.
Figure C is a side view of a conventional lid opening/closing tool. DESCRIPTION OF SYMBOLS 1... Vehicle body, 3... Side fork, 5... Fixed arm, 6'... Sleeve, 8... Connecting rod, 10... Sleeve, 12... Side plate, 14.14' ... Sliding piece, 16.16'... Rack, 18.18'... Clamping surface, 20.20'... To support row 31... Grasp, 60... Support member, 62... Downward extension part, 2... Mast, 4... Pillar, 6... Rotating frame, 7... Drive arm, 9... Gripping device, 11... Board, 13...・・Guide rail, 15.15'・・Mounting plate, 17・17′・・Holding piece, 19・・Pinion, 30・・Ear, 40・・・Support piece, 61・・・Renobe 63 ...Hydraulic cylinder Fig. 2A Fig. 2B Fig. 6A Fig. 6B
Claims (1)
する情報とに基づき、搬送する容器の少くとも一つの蓋
を開閉することの出来る自動蓋開閉装置を備えた容器無
人搬送車。1. An automated container guided vehicle equipped with an automatic lid opening/closing device capable of opening and closing at least one lid of a transported container based on information indicating the location of the container and information regarding the work to be performed.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2101614A JP3005018B2 (en) | 1990-04-19 | 1990-04-19 | Container automatic guided vehicle with automatic lid opening and closing device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2101614A JP3005018B2 (en) | 1990-04-19 | 1990-04-19 | Container automatic guided vehicle with automatic lid opening and closing device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH042532A true JPH042532A (en) | 1992-01-07 |
JP3005018B2 JP3005018B2 (en) | 2000-01-31 |
Family
ID=14305282
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2101614A Expired - Lifetime JP3005018B2 (en) | 1990-04-19 | 1990-04-19 | Container automatic guided vehicle with automatic lid opening and closing device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3005018B2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2105816A2 (en) * | 2008-03-26 | 2009-09-30 | FPT Systems GmbH | Driver-less transport system for transporting, carrying and unloading loads |
JPWO2013038998A1 (en) * | 2011-09-13 | 2015-03-26 | 株式会社安川電機 | Self-propelled robot and self-propelled cart |
CN108058656A (en) * | 2016-11-07 | 2018-05-22 | 广东科达洁能股份有限公司 | A kind of movable control mounting plates structures of AGV |
-
1990
- 1990-04-19 JP JP2101614A patent/JP3005018B2/en not_active Expired - Lifetime
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2105816A2 (en) * | 2008-03-26 | 2009-09-30 | FPT Systems GmbH | Driver-less transport system for transporting, carrying and unloading loads |
JPWO2013038998A1 (en) * | 2011-09-13 | 2015-03-26 | 株式会社安川電機 | Self-propelled robot and self-propelled cart |
CN108058656A (en) * | 2016-11-07 | 2018-05-22 | 广东科达洁能股份有限公司 | A kind of movable control mounting plates structures of AGV |
Also Published As
Publication number | Publication date |
---|---|
JP3005018B2 (en) | 2000-01-31 |
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