JPS60233300A - Automatic running apparatus of pit feed vehicle - Google Patents
Automatic running apparatus of pit feed vehicleInfo
- Publication number
- JPS60233300A JPS60233300A JP59089943A JP8994384A JPS60233300A JP S60233300 A JPS60233300 A JP S60233300A JP 59089943 A JP59089943 A JP 59089943A JP 8994384 A JP8994384 A JP 8994384A JP S60233300 A JPS60233300 A JP S60233300A
- Authority
- JP
- Japan
- Prior art keywords
- transport vehicle
- shield machine
- tunnel
- center device
- underground
- 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
- 230000032258 transport Effects 0.000 description 49
- 238000010276 construction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 239000004035 construction material Substances 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、ゾールド工法により内径１ｍ内外で５００ｍ
以上のトンネル築造する場合において、トンネル内を走
行して掘削土、築造材料を運搬する坑内運搬車（バッテ
リカー）の自動走行装置に関するものである。Detailed Description of the Invention (Industrial Field of Application) The present invention is a construction method that uses the Zold construction method to create a 500 m
The present invention relates to an automatic traveling device for an underground transport vehicle (battery car) that travels inside the tunnel and transports excavated soil and construction materials when constructing a tunnel as described above.
（従来の技術）
従来、トンネル築造における掘削土、築造材料の坑内運
搬システムは、坑内運搬車がトンネル坑内に設置された
軌道上を走り、作業員がこれを操作するのが通例であっ
たが、トンネル内径１ｍ内外の場合、軌道を設置するの
が容易でなく、かつ安全を確保するだめに坑内における
作業員の作業は極力避ける必要がある。このような狭小
なトンネル内を走行する坑内運搬車は、無軌道でかつト
ンネル内無人とする遠隔操作により走行させる必要があ
る。運搬車を無人で走行させる方法には、倉庫捷だは工
場で用いられている無人運搬システムがあるが、誘導線
路の設置がトンネル内では困難なこと、トンネル内で停
止すべき位置が前進するため停止位置の標識を頻繁に移
動する必要が生ずることによりシールド工事への適用が
困難である。また坑内運搬車搭載アンテナと発信側アン
テナとの無線交信により遠隔操作する場合には、狭小な
トンネル内径のため無線の伝播損失が大きく、交信距離
を長くするには無線出力レベルを」二げる必要がある。(Prior Art) Conventionally, underground transportation systems for excavated soil and construction materials used in tunnel construction have typically involved underground transportation vehicles running on tracks installed inside the tunnel, and workers operating the vehicles. If the tunnel has an inner diameter of 1 m or less, it is difficult to install the track, and in order to ensure safety, it is necessary to avoid working underground as much as possible. An underground transport vehicle that travels in such a narrow tunnel must be operated without track and by remote control so that the tunnel is unmanned. There are unmanned transport systems used in warehouses and factories to run transport vehicles unmanned, but it is difficult to install guide tracks in tunnels, and the position where they should stop in the tunnel moves forward. Therefore, it is difficult to apply it to shield construction because it is necessary to frequently move the stop position sign. In addition, when remote control is performed by radio communication between the antenna mounted on the underground transport vehicle and the transmitting antenna, the radio propagation loss is large due to the narrow inner diameter of the tunnel, so the radio output level must be lowered to extend the communication distance. There is a need.
しかしその場合には立坑外への電波漏洩が多く々す、電
波法による規制を受けるので実用的ではない。さらに、
トンネル内での無線交信範囲を広げる方法として、トン
ネル内に漏洩同軸ケーブルを引込む方法があるが、他の
制御、電カケーブルと相当距離を離して設置する必要が
あり、また固くて曲げに〈＜、コネクタ接続できない等
の点で所要スペース、取扱い上の難点がある。However, in that case, radio waves often leak outside the shaft and are subject to regulations under the Radio Law, so it is not practical. moreover,
One way to extend the range of wireless communication inside a tunnel is to run a leaky coaxial cable into the tunnel, but it must be installed at a considerable distance from other control and power cables, and it is hard and difficult to bend. <, There are problems in terms of space required and handling, such as the inability to connect connectors.
以上のように、倒れの方法も小口径のトンネル工事で使
用するには、取扱い、法規制、所要スペースの点で実用
的でない欠点がある。As described above, the collapse method also has drawbacks that make it impractical for use in small-diameter tunnel construction in terms of handling, legal regulations, and required space.
（発明が解決しようとする問題点）
本発明は上記の点にかんがみ、電波法の規制を受けない
低レベルの電波を用いても長距離トンネルの築造工事に
おいて坑内運搬車の自動走行を行なわせることができる
ようにし、壕だ運搬車の誘導用設備も小口径トンネル内
での所要スペースおよび取扱い上から問題のないように
した坑内運搬車自動走行装置を提供するものである。(Problems to be Solved by the Invention) In view of the above-mentioned points, the present invention allows underground transport vehicles to automatically travel during long-distance tunnel construction work even using low-level radio waves that are not regulated by the Radio Law. The present invention provides an automatic underground transport vehicle traveling system that allows the underground transport vehicle to be guided without problems in terms of space required and handling in small-diameter tunnels.
（実施例）
第１図は本発明の実施例の全体構成図、第２図は断面図
、第５図は制御機器図を示し、１は立坑、２はトンネル
、６はシールド機、４は立坑内を走行する運搬車である
。５は立坑内に配置した操作室に設けた立坑側制御機器
であって第３図に示すようにミニコンピユータあるいは
マイクロコンピュータより構成されるセンター装置６、
センター装置６の操作卓２１、ＭＯＤＥＭ ２２、ＦＭ
送受信器２６で構成される。７は坑口側アンテナ、８は
シールド機側アンテナ、９は運搬車搭載アンテナであっ
て、これらアンテナ７．８．９からは各々自由空間損失
を考えて免許を要しない電界強度を満足する７ ０ ｄ
Ｂ ｐＶの低レベル電波を輻射する。１０はトンネル２
内において運搬車４をセンター装置６の位置から確認で
き停止させられるような位置でトンネル内壁に取シつけ
だ立坑側停市位置センサ、１１は運搬車４がシールド機
３のベルトコンベア１２の手前で停止できるような位置
でベルトコンベア支持体に取りつけだ７一ルド機側停止
位置センサである。１６はトンネル内壁に取り付けたポ
スト等よりなる立坑側切替位置表示体であって、坑口側
アンテナ７と運搬車搭載アンテナ９との交信可能範囲で
ある３０ｍ以内にあり、立坑側停止位置センサー１０よ
りシールド機３側に取り付けられる。１４はトンネル内
壁に取り付けだポスト等よりなるシールド機側切替位置
表示体であって、／−ルド機側アンテナ８と運搬車搭載
アンテナ９との交信可能範囲の３０ｍ以内にあシ、かつ
シールド機側停止位置センサー１１より立坑１側に位置
するよう取付けられる。このシールド機側切替位置表示
体１４はシールド機６の前進移動に対応してときどき移
動させるだけでよい。１５は運搬車４に設けたリミット
スイッチ等よりなる切替位置表示体１３ 、１４の検知
器であって、これら切替位置表示体１３ 、１４と接触
することにより作動する。１６はシールド機３に設けた
シールド機内制御機器であって、第３図に示すようにシ
ールド機制御端末２４、ＭＯＤＥＭ ２５、ＦＭ受信器
２６よりなっている。１７は運搬車４に設けた運搬車制
御機器であって、マイクロコンピュータで構成される運
搬車制御端末２７、操舵制御回路２８、速度制御回路２
９、ＭＯＤＥＭ ３０、Ｆ Ｍ送受信器６１よりなって
いる。なお操舵制御回路２８は特許第９６７７Ｂ５号ｒ
ｌ−ンネル運搬台車用方向修正装置」の技術を適用す
ることによって実現できる。１８はケーブル束であって
、制御、電カケーブルおよび同軸ケーブル３２を束ねて
ありトンネル２内壁に設けたカーテンレールに支持され
る。同軸ケーブル６２は立坑側制御機器１６と坑口側ア
ンテナ７、シールド機側アンテナ１１、シールド機内制
御機器１６との間の信号伝達用のものである。１９はシ
ールド機６へ風を送るだめの風管である。(Embodiment) Fig. 1 is an overall configuration diagram of an embodiment of the present invention, Fig. 2 is a sectional view, and Fig. 5 is a diagram of control equipment, where 1 is a vertical shaft, 2 is a tunnel, 6 is a shield machine, and 4 is a diagram of control equipment. This is a transport vehicle that travels inside the shaft. Reference numeral 5 denotes a shaft-side control device installed in an operation room located inside the shaft, and as shown in FIG. 3, a center device 6 consisting of a minicomputer or a microcomputer;
Control console 21 of center device 6, MODEM 22, FM
It is composed of a transmitter/receiver 26. 7 is an antenna on the mine entrance side, 8 is an antenna on the shield machine side, and 9 is an antenna mounted on a transport vehicle.These antennas 7, 8, and 9 each satisfy the electric field strength that does not require a license in consideration of free space loss. d
B It emits low-level radio waves of pV. 10 is tunnel 2
A stop position sensor 11 on the shaft side is mounted on the inner wall of the tunnel at a position where the transport vehicle 4 can be checked and stopped from the position of the center device 6. This is a stop position sensor on the belt conveyor side, which is attached to the belt conveyor support at a position where it can be stopped. Reference numeral 16 denotes a shaft side switching position indicator consisting of a post or the like attached to the inner wall of the tunnel, which is located within 30 m, which is the communication range between the tunnel mouth side antenna 7 and the antenna 9 mounted on the transport vehicle, and from the shaft side stop position sensor 10. Attached to the shield machine 3 side. Reference numeral 14 denotes a shield machine side switching position indicator consisting of a post or the like attached to the inner wall of the tunnel. It is installed so as to be located closer to the shaft 1 than the side stop position sensor 11. This shield machine side switching position indicator 14 only needs to be moved occasionally in response to the forward movement of the shield machine 6. Reference numeral 15 denotes a detector for the switching position indicators 13 and 14, which is a limit switch or the like provided on the transport vehicle 4, and is activated by contacting these switching position indicators 13 and 14. Reference numeral 16 denotes a shield machine control device provided in the shield machine 3, and as shown in FIG. 3, it is composed of a shield machine control terminal 24, a MODEM 25, and an FM receiver 26. Reference numeral 17 denotes a transport vehicle control device provided in the transport vehicle 4, which includes a transport vehicle control terminal 27 composed of a microcomputer, a steering control circuit 28, and a speed control circuit 2.
9, MODEM 30, and FM transceiver 61. The steering control circuit 28 is based on Patent No. 9677B5r.
This can be realized by applying the technology of ``Direction correction device for tunnel transport truck''. Reference numeral 18 denotes a cable bundle in which control cables, power cables, and coaxial cables 32 are bundled together, and is supported by a curtain rail provided on the inner wall of the tunnel 2. The coaxial cable 62 is for signal transmission between the shaft side control device 16, the mine mouth side antenna 7, the shield machine side antenna 11, and the shield machine internal control device 16. 19 is a wind pipe for sending air to the shield machine 6.
（動 作）
つぎに坑内運搬車４０走行動作について説明する。坑内
運搬車４が入坑する場合、制御監視項目の多い立坑付近
の坑口から立坑側切替位置表示体１６０区間はセンター
装置６の誘導によりｉ Ｋ＋５／ｈ程度の低速度で前進
させる。そのだめ、オペレータが操作卓２１の入坑スイ
ッチを操作すると、センター装置乙のコンピュータが作
動して制御信号を出し、その制御信号は８ ｂｉｔの直
列信号に変換され、ＦＭ送信器３２によりＦＭ信号（１
８０，５ＭＨｚ）となり坑口側アンテナ７および７一ル
ド機側アンテナ８から同時に発信される。坑内運搬車４
は、その搭載アンテナ９がその制御信号を受け、ＦＭ受
信器３１、モデム６０を介して８ ｂｉｔの直列信号に
変換され運搬車制御端末２７に伝えられ、この制御端末
２７がセンター装置６からの制御信号に応じて速度制御
回路２９を作動させることにより前記のような低速で前
進を開始する。このとき操舵制御回路２８が同時に作動
する。その後センター装置６から連続して送信される制
御信号により前記のようにＩ Ｋｍ／ｈ程度の低速で坑
内運搬車４が走行して行き、これに設けた検知器１５が
立坑側切替位置表示体１３に接触してこれを検知すると
、制御端末２７はセンター装置６からの誘導を止めると
共に速度制御回路２９に５ Ｋ＋！Ｌ／ｈ程度の高速度
で走行させるよう指令し、坑内運搬車４自身をして上記
高速度で前進させる。坑内運搬車４が走行してゆき検知
器１５がシールド機側切替位置表示体１４を検出すると
、運搬車制御端末２７は再びセンター装置６の誘導下に
入るよう切替え作動し、／−ルド機側アンテナ８を介し
て制御監視項目の多いシールド機付近をＩ Ｋｍ程度の
低速度で走行するようにする。この低速度で走行してゆ
き、シールド機側停止位置センサー１１が坑内運搬車の
接近を検知すると、センター装置６はシールド機制御端
末２４、モデム２５、Ｆｌｌ／ｌ送信器２６からのＦＭ
信号（５４ＭＨｚ）を同軸ケーブル３２を通し、立坑内
制御機器５のＦＭ送信機２６、モデム２２を介して受け
、それによりセンター装置６は坑内運搬車４を停止させ
るだめの信号を送信し、これを運搬車搭載アンテナ１６
が受けると運搬車制御端末２７は速度制御回路２９に指
令して坑内運搬車４を停止させる。坑内運搬車４がセン
ター装置６からの誘導で走行している間は運搬車制御機
器１９からセンター装置６側へ運搬車４の速度、走行距
離、傾斜度等の情報が１７７．５ ＭＨｚの電波で送ら
れる。(Operation) Next, the traveling operation of the underground transport vehicle 40 will be explained. When the underground transport vehicle 4 enters the mine, the center device 6 guides it to move forward at a low speed of about iK+5/h from the shaft entrance to the shaft side switching position indicator 160 near the shaft where there are many control monitoring items. However, when the operator operates the tunnel entry switch on the control console 21, the computer in the center device operates and outputs a control signal, which is converted into an 8-bit serial signal and sent to the FM transmitter 32 as an FM signal. (1
80.5 MHz) and is simultaneously transmitted from the mine mouth side antenna 7 and the mine mouth side antenna 8. Underground transport vehicle 4
The on-board antenna 9 receives the control signal, which is converted into an 8-bit serial signal via the FM receiver 31 and modem 60 and transmitted to the transport vehicle control terminal 27, which then receives the control signal from the center device 6. By operating the speed control circuit 29 in response to the control signal, the vehicle starts moving forward at the low speed described above. At this time, the steering control circuit 28 operates simultaneously. Thereafter, the underground transport vehicle 4 travels at a low speed of approximately I Km/h as described above in response to control signals continuously transmitted from the center device 6, and the detector 15 installed therein detects the shaft side switching position indicator. 13 and detects this, the control terminal 27 stops the guidance from the center device 6 and sends the speed control circuit 29 5K+! The underground transport vehicle 4 itself is commanded to travel at a high speed of about L/h, and is caused to move forward at the high speed. As the underground transport vehicle 4 travels, when the detector 15 detects the shield machine side switching position indicator 14, the transport vehicle control terminal 27 switches to be under the guidance of the center device 6 again, and switches to the shield machine side. The vehicle is made to travel at a low speed of about I Km near the shield machine, which has many control and monitoring items via the antenna 8. While traveling at this low speed, when the shield machine side stop position sensor 11 detects the approach of the underground transport vehicle, the center device 6 receives the FM from the shield machine control terminal 24, modem 25, and Fll/l transmitter 26.
A signal (54 MHz) is received via the coaxial cable 32 and the FM transmitter 26 and modem 22 of the shaft control equipment 5, and the center device 6 thereby transmits a signal to stop the underground transport vehicle 4. Antenna 16 mounted on the transport vehicle
When received, the transport vehicle control terminal 27 instructs the speed control circuit 29 to stop the underground transport vehicle 4. While the underground transport vehicle 4 is traveling under guidance from the center device 6, information such as the speed, traveling distance, and slope of the transport vehicle 4 is transmitted from the transport vehicle control device 19 to the center device 6 using 177.5 MHz radio waves. Sent by
以上に説明した坑内運搬車の入坑時の自動走行状態をフ
ローチャートで示すと第４図のようになる。FIG. 4 is a flowchart showing the automatic traveling state of the above-described underground transport vehicle when entering the mine.
坑内運搬車４を出航させる場合は、センター装置６によ
る誘導をシールド機側アンテナ８を介して行ない、シー
ルド機側切替位置表示体１４を坑内運搬車４の検知器１
５で検知するまでＩ Ｋｙ’ｈ程度の低速度で後退させ
、その検知後はセンター装置６からの誘導は止まり、５
Ｑ／ｈ程度の高速度で坑内運搬車４自身で後退させ、坑
内運搬車４の検知器１５が立坑側切替位置表示体１３を
検知すると坑口側アンテナ７を介して再びセンター装置
６に誘導されるようになり、Ｉ Ｋ５／ｈ程度の低速度
で後退し、立坑側停止位置センサー１０が坑内運搬車４
の接近を検知し、センター装置６にこれを伝えると、セ
ンター装置６からの停止指令信号が発信されて坑内運搬
車を所定位置で停止させる。When the underground transport vehicle 4 is set to sail, guidance is performed by the center device 6 via the shield machine side antenna 8, and the shield machine side switching position indicator 14 is set to the detector 1 of the underground transport vehicle 4.
The vehicle is moved backward at a low speed of about I Ky'h until it is detected at 5, and after that detection, the guidance from the center device 6 is stopped, and the
The underground transport vehicle 4 moves backward by itself at a high speed of about Q/h, and when the detector 15 of the underground transport vehicle 4 detects the shaft side switching position indicator 13, it is guided to the center device 6 again via the tunnel entrance side antenna 7. The vehicle started moving backwards at a low speed of about 5/h, and the shaft side stop position sensor 10 detected that the underground transport vehicle 4
When the approach is detected and this is transmitted to the center device 6, a stop command signal is transmitted from the center device 6 to stop the underground transport vehicle at a predetermined position.
上記のように坑内運搬車を抗日付近およびシールド機付
近の制御、監視項目の多い区間をセンター装置からの誘
導による低速度の走行を行なわせ、その中間部の区間を
運搬車自体による高速度走行を行なわせることで、安全
で速く積載物の運搬をすることができる。As mentioned above, the underground transport vehicle is guided by the central device to run at low speed in the areas where there are many control and monitoring items near the anti-Japanese anti-Japanese anti-Japanese anti-corrosion equipment and near the shield machine, and the transport vehicle itself runs at high speed in the middle section. By doing this, the loaded items can be transported safely and quickly.
（発明の効果）
以上説明したように本発明によれば、坑口側とシールド
機側の各アンテナからの電波の届く範囲にそれぞれ設け
た両切替位置表示体間より外の区間すなわち坑口および
／−ルド機に近い坑内運搬車の制御、監視項目の多い区
分のみ坑内運搬車をセンター装置の誘導により走行させ
、両切替位置表示体間は運搬車自体のみで走行させるよ
うにするものであるから、との両切替位置表示体間の距
離が長くなり、従ってトンネル長が長くガつでも１６の
規制を受けない低レベルの電波で小口径のトンネル築造
工事における坑内運搬車の自動走行を行なわせることが
でき、一方またセンター装置と、坑口側アンテナ、／−
ルド機側アンテナ等との間の信号伝達は他の制御、電カ
ケーブルと接して布設でき、且つ容易に曲げられまたコ
ネクタ接続できる普通の同軸ケーブルによって行えるの
で、小口径トンネル内における坑内運搬車の誘導用設備
の設置スペース上、取扱い上の問題を生じない。(Effects of the Invention) As explained above, according to the present invention, the area outside the area between the two switching position indicators provided within the range of radio waves from each antenna on the wellhead side and the shield machine side, that is, the wellhead and /- The underground transport vehicle is guided by the center device only in sections where there are many control and monitoring items for the underground transport vehicle near the rotary machine, and only the transport vehicle itself is allowed to travel between the two switching position indicators. To allow an underground transport vehicle to automatically travel in small-diameter tunnel construction work using low-level radio waves that are not subject to the regulations of 16 even when the distance between the switching position indicator and the tunnel is long and the tunnel length is long. On the other hand, the center device and the wellhead side antenna, /-
Signal transmission between the antenna on the side of the rotary machine and the like can be carried out using an ordinary coaxial cable that can be laid in contact with other control and power cables, and can be easily bent and connected to a connector, making it suitable for underground transport vehicles in small-diameter tunnels. There will be no problems in handling due to the installation space of the guidance equipment.
第１図は本発明の実施例の全体構成図、第２図は断面図
、第６図は制御機器図、第４図は坑内運搬車入坑時にお
ける自動走行フローチャー１・を示す。FIG. 1 is an overall configuration diagram of an embodiment of the present invention, FIG. 2 is a sectional view, FIG. 6 is a diagram of control equipment, and FIG. 4 is a flowchart 1 of automatic travel when an underground transport vehicle enters a mine.
Claims (1)
設し、該センター装置からの運搬車誘導信号を低レベル
の電波で輻射する坑口側アンテナおよびシールド機側ア
ンテナを配設し、坑口からシールド機側に上記坑口側ア
ンテナからの電波の届く範囲内およびシールド機後方の
上記シールド機側アンテナからの電波の届く範囲内にあ
る位置のトンネル内にそれぞれ切替位置表示体を配設し
、坑内運搬車には該運搬車が上記切替位置表示体の位置
に来たときこれを検知する検知器および上記センター装
置からの誘導走行と、該運搬車自体での走行とができる
よう制御すると共にこれら走行の切替を上記検出器が上
記切替位置表示体検出で行ない該運搬車を上記両切替位
置表示体間より外側の区間は上記センター装置からの誘
導により走行させ、上記両切替位置表示体間の区間は運
搬車自体で走行させるよう制御する運搬車制御機器を設
けたことを特徴とする坑内運搬車自動走行装置。A center device is installed inside the shaft to guide the underground transport vehicle, and a tunnel entrance side antenna and a shield machine side antenna are installed to radiate the transport vehicle guidance signal from the center device as low-level radio waves. A switching position indicator is installed in the tunnel at a position within the range of radio waves from the tunnel mouth side antenna on the shield machine side and within the range of radio waves from the shield machine side antenna at the rear of the shield machine. The transport vehicle includes a detector that detects when the transport vehicle reaches the position of the switching position indicator, and controls such that the transport vehicle can perform guided travel from the center device and travel by itself. The detector switches the traveling direction by detecting the switching position indicator, and the transport vehicle is guided by the center device to travel in the area outside between the switching position indicators, An underground transport vehicle automatic traveling device characterized by being provided with a transport vehicle control device that controls the transport vehicle to run by itself in sections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59089943A JPS60233300A (en) | 1984-05-04 | 1984-05-04 | Automatic running apparatus of pit feed vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59089943A JPS60233300A (en) | 1984-05-04 | 1984-05-04 | Automatic running apparatus of pit feed vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60233300A true JPS60233300A (en) | 1985-11-19 |
| JPH0253600B2 JPH0253600B2 (en) | 1990-11-19 |
Family
ID=13984781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59089943A Granted JPS60233300A (en) | 1984-05-04 | 1984-05-04 | Automatic running apparatus of pit feed vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60233300A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04120605A (en) * | 1990-09-12 | 1992-04-21 | Hitachi Ltd | Method and device for controlling running of carrier |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4842125A (en) * | 1971-10-07 | 1973-06-19 | ||
| JPS5610452A (en) * | 1979-07-06 | 1981-02-02 | Matsushita Electric Works Ltd | Manufacture of laminated board |
-
1984
- 1984-05-04 JP JP59089943A patent/JPS60233300A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4842125A (en) * | 1971-10-07 | 1973-06-19 | ||
| JPS5610452A (en) * | 1979-07-06 | 1981-02-02 | Matsushita Electric Works Ltd | Manufacture of laminated board |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04120605A (en) * | 1990-09-12 | 1992-04-21 | Hitachi Ltd | Method and device for controlling running of carrier |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0253600B2 (en) | 1990-11-19 |
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