JPS60146757A - All-direction transferring flat-car - Google Patents

All-direction transferring flat-car

Info

Publication number
JPS60146757A
JPS60146757A JP207284A JP207284A JPS60146757A JP S60146757 A JPS60146757 A JP S60146757A JP 207284 A JP207284 A JP 207284A JP 207284 A JP207284 A JP 207284A JP S60146757 A JPS60146757 A JP S60146757A
Authority
JP
Japan
Prior art keywords
flat car
speed
traveling
driving wheel
calculation circuit
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.)
Pending
Application number
JP207284A
Other languages
Japanese (ja)
Inventor
Kenichi Tanaka
健一 田中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP207284A priority Critical patent/JPS60146757A/en
Publication of JPS60146757A publication Critical patent/JPS60146757A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

PURPOSE:To permit a flat car to be always kept in a constant direction and traveled, by detecting the revolution angle speed around the vertical shaft of the flat car and controlling the drive of a traveling motor on the basis of the above- described detection signal and generating a speed difference on each driving wheel. CONSTITUTION:When a speed difference between the driving wheel on the right front side and the driving wheel on the left rear side of a flat car is generated by slip, etc., and the flat car is provided with revolution with respect to the direction of the initial traveling, the variation of the revolution angle speed (w) of the flat car is detected by a retegyro 18. The detection signal is input into a calculation circuit 20 through an A/D converter 19, and the calculation circuit 20 determines the correction amount for one Vc2 of the transfer-speed instruction signals which the calculation circuit 20 determines according to the instruction signals thetaj and Vj supplied from a joy stick 16. The correction amount is added or subtracted from the above-described transfer-speed instruction signal, and the both driving wheels are revolved at the respective speeds different each other, and the direction of advance of the flat car is allowed to coincide with the direction of the initial traveling.

Description

【発明の詳細な説明】 〔発明の技術分野〕 この発明に、走行方間を一足に保持して走行することの
できる全力同移動台車に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a full-power co-moveable trolley that can travel while maintaining a distance of one foot.

〔従来技術〕[Prior art]

従来の全方同移動台車の概要を第１図に示す。 Figure 1 shows an overview of a conventional universally moving trolley.

′第１″図は全力同移動台車の底圓図であり、（１）Ｕ
台車□、（２）：Ｊ？工び（８）は駆動輪であり、台車
（１）に図示しない支“持部羽で回転０Ｊ能に支持さｎ
ると共に走行用モータ（９）、α０ＩＶｃより走行可能
に駆動回転すること゛がてきる。（４＋　＊　’（句は
従動輪であり、台車（１）に図示しない支持部材で回転
口」能に支持さｎている。Figure '1' is the bottom circle diagram of the full-power movable trolley, (1) U
Trolley □, (2): J? The workpiece (8) is a drive wheel, which is supported by support blades (not shown) on the truck (1) so that it can rotate at 0J.
At the same time, the traveling motor (9), α0IVc, is able to drive and rotate the vehicle so that it can travel. (4+*') is a driven wheel, which is supported by a support member (not shown) on the truck (1).

ｗｉｔｓ輪（２）　、　（８１ｊ？　工び従動輪（４）
　Ｉ　（５）そｆぞｎの支持部材に、かじ取り用モータ
（６）、（７）、鬼ｓ）　ｓ　（ｏ）そｎぞｎＫ工工部
駆動輪２７　＊　＜８）訃Ｊ、び従動輪（４）　＃　ｔ
６）七ｎぞｎの走行方間を可変する工うに、ｔｇｌＩＩ
！Ｉ弓ｎヒに栖成さｎる。そして、曲記全方向移動台車
の走行制御に次のようにして行なわｎる。すなわち、第
２図Ａ／Ｄ　コンバー　ｊｌ（１５ｈＭ１５Ｂ）　ｖｃ
　ｘ　、りデジタル信号に変換さｎ１次いてデジタルの
進行方向指示信号θ１お工びデジタルの移ｌＩＪ速度指
示侶′＠Ｖ、を入力する演算回路（４）は、前ｇピ谷１
８号　〜、Ｖ、に基づいて走行用モータ（９）、叫の回
転部ＩＩｍ童お工びかじ塩９用モータ（６）、（７）、
　（ｓ）　、　（９）の（９）転躯勤童を決定し、走行
用モー　Ｉ　Ｌ９１　、　（ｉｌｌ　Ｋ　Ｄ／Ａコンバ
ータ（１５Ｂ）を介して移ＩＩＩ速度指令ｇｓ号　Ｖ。Wits wheel (2), (81j? Machine driven wheel (4)
I (5) The steering motors (6), (7), and the steering motors (6) and (7) are attached to the supporting members of the (5) section. Driving wheel (4) #t
6) tglII, a device that changes the running direction of the 7-n-zon.
! I'm going to make a bow. Then, the running control of the omnidirectional movable cart is performed as follows. That is, Fig. 2 A/D converter jl (15hM15B) vc
The arithmetic circuit (4) which inputs the digital traveling direction indication signal θ1 and the digital transfer lIJ speed indicator'@V, converts it into a digital signal n1.
Based on No. 8 ~, V, the traveling motor (9), the motor for the rotary part IIm child's handshake 9 (6), (7),
(s), (9) of (9) determines the transfer status, and transfers the traveling motor I L91, (ill K) via the D/A converter (15B) to the III speed command GS V.

ｔ、また、かじ取り用モータ（６）、（７）、　ｔｓ＋
　、　（９）にＤ／Ａコンバータ（１５Ａ）を介してス
テアリング角に指令１８号０゜を出力して、全方同移動
台車の走行制御が行なわｎる。t, also steering motors (6), (7), ts+
, (9) outputs command No. 18 0° for the steering angle via the D/A converter (15A), thereby controlling the traveling of the mobile carriage in all cases.

しかしながら、＃配栴成の全方同移動台車は、走行中Ｖ
Ｃ扇動輸（２）ｓ（８）Ｋ速度差が生じたり、また。However, all of the same mobile trolleys in #distribution
C agitation transport (2) s (8) K speed difference occurs, and.

駆動輪＜２）　＊　（”ｌや従動輪（４Ｊ　ｅ　Ｌ５Ｊ
のスリップ等を原因ＶＬ　してこｎらの支持部羽が回転
して台車（１）の走行方間が変わっても、ジョイステッ
ク四で級だした走行方間に修正する劉ｓ＠ｏｎを甫えて
いなかった。Drive wheel <2) * ("l or driven wheel (4J e L5J
Even if these support blades rotate and the running direction of the trolley (1) changes due to slips, etc., the running direction of the trolley (1) can be adjusted to the one determined by Joystick 4. It wasn't.

そｎ故、ｍ配全方同移動台車に、走行中ｒｃ迷走丁。Therefore, all of the M drivers are on the same moving trolley, and the RC strays while running.

ることがあった。There was something that happened.

〔発明の賊資〕[Piracy of inventions]

・検出信号に基づいて丸竹用モータの駆動を側鍔丁・１ 一゛ることにＬ９台車を常に一尾の方向ｒｃ維持して走
行することのできる全方同憂＃ＩｕＪ台車を提供するこ
とを目的とするものである。- Based on the detection signal, the drive of the motor for round bamboo is controlled by the side guard.In particular, we provide an #IuJ bogie that can always run the L9 bogie while maintaining the same direction rc. The purpose is to

（発明の実施例〕 この発明の一実施例について図１１［Ｉｔ−参照しなが
ら説明する。(Embodiment of the Invention) An embodiment of the invention will be described with reference to FIG.

この発明の一実施例でおる全方同移動台車に。In one embodiment of this invention, all vehicles are on the same moving trolley.

第１図に示すのと同様に、台車＜１）に駆動輪＜均ｔ　
（Ｂζ従動輪（４）　＊　Ｌ５）、走行用モータ叫、（
ロ）、ρ為じ取り用モー　タ（６）　＃　（７）　＊　
（８Ｊ　＃　（９）’ｋｉｎ、ｔ、また、第３図ｔｆｃ
　承丁制御１愼栴を有する。As shown in Fig. 1, drive wheel < uniform t
(Bζ driven wheel (4) * L5), driving motor scream, (
b), ρ steering motor (6) # (7) *
(8J # (9) 'kin, t, also Fig. 3 tfc
It has one control unit.

弗３図Ｖｃンいて、（２））はジョイスティックであり
、全方同移動台車の搭′Ｍ省が進行方間と走行速度とを
指令する入力装置ａ１．である。（１７ａ）、（１７Ｂ
）で示すのはＶＤコンバータ″′Ｃあり、ジョイスティ
ックｑ切より出力ざする進行方同指示傷号０１、移動速
贋指示佃号ｖ、ｔ−デジタル値Ｉ／ｃ変換する。（ト）
はレートジャイロであり、台車（工）の審血幀回りの回
転角迷屓を検出することＶＣより、台車の走行方向の変
化を検出する検出手段でるり、検出信号ωを出力する。(2)) is a joystick, and input device a1. It is. (17a), (17B
) is a VD converter ``'C, which converts the direction of movement to be outputted from the joystick q-off, the direction of movement indication number 01, the movement speed indication number v, t - digital value I/c. (G)
is a rate gyro, which detects the deviation of the rotation angle of the trolley (worker), and outputs a detection signal ω from the detection means for detecting a change in the traveling direction of the trolley.

ｕ４はヤ■コンバータであり、レートジャイ　７０Ｏａ
ｌエリ出力される検出信号ωをデジタル信号に変換する
。四は演′１４．回路であり、デジタルの前記進行方同
指示佃号θよ、デジタルの削に：移動速度指示イｇ号Ｖ
、およびデジタルの検出信号ωを入力して走行用モータ
ｕｏ＋　ｔ−ｍ　ｓする移動速度指令個号ｖ００、′Ｊ
？工び走行用モータ（ロ）を駆動する移動速度。u4 is a converter and has a rate of 70Oa
Converts the output detection signal ω into a digital signal. The fourth is performance '14. It is a circuit, and the digital direction is the same instruction number θ, and the digital sharpening: movement speed instruction Ig number V
, and the digital detection signal ω are input to set the travel speed command number v00,'J for the traveling motor uo+tm s.
? Traveling speed that drives the motor for machining (b).

指令１８号Ｖ、を出力し、また、かじ取り用モータＬ６
）　Ｉ　（７）ｓ　（８）　ｓ　（９）　Ｋステアリン
グ角度指令信号θ。It outputs command No. 18 V, and also outputs the steering motor L6.
) I (7) s (8) s (9) K Steering angle command signal θ.

を出力する。幌１１　、−、１７１１それぞｎはＤ／Ａ
コンＡＴりであり、デジタルの移鯛迷匿指令信号Ｖ００
、移動速度指令値号ｖ０．お工び、ステアリング角度指
令信号０゜そｎぞｆｌｔアナログ信号に変換する。Output. Hood 11, -, 1711 each n is D/A
It is a digital transfer command signal V00.
, movement speed command value number v0. Convert the steering angle command signal 0° into an flt analog signal.

次に、以上倒成の作用について説明する。Next, the effect of the above collapse will be explained.

ジョイスティックｑ匈エリ出力さｎる進行方同指□示１
８号もと移ＮＪＪ刈度指示１８号ｖ７、およびレートジ
ャイロ（財）で＋ｆＩ！出さｎる台車の１転角速度ωは
。The joystick outputs the same direction of movement □ Indication 1
+fI with No. 8 original NJJ cutting instruction No. 18 v7 and Rate Gyro (foundation)! The angular velocity ω of one turn of the bogie that is output n is.

Ａ／Ｄ　：ｌ　：ｙ　バー　１　（１７Ａ）、（１７Ｂ
）、（ｉｌｌ　ＶＣＪＣ９デジタル蓋Ｖｃ変４ｙ４さｎ
る。変換さｎたデジタル社に基ついて演算回路四は、台
車（１）の走行方間２工び走行速度を決定し、Ｄ／Ａコ
ンパ−ｐ阻１．−１叫１によりアナログｉ＋ｔのステア
リング角度指令毎号　０゜をかじ取り用モータ（６）　
＃　＜’Ｉ）　＃　（８）　＊　Ｌ９）　ＩＣ出力し、
また、アナログ酋の移動速度指令佃号Ｖ。２．■。８會
走行川モータ（１す、（６）に出力する。ステアリング
角度指令毎号　θ。を入力するかじ取り用モータ（ａ）
　ｓ　（７）　ｓ　（８）１（９）　Ｋ工９駆動輪（２
）、（８）および従動輪（４）　ｅ　（’）　’ｔ’同
じ方ｉｉＪ　Ｋ　ｌ”Ｊけ、移動速度指令１Ｆ！−ｋｊ
ｖｇ、＊　ｖｏ、ｔ−人力する走行用モータ叫、σηＩ
Ｉｃエク駆動輪＜２）　ｓ、　（８１を回転させて、台
車（１）を−足の走行方向ＶＣ移動することとなる。な
２、走行中Ｉ／ｃ駆動輪＜２）Ｉ　（１１１１に速度差
が生じないとき框、移動速度指令佃号Ｖ。３に修正が７
ＪＩＩえらｎｆｔｆｃ、移動速度指令値′＠ｖｏ工と移
動速度指令佃号Ｖ、とは尋しくなっている。A/D :l :y Bar 1 (17A), (17B
), (ill VCJC9 digital lid Vc change 4y4san
Ru. The arithmetic circuit 4 determines the traveling speed of the truck (1) in the two directions and the D/A comparator 1. -1 shout 1 gives analog i+t steering angle command 0° to steering motor (6)
# <'I) # (8) * L9) Output IC,
In addition, the movement speed command number V of the analog machine. 2. ■. 8. The steering motor (1) outputs to (6). The steering motor (a) inputs each steering angle command θ.
s (7) s (8) 1 (9) K-engine 9 drive wheels (2
), (8) and driven wheel (4) e (') 't' same side iiJ K l”Jke, movement speed command 1F!-kj
vg, * vo, t - Human-powered running motor scream, σηI
Ic Ex drive wheel < 2) s, (81 is rotated to move the trolley (1) in the - foot running direction VC. 2, While traveling I/c drive wheel < 2) I (To 1111 When there is no speed difference, the frame and movement speed command number V.3 has been modified to 7.
JII gill nftfc, the movement speed command value '@vo engineering and the movement speed command number V are strange.

今、スリップ等の原因にエフ駆動輪（２）と駆動輪（８
）とで違に汝を生じｆｃ場合、台Ｊｔ　（１）に初期の
走行方間に対して回転を生じる。台車（１）の回転に、
、、Ｃる回転角速友ωＶ変化はレートジャイ０（ト）に
より検出さｎ、レートジャイロ（財）から出力ざｎる検
出１８号にＡ／Ｄコンバーターでテジタル量に変換ざｎ
る。Now, the cause of slip etc. is the F drive wheel (2) and the drive wheel (8).
) causes a rotation in the platform Jt (1) with respect to its initial traveling direction. As the cart (1) rotates,
,,The rotation angular velocity ωV change is detected by the rate gyroscope, and the output from the rate gyroscope is converted into a digital quantity by the A/D converter.
Ru.

デジタル化さｎ７’（検出信号に、演與回路■に入力し
、ｐＩｒ足の１ＪＩＩ御則に従かい台車（１）が初期の
走行方向に後締する工うに、移動速度指令匍＠Ｖｏ、Ｉ
Ｃ対する補正鷲を決定する。次いで、移動速度指令侶号
Ｖ。、ｉｃ前記補正皺を加算あるいは減算して駆動移ｗ
！Ｊ速度指令１８号ｖ０イを補正するのである。The digitalized n7' (detection signal is input to the control circuit ■, and the moving speed command @Vo is used to rearward the trolley (1) in the initial running direction according to the 1JII rule of pIr foot. I
Determine the correction value for C. Next, the moving speed commander V. , ic by adding or subtracting the correction wrinkles and driving movement w.
! J speed command No. 18 v0i is corrected.

以上、こυ発明の一実施例Ｖｔついて説明したが、この
発明は前記実施例ＶＣ限定さｎるｔのではなく、この発
明の貿旨の範囲内て適宜ＶＣ変形して実施することがで
きるのはいうまでもない。Although one embodiment of this invention has been described above, this invention is not limited to the VC of the above embodiment, but can be implemented by appropriately modifying the VC within the scope of the trade spirit of this invention. Needless to say.

なお、ｌ５１Ｊ記実施例に２いては移動速度指令信号Ｖ
、の補正をデジタル演算処理Ｖ＜−より行なった力ζこ
ｆｉｉ第４図に示すニブに、アｆ０グ、Ｉｇ回路（２０
ａ）に工９行なってｔＬい。In addition, in Embodiment 151J, the moving speed command signal V
, is corrected by digital arithmetic processing V<-.The nib shown in Fig.
I did 9 steps to a).

〔発明の効果〕〔Effect of the invention〕

以上ｒＣ藺明したように、この発明によると、台車の回
きの変化ｉｅｈ＋出して、初期ｒｃ設定した移動速度を
その都度補正をするので、常に台車の凹きを一足に維持
しながら走行することのできる全力同移動台車を提供す
る仁とができる。As explained above, according to the present invention, the rotation speed of the cart is changed ieh+ and the initially set moving speed is corrected each time, so the cart always travels while maintaining its concavity to one foot. We will do our best to provide the same mobile trolley that can be used.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は従来の全方同移動台車を示す紙口図、第２図は
繭記全力回移動台車の走行を制御する制御模徊を示すプ
ルツク図、＃１３図にこの弁明の一実施例を示すブロッ
ク、お工び第４図はこの発明特許出願人　工業技術院長
　川　１）裕　部手続補正書（自発） 昭和３２年２月７２日 特許庁長官　殿 １．１＄件の表示 特願昭５９−２０７２号 ２、発明の名称 全方向移動台車 ３、補正をする者 ４、補正の対象 明細書の発明の詳細な説明の欄、及び図面。 ５、補正の内容 （１）明細書第２頁第７行の「回動可能に」という記載
を「回転可能に」と補正する。 （２）明細書第２頁第１８行および第２０行の「走行用
モータ（Ｉｌｌ）、（１０）Ｊ　という記載を「走行用
モータ（１０）、（１１）　Ｊと補正する。 （３）明細書第３頁第８行の「これらの支持部材が回転
して」という記載を削除する。 （４）図中、第３図を別紙の通り補正する。 ６、添付書類の目録 補正後の図面　１通 以　上Fig. 1 is a paper opening diagram showing a conventional all-round movable cart, Fig. 2 is a pull diagram showing a control pattern for controlling the traveling of a Mayuki full-power rotating cart, and Fig. #13 is an example of an embodiment of this defense. The block showing this invention, Figure 4, is the applicant for this invention patent: Director of the Agency of Industrial Science and Technology Kawa 1) Procedural amendment by Hirobu (spontaneous) February 72, 1955 Director of the Japan Patent Office Patent application for indication of $1.1 No. 59-2072 2, Title of the invention: Omnidirectional movable trolley 3, Person making the amendment 4, Detailed description of the invention in the specification to be amended, and drawings. 5. Details of the amendment (1) The statement "rotatably" on page 2, line 7 of the specification is amended to "rotatably." (2) The description "Travel motor (Ill), (10) J" on page 2, line 18 and line 20 of the specification is corrected to "Travel motor (10), (11) J." (3) The statement "These supporting members rotate" on page 3, line 8 of the specification is deleted. (4) In the figure, correct Figure 3 as shown in the attached sheet. 6. At least 1 copy of drawings after the revised list of attached documents

Claims (1)

【特許請求の範囲】[Claims] 複戯個の駆動輪をＩＡＡ動丁□る駆動手段な有して仕り
の検出信号ＰＣ工９谷駆動輪に超嵐怪を生ぜしめるは一
信号を駆動手段ｙｔ出ガする制一手段と會愉え、台車の
走行方間’１−２　ｒｃ保付川用としたことを特”徴と
する全方同移動台車。The drive means that drives the multiple drive wheels has a detection signal that causes a super storm on the drive wheels. Enjoy the traveling method of the trolley '1-2' It is a moving trolley that is characterized by being designed for RC hotsuke rivers.
JP207284A 1984-01-11 1984-01-11 All-direction transferring flat-car Pending JPS60146757A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP207284A JPS60146757A (en) 1984-01-11 1984-01-11 All-direction transferring flat-car

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP207284A JPS60146757A (en) 1984-01-11 1984-01-11 All-direction transferring flat-car

Publications (1)

Publication Number Publication Date
JPS60146757A true JPS60146757A (en) 1985-08-02

Family

ID=11519133

Family Applications (1)

Application Number Title Priority Date Filing Date
JP207284A Pending JPS60146757A (en) 1984-01-11 1984-01-11 All-direction transferring flat-car

Country Status (1)

Country Link
JP (1) JPS60146757A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04119278U (en) * 1991-04-01 1992-10-26 セイレイ工業株式会社 Steering mechanism of running vehicle
JPH04128982U (en) * 1991-05-17 1992-11-25 セイレイ工業株式会社 Steering mechanism of work vehicle
JPH04128981U (en) * 1991-05-17 1992-11-25 セイレイ工業株式会社 Steering mode switching mechanism
JPH04357094A (en) * 1991-02-06 1992-12-10 Ricoh Co Ltd Manufacture of sheet for thermally perforated stencil printing

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60135373A (en) * 1983-12-23 1985-07-18 Mitsubishi Electric Corp Conveyance truck

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60135373A (en) * 1983-12-23 1985-07-18 Mitsubishi Electric Corp Conveyance truck

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04357094A (en) * 1991-02-06 1992-12-10 Ricoh Co Ltd Manufacture of sheet for thermally perforated stencil printing
JPH04119278U (en) * 1991-04-01 1992-10-26 セイレイ工業株式会社 Steering mechanism of running vehicle
JPH04128982U (en) * 1991-05-17 1992-11-25 セイレイ工業株式会社 Steering mechanism of work vehicle
JPH04128981U (en) * 1991-05-17 1992-11-25 セイレイ工業株式会社 Steering mode switching mechanism

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