JPH08127337A - Running assist device for self-propelled vehicle - Google Patents
Running assist device for self-propelled vehicleInfo
- Publication number
- JPH08127337A JPH08127337A JP26496794A JP26496794A JPH08127337A JP H08127337 A JPH08127337 A JP H08127337A JP 26496794 A JP26496794 A JP 26496794A JP 26496794 A JP26496794 A JP 26496794A JP H08127337 A JPH08127337 A JP H08127337A
- Authority
- JP
- Japan
- Prior art keywords
- self
- propelled vehicle
- track
- chain
- driven
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、モノレール電動自走
車の走行補助装置、とくに、自走車が登坂、降坂する際
に、その走行を補助する装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling assist device for a monorail electric self-propelled vehicle, and more particularly to a device for assisting the traveling of the self-propelled vehicle when climbing or descending a slope.
【０００２】[0002]
【従来の技術】この種の装置としては、例えば、特開昭
５２−９７５７３号公報に開示されているように、レー
ル長さ方向に順次連ねられた下水平軌道、傾斜軌道およ
び上水平軌道によって構成されている自走車走行レール
と、傾斜軌道と平行に配置されている補助レールと、自
走車が傾斜軌道を走行する際は自走車走行レールから補
助レールに乗移って走行車輪を走行レールから持上げる
ように自走車に設けられている補助車輪と、傾斜軌道の
上方に配置されかつ下側移動経路が傾斜軌道と平行にの
びているエンドレス・チェーンと、自走車に設けられて
いる従動爪と、従動爪と係合しうるようにチェーンに設
けられている駆動爪とを備えており、補助レールに補助
車輪が乗上げると、自走車の駆動を停止し、従動爪に駆
動爪が当接してこれを押動することにより、傾斜軌道を
自走車が登坂するようにしたものが知られている。2. Description of the Related Art As a device of this type, for example, as disclosed in Japanese Unexamined Patent Publication No. 52-97573, a lower horizontal track, an inclined track, and an upper horizontal track that are sequentially connected in the rail length direction are used. When the self-propelled vehicle travels on a slanted track, transfer from the self-propelled vehicle travel rail to the auxiliary rail and set the traveling wheels. Auxiliary wheels provided on the self-propelled vehicle so as to be lifted from the traveling rail, an endless chain arranged above the inclined track and having a lower movement path extending parallel to the inclined track, provided on the self-propelled vehicle. The driven claw and the drive claw provided on the chain so as to engage with the driven claw are provided. When the auxiliary wheel rides on the auxiliary rail, the driving of the self-propelled vehicle is stopped and the driven claw is provided. Make sure that the drive claw touches By pushing the free-running car inclined orbit is known that so as to uphill.
【０００３】[0003]
【発明が解決しようとする課題】上記装置には、つぎの
ような問題点がある。第１に、装置の構造が極めて複雑
である。第２に、自走車を傾斜軌道の始端で停止させる
ため、搬送時間にロスを生じさせる。第３に、従動爪と
駆動爪が当接する際のショックが大きい。The above-mentioned device has the following problems. First, the structure of the device is extremely complicated. Secondly, the self-propelled vehicle is stopped at the start of the inclined track, which causes a loss in the transportation time. Thirdly, a shock is large when the driven claw and the driving claw come into contact with each other.
【０００４】この発明の目的は、上記問題点を解決した
自走車の走行補助装置を提供することにある。An object of the present invention is to provide a traveling assist device for a self-propelled vehicle which solves the above problems.
【０００５】[0005]
【課題を解決するための手段】この発明による自走車の
走行補助装置は、レール長さ方向に順次連ねられた下水
平軌道、下向き円弧軌道、傾斜軌道、上向き円弧軌道お
よび上水平軌道によって構成されている自走車走行レー
ルと、自走車走行レールの上方に配置されかつ下側移動
経路が自走車走行レールと平行にのびているエンドレス
・チェーンと、チェーンに設けられている駆動爪と、駆
動爪と係合しうるように自走車に設けられている従動爪
と、下水平軌道および上水平軌道を一定速度で自走車を
走行させる走行手段と、下水平軌道および上水平軌道を
走行する自走車の速度と同じ速度でチェーンを駆動する
駆動手段と、下向き円弧軌道および上向き円弧軌道の一
方に自走車が接近したときに駆動開始し、その他方を通
過したときに駆動停止するように駆動手段を制御する制
御手段とを備えているものである。A traveling assist device for a self-propelled vehicle according to the present invention comprises a lower horizontal track, a downward arcuate track, a slanted track, an upward arcuate track and an upper horizontal track that are successively arranged in the rail length direction. A self-propelled vehicle traveling rail, an endless chain arranged above the self-propelled vehicle traveling rail and having a lower movement path extending parallel to the self-propelled vehicle traveling rail, and a drive claw provided on the chain. A driven pawl provided on the self-propelled vehicle so as to be able to engage with the drive pawl, a traveling means for traveling the self-propelled vehicle on the lower horizontal track and the upper horizontal track at a constant speed, and a lower horizontal track and an upper horizontal track. Driving means that drives the chain at the same speed as the self-propelled vehicle traveling on the vehicle, and starts driving when the self-propelled vehicle approaches one of the downward arc trajectory and the upward arc trajectory, and drives when it passes the other direction. In which and a control means for controlling the driving means so as to stop.
【０００６】[0006]
【作用】自走車の走行補助装置には、レール長さ方向に
順次連ねられた下水平軌道、下向き円弧軌道、傾斜軌
道、上向き円弧軌道および上水平軌道によって構成され
ている自走車走行レールと、自走車走行レールの上方に
配置されかつ下側移動経路が自走車走行レールと平行に
のびているエンドレス・チェーンとが備わっているか
ら、下向き円弧軌道の自走車移動距離より、チェーンの
下向き円弧軌道と平行部分のチェーン移動距離が短くな
っており、上向き円弧軌道の自走車移動距離より、上向
き円弧軌道と平行部分のチェーン移動距離が長くなって
いる。[Function] The traveling assist device for a self-propelled vehicle is composed of a lower horizontal track, a downward arcuate track, a slanted track, an upward arcuate track and an upper horizontal track that are sequentially connected in the rail length direction. And an endless chain that is located above the self-propelled vehicle traveling rail and has a lower movement path extending parallel to the self-propelled vehicle traveling rail. The chain travel distance of the parallel portion with the downward arc trajectory is shorter, and the chain travel distance of the parallel portion with the upward arc trajectory is longer than the travel distance of the vehicle for the upward arc trajectory.
【０００７】さらに、自走車の走行補助装置には、チェ
ーンに設けられている駆動爪と、駆動爪と係合しうるよ
うに自走車に設けられている従動爪と、下水平軌道およ
び上水平軌道を一定速度で自走車を走行させる走行手段
と、下水平軌道および上水平軌道を走行する自走車の速
度と同じ速度でチェーンを駆動する駆動手段と、下向き
円弧軌道および上向き円弧軌道の一方に自走車が接近し
たときに駆動開始し、その他方を通過したときに駆動停
止するように駆動手段を制御する制御手段とが備わって
いるから、自走車の登坂に際して、自走車が下向き円弧
軌道を通過するときには、従動爪と駆動爪の間隔が漸次
狭められていき、自走車が上向き円弧軌道を通過すると
きには、従動爪と駆動爪の間隔が漸次拡げられていく
し、自走車の降坂に際して、自走車が上向き円弧軌道を
通過するときには、従動爪と駆動爪の間隔が漸次狭めら
れていき、自走車が下向き円弧軌道を通過するときに
は、従動爪と駆動爪の間隔が漸次拡げられていくため、
従動爪と駆動爪が自動的に係合し、係合離脱させられ
る。Further, in the traveling assist device of the self-propelled vehicle, the drive claw provided on the chain, the driven claw provided on the self-propelled vehicle so as to be able to engage with the drive claw, the lower horizontal track, and A traveling means for traveling the self-propelled vehicle at a constant speed on the upper horizontal track, a driving means for driving the chain at the same speed as the traveling vehicle traveling on the lower horizontal track and the upper horizontal track, and a downward arc trajectory and an upward arc. When the self-propelled vehicle approaches the one side of the track, the control means for controlling the drive means is started so as to start the driving, and when passing the other side, the driving means is controlled. The distance between the driven pawl and the drive pawl is gradually narrowed when the traveling vehicle passes through the downward circular arc trajectory, and the distance between the driven pawl and the drive pawl is gradually widened when the self-propelled vehicle passes through the upward circular arc trajectory. Then, on the downhill of the self-propelled car Then, when the self-propelled vehicle passes through the upward arc trajectory, the distance between the driven pawl and the drive pawl is gradually narrowed, and when the self-propelled vehicle passes through the downward arc trajectory, the interval between the driven pawl and the drive pawl is gradually reduced. Because it will be expanded,
The driven pawl and the drive pawl are automatically engaged and disengaged.
【０００８】[0008]
【実施例】この発明の実施例を、図面を参照してつぎに
説明する。Embodiments of the present invention will be described below with reference to the drawings.
【０００９】以下の説明において、前後とは、走行する
自走車が進む側を前（図面に矢印で示す側）、これと反
対側を後というものとする。In the following description, the front and rear sides mean that the traveling side of the traveling vehicle is the front side (the side indicated by the arrow in the drawing) and the opposite side is the rear side.
【００１０】図１を参照すると、前向きにのびたレール
11と、これにそって走行する自走車12とが示されてい
る。Referring to FIG. 1, a rail extending forward is shown.
11 and a self-propelled vehicle 12 traveling along this are shown.
【００１１】レール11は、後から前にかけて順次連らね
られた下水平軌道21、下向き円弧軌道22、傾斜軌道23、
上向き円弧軌道24および上水平軌道25によって構成され
ている。The rail 11 includes a lower horizontal track 21, a downward arcuate track 22, an inclined track 23, which are sequentially connected from the rear to the front.
It is composed of an upward arcuate orbit 24 and an upper horizontal orbit 25.
【００１２】自走車12は、前駆動トロリ31および後従動
トロリ32と、これら両トロリ31，32に渡し止められてい
るロードバー33と、ロードバー33に吊下げられているハ
ンガアーム34とを備えている。前駆動トロリ31には走行
モータ35が備えられている。走行モータ35は、自走車12
を、下水平軌道21および上水平軌道25を一定の速度で走
行させる容量を有しているが、これと同じ速度で傾斜軌
道23を走行させる容量を有していない。従動トロリ32に
は従動爪36が上方突出状に設けられている。The self-propelled vehicle 12 includes a front drive trolley 31 and a rear driven trolley 32, a load bar 33 which is stopped by the trolleys 31 and 32, and a hanger arm 34 suspended from the load bar 33. I have it. The front drive trolley 31 is provided with a traveling motor 35. The traveling motor 35 is
Has a capacity for traveling the lower horizontal track 21 and the upper horizontal track 25 at a constant speed, but does not have a capacity for traveling the inclined track 23 at the same speed. A driven claw 36 is provided on the driven trolley 32 so as to project upward.
【００１３】下水平軌道21の前端には下自走車検出スイ
ッチ37が、上水平軌道25の後端より前よりのところには
上自走車検出スイッチ38がそれぞれ配置されている。A lower self-propelled vehicle detection switch 37 is arranged at the front end of the lower horizontal track 21 and an upper self-propelled vehicle detection switch 38 is arranged in front of the rear end of the upper horizontal track 25.
【００１４】下自走車検出スイッチ37から後よりの位置
上方には従動スプロケット41が、上自走車検出スイッチ
38から後よりの位置上方には駆動スプロケット42がそれ
ぞれ配置されている。従動スプロケット41および駆動ス
プロケット42にはエンドレス・チェーン43が巻き掛けら
れている。チェーン43の下側移動経路は、レール11と平
行にのびている。駆動スプロケット42には駆動モータ44
が備えられている。チェーン43には、２つの駆動爪45が
同じ間隔となるように設けられるととも、２つの駆動爪
45からそれぞれ所定間隔をおいてところに予備爪46がそ
れぞれ設けられている。A driven sprocket 41 is provided above the lower self-propelled vehicle detection switch 37 from the rear position, and an upper self-propelled vehicle detection switch.
Drive sprockets 42 are respectively arranged above the positions from the rear to 38. An endless chain 43 is wound around the driven sprocket 41 and the drive sprocket 42. The lower movement path of the chain 43 extends parallel to the rail 11. Drive sprocket 42 has drive motor 44
Is provided. The chain 43 is provided with two drive claws 45 at the same interval, and the two drive claws are also provided.
Preliminary claws 46 are provided at predetermined intervals from 45, respectively.
【００１５】図２を参照すると、下向き円弧軌道22の中
心Ｃ1 と、下向き円弧軌道22と平行なチェーン移動経路
の中心Ｃ1 は一致させられている。下向き円弧軌道22の
半径Ｒ1 は、同チェーン移動経路の半径Ｒ2 より大であ
る。したがって、下向き円弧軌道22の長さＬ1 は、同チ
ェーン移動経路の長さＬ2 より大である。Referring to FIG. 2, the center C1 of the downward arcuate track 22 and the center C1 of the chain moving path parallel to the downward arcuate track 22 are aligned. The radius R1 of the downward arcuate track 22 is larger than the radius R2 of the chain movement path. Therefore, the length L1 of the downward arcuate track 22 is larger than the length L2 of the chain movement path.
【００１６】図３を参照すると、上向き円弧軌道24の中
心Ｃ2 と、上向き円弧軌道24と平行なチェーン移動経路
の中心Ｃ2 は一致させられている。上向き円弧軌道24の
半径Ｒ3 は、同チェーン移動経路の半径Ｒ4 より小であ
る。したがって、上向き円弧軌道24の長さＬ3 は、同チ
ェーン移動経路の長さＬ4 より小である。Referring to FIG. 3, the center C2 of the upward arc track 24 and the center C2 of the chain movement path parallel to the upward arc track 24 are aligned. The radius R3 of the upward arc track 24 is smaller than the radius R4 of the chain movement path. Therefore, the length L3 of the upward arc track 24 is smaller than the length L4 of the chain movement path.
【００１７】一方の駆動爪45が従動スプロケット41の周
りで後向きとなり、他方の駆動爪45が駆動スプロケット
42の周りで前向きとなった姿勢でチェーン43が停止させ
られている。One drive pawl 45 faces rearward around the driven sprocket 41, and the other drive pawl 45 is driven sprocket.
The chain 43 is stopped in a positive position around 42.
【００１８】自走車12が下水平軌道21の前端部に到着す
ると、これを下自走車検出スイッチ37が検出し、その検
出信号に基づいて、チェーン43が駆動開始される。そう
すると、チェーン43が自走車12と同じ速度で移動始め、
駆動爪45が従動爪36の後方に降りてくる。自走車12が下
向き円弧軌道22に差し掛かったときに駆動爪45と従動爪
36の間には一定の間隔Ｅ1 がある。自走車12が下向き円
弧軌道22を移動していくにしたがって、下向き円弧軌道
の長さＬ1 と同チェーン移動経路の長さＬ2 の差によっ
て、駆動爪45と従動爪36の間の間隔が次第に狭められて
いき、自走車12が下向き円弧軌道22の前端に近ずくころ
には、駆動爪45が従動爪36に追い付く。そのためには、
下向き円弧軌道の長さＬ1 と同チェーン移動経路の長さ
Ｌ2 の差より、駆動爪45と従動爪36の間の上記間隔Ｅ1
が小さいことが好ましいが、仮に、その間隔Ｅ1 が大き
くても、自走車12が傾斜軌道23に差し掛かると、自走車
12の速度が遅くなるから、やがては、駆動爪45が従動爪
36に追い付く。駆動爪45が従動爪36に追い付いた後は、
駆動爪45が従動爪36を押動することにより、走行モータ
35の動力に加えて、駆動モータ44の動力に補助されなが
ら、自走車12が速度を落とすことなく、傾斜軌道23を走
行していく。When the self-propelled vehicle 12 arrives at the front end portion of the lower horizontal track 21, the lower self-propelled vehicle detection switch 37 detects it and the chain 43 is started to drive based on the detection signal. Then, the chain 43 starts moving at the same speed as the self-propelled vehicle 12,
The driving claw 45 comes down behind the driven claw 36. Driving claw 45 and driven claw when the self-propelled vehicle 12 approaches the downward arc track 22
There is a constant distance E1 between 36. As the self-propelled vehicle 12 moves on the downward arcuate track 22, the distance between the driving pawl 45 and the driven pawl 36 gradually increases due to the difference between the length L1 of the downward arcuate track and the length L2 of the chain movement path. When the self-propelled vehicle 12 approaches the front end of the downward arcuate track 22 as it is narrowed, the driving claw 45 catches up with the driven claw 36. for that purpose,
Due to the difference between the length L1 of the downward arcuate track and the length L2 of the chain movement path, the distance E1 between the driving pawl 45 and the driven pawl 36 is increased.
Is preferably small, but if the self-propelled vehicle 12 approaches the inclined track 23 even if the interval E1 is large, the self-propelled vehicle is
Since the speed of 12 becomes slow, eventually the driving claw 45 will be the driven claw.
Catch up with 36. After the driving claw 45 catches up with the driven claw 36,
The driving claw 45 pushes the driven claw 36 to move the traveling motor.
While being assisted by the power of the drive motor 44 in addition to the power of 35, the self-propelled vehicle 12 travels on the inclined track 23 without slowing down.
【００１９】自走車12が傾斜軌道23を通過し、下向き円
弧軌道24に差し掛かり、下向き円弧軌道24を通過する際
は、今度は、逆に、駆動爪45と従動爪36の間の間隔が次
第に拡げられていき、最終的には上記間隔Ｅ1 と等しい
間隔Ｅ2 となる。そして、自走車12が上水平軌道25に差
し掛かると、自走車12は走行モータ35の動力のみによっ
て自力で上水平軌道25を走行していく。一方、自走車12
が上水平軌道25に差し掛かると、これを上自走車検出ス
イッチ38が検出し、その検出信号に基づいて、チェーン
43の駆動が停止される。When the self-propelled vehicle 12 passes through the inclined track 23, approaches the downward arc track 24, and passes through the downward arc track 24, the space between the driving pawl 45 and the driven pawl 36 is reversed. The distance is gradually expanded, and finally the distance E2 is equal to the above distance E1. When the self-propelled vehicle 12 approaches the upper horizontal track 25, the self-propelled vehicle 12 travels on the upper horizontal track 25 by itself only by the power of the traveling motor 35. On the other hand, 12 self-propelled vehicles
When the vehicle approaches the upper horizontal track 25, the upper self-propelled vehicle detection switch 38 detects this, and based on the detection signal, the chain
The drive of 43 is stopped.
【００２０】以上は、自走車が登坂する場合について説
明したが、つぎに、自走車が降坂する場合について説明
する。The case where the self-propelled vehicle climbs the slope has been described above. Next, the case where the self-propelled vehicle descends the slope will be described.
【００２１】自走車12が上水平軌道25から上向き円弧軌
道24に差し掛かると、駆動爪45と従動爪36の間隔が漸次
狭められていく。自走車12が傾斜軌道23に差し掛かるこ
ろには、駆動爪45によって従動爪36が受け止められる。
これにより、自走車12は傾斜軌道23を暴走することな
く、通過することができる。自走車12が下向き円弧軌道
22を通過する際は、今度は、駆動爪45と従動爪36の間隔
が漸次拡げられていき、下水平軌道21に差し掛かると、
自走車12は自力によって走行する。When the self-propelled vehicle 12 approaches the upward arcuate track 24 from the upper horizontal track 25, the distance between the driving pawl 45 and the driven pawl 36 is gradually narrowed. When the self-propelled vehicle 12 approaches the inclined track 23, the driven pawl 45 receives the driven pawl 36.
As a result, the self-propelled vehicle 12 can pass the inclined track 23 without running away. Self-propelled vehicle 12 is a downward arc trajectory
When passing through 22, the distance between the driving pawl 45 and the driven pawl 36 is gradually expanded, and when the lower horizontal track 21 is approached,
The self-propelled vehicle 12 runs by itself.
【００２２】[0022]
【発明の効果】この発明によれば、下向き円弧軌道の自
走車移動距離より、チェーンの下向き円弧軌道と平行部
分のチェーン移動距離が短くなっており、上向き円弧軌
道の自走車移動距離より、上向き円弧軌道と平行部分の
チェーン移動距離が長くなっており、自走車の登坂に際
して、自走車が下向き円弧軌道を通過するときには、従
動爪と駆動爪の間隔が漸次狭められていき、自走車が上
向き円弧軌道を通過するときには、従動爪と駆動爪の間
隔が漸次拡げられていくし、自走車の降坂に際して、自
走車が上向き円弧軌道を通過するときには、従動爪と駆
動爪の間隔が漸次狭められていき、自走車が下向き円弧
軌道を通過するときには、従動爪と駆動爪の間隔が漸次
拡げられていくため、従動爪と駆動爪が自動的に係合
し、係合離脱させられるから、簡単な構造によって、自
走車を停止させることなく、しかも、小さいショック
で、自走車を登坂・降坂させることができる。According to the present invention, the traveling distance of the self-propelled vehicle in the downward arcuate trajectory is shorter than the traveling distance of the self-propelled vehicle in the portion parallel to the downward arcuate trajectory of the chain. , The chain moving distance in the part parallel to the upward arc trajectory is long, and when the self-propelled vehicle passes through the downward arc trajectory when climbing the self-propelled vehicle, the distance between the driven pawl and the drive pawl is gradually narrowed, When the self-propelled vehicle passes through the upward arc trajectory, the distance between the driven pawl and the drive pawl gradually increases, and when the self-propelled vehicle descends the uphill arc trajectory, the distance between the driven pawl and the driven pawl increases. The distance between the driving pawls is gradually narrowed, and when the self-propelled vehicle passes through the downward arcuate track, the distance between the driven pawls and the driving pawls is gradually expanded, so that the driven pawls and the driving pawls are automatically engaged. , Disengaged Since that, by a simple structure, without stopping the self-propelled vehicle, moreover, a small shock may be uphill, downhill the self-propelled vehicle.
【図１】この発明による自走車走行補助装置の側面図で
ある。FIG. 1 is a side view of a traveling assistance device for a vehicle according to the present invention.
【図２】図１の一部拡大側面図である。FIG. 2 is a partially enlarged side view of FIG.
【図３】図１の図２とは別の部分の一部拡大側面図であ
る。3 is a partially enlarged side view of a portion different from FIG. 2 in FIG.
11 レール 21 下水平軌道 22 下向き円弧軌道 23 傾斜軌道 24 上向き傾斜軌道 25 上水平軌道 36 従動爪 37 下自走車検出スイッチ 38 上自走車検出スイッチ 43 チェーン 44 駆動モータ 45 駆動爪 11 Rail 21 Lower horizontal track 22 Downward arc track 23 Inclined track 24 Upward track orbit 25 Upper horizontal track 36 Driven pawl 37 Lower self-propelled vehicle detection switch 38 Upper self-propelled vehicle detection switch 43 Chain 44 Drive motor 45 Drive claw
Claims (1)
軌道21、下向き円弧軌道22、傾斜軌道23、上向き円弧軌
道24および上水平軌道25によって構成されている自走車
走行レール11と、 自走車走行レール11の上方に配置されかつ下側移動経路
が自走車走行レール11と平行にのびているエンドレス・
チェーン43と、 自走車12に設けられている従動爪36と、 従動爪36と係合しうるようにチェーン43に設けられてい
る駆動爪45と、 下水平軌道21および上水平軌道25を走行する自走車12の
速度と同じ速度でチェーン43を駆動する駆動手段44と、 下水平軌道21および上水平軌道25の一方に自走車12が接
近したときに駆動開始し、その他方を通過したときに駆
動停止するように駆動手段44を制御する制御手段37，38
と、 を備えている、自走車の走行補助装置。1. A self-propelled vehicle running rail 11 composed of a lower horizontal track 21, a downward arc track 22, an inclined track 23, an upward arc track 24, and an upper horizontal track 25, which are sequentially linked in the rail length direction, It is located above the self-propelled vehicle traveling rail 11 and the lower movement path extends in parallel with the self-propelled vehicle traveling rail 11.
The chain 43, the driven pawl 36 provided on the self-propelled vehicle 12, the drive pawl 45 provided on the chain 43 so as to engage with the driven pawl 36, the lower horizontal track 21 and the upper horizontal track 25. The driving means 44 that drives the chain 43 at the same speed as the traveling vehicle 12 and the driving start when the vehicle 12 approaches one of the lower horizontal track 21 and the upper horizontal track 25, and the other one Control means 37, 38 for controlling the drive means 44 so as to stop driving when passing
And a travel assistance device for a self-propelled vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26496794A JP3635344B2 (en) | 1994-10-28 | 1994-10-28 | Self-propelled driving assist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26496794A JP3635344B2 (en) | 1994-10-28 | 1994-10-28 | Self-propelled driving assist device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08127337A true JPH08127337A (en) | 1996-05-21 |
| JP3635344B2 JP3635344B2 (en) | 2005-04-06 |
Family
ID=17410701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26496794A Expired - Fee Related JP3635344B2 (en) | 1994-10-28 | 1994-10-28 | Self-propelled driving assist device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3635344B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005002943A1 (en) * | 2003-07-07 | 2005-01-13 | Senyo Kiko Co., Ltd. | Carrying system |
| CN102424253A (en) * | 2011-08-16 | 2012-04-25 | 江苏天奇物流系统工程股份有限公司 | Automobile cart conveying system |
| JP2012136173A (en) * | 2010-12-27 | 2012-07-19 | Murata Machinery Ltd | Travelling vehicle system |
| US8339037B2 (en) | 2004-03-26 | 2012-12-25 | Panasonic Corporation | Organic light emitting device with reduced angle dependency |
| CN103204358A (en) * | 2013-03-08 | 2013-07-17 | 湖北华昌达智能装备股份有限公司 | Self-propelled trolley and self-propelled trolley conveying system |
| KR101381220B1 (en) * | 2012-05-25 | 2014-04-10 | 삼성중공업 주식회사 | Bonding apparatus |
| CN109823788A (en) * | 2019-03-28 | 2019-05-31 | 浙江天珩自动包装机械有限公司 | Trolley handoff path mechanism |
-
1994
- 1994-10-28 JP JP26496794A patent/JP3635344B2/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1642797A1 (en) * | 2003-07-07 | 2006-04-05 | Senyo Kiko Co., Ltd. | Carrying system |
| KR100745106B1 (en) * | 2003-07-07 | 2007-08-01 | 센요 기코 가부시키가이샤 | Carrying system |
| EP1642797A4 (en) * | 2003-07-07 | 2007-11-14 | Senyo Kiko Co Ltd | Carrying system |
| CN100393564C (en) * | 2003-07-07 | 2008-06-11 | 泉阳机工株式会社 | Carrying system |
| WO2005002943A1 (en) * | 2003-07-07 | 2005-01-13 | Senyo Kiko Co., Ltd. | Carrying system |
| US8339037B2 (en) | 2004-03-26 | 2012-12-25 | Panasonic Corporation | Organic light emitting device with reduced angle dependency |
| US9018834B2 (en) | 2004-03-26 | 2015-04-28 | Panasonic Corporation | Organic light emitting device |
| JP2012136173A (en) * | 2010-12-27 | 2012-07-19 | Murata Machinery Ltd | Travelling vehicle system |
| CN102424253A (en) * | 2011-08-16 | 2012-04-25 | 江苏天奇物流系统工程股份有限公司 | Automobile cart conveying system |
| KR101381220B1 (en) * | 2012-05-25 | 2014-04-10 | 삼성중공업 주식회사 | Bonding apparatus |
| CN103204358A (en) * | 2013-03-08 | 2013-07-17 | 湖北华昌达智能装备股份有限公司 | Self-propelled trolley and self-propelled trolley conveying system |
| CN109823788A (en) * | 2019-03-28 | 2019-05-31 | 浙江天珩自动包装机械有限公司 | Trolley handoff path mechanism |
| CN109823788B (en) * | 2019-03-28 | 2024-03-12 | 浙江天珩自动包装机械有限公司 | Trolley switching track mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3635344B2 (en) | 2005-04-06 |
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