TW506936B - Under-cart type guided tractor - Google Patents

Abstract

An under-cart type guided tractor comprising a frame provided with a driving unit including driving wheels on the underside thereof, the guided tractor being adapted to travel guided by a guide signal sent out from a guide element, such as a magnetic tape laid along a traveling path on a floor surface, and to draw a cart provided with free wheels and loaded with goods, with the guided tractor located under a load-carrying platform of the cart. The frame of the guided tractor has a height that allows the guided tractor to move under the frame of the cart, and a structure that does not allow the vertical load of the cart to act on the guided tractor. The frame of the guided tractor comprises at least two separate frame components that are arranged in line with the traveling direction of the guided tractor and joined by a pin in a manner such that the frame components are allowed to take an upward or downward bent formation. The frame of the guided tractor is provided with free wheels that are adapted to travel on the floor surface along with the driving wheels. The frame components are equipped with a clamp mechanism capable of being raised and lowered, the clamp mechanism being adapted to be raised and clamp the frame of the cart when the guided tractor has come to an appropriate position under the frame of the cart. A sensor is provided at a portion suitable for detecting the guide signal sent out from the guide element, such as a magnetic tape.

Description

506936 V. Description of the invention (l) Field of the invention: The present invention relates to an automatic submersible frame having a driving unit and a two-lead tractor, including the tractor system. The inductive ground-travel route is laid along two roads such as induced along a factory or warehouse. 1 The tow has a free wheel and; the cut-off-induced signal and the inductive tractor is located on the freight vehicle. A freight truck, below a flat load platform. Known technical description: Pass and charge a submersible shield type guided tractor, a rigid plate-shaped frame at the rear M, and the drive wheel train is added by a county chessman using an undivided coil spring and the like at the center of the lower side of the frame The 3f uses leaf springs, and the ground is uneven due to the unevenness of the ground (travel path: the surface friction of the ground permits proper ground friction, and thus makes the ground travel. $ Equation tractor is stable. However, using this leaf spring, coil spring The suspension method, etc., can handle fairly large unevenness on the ground, such as oblique ^ 冓: it can handle small bumps on the ground. Reaction, etc. 4 'Thus, the traditional submersible shield type guided tractor has a problem, such as fire When an induced tractor passes a raised part of the ground, the ground friction increases, and when it passes a recessed part of the ground, the ground friction decreases ^, so it cannot guarantee proper ground friction. When these When the unevenness is quite large, such as slopes, fluctuations, etc., the truck (t) and the lead vehicle may become inclined at different angles, so that the lower part of the truck is in contact with 2063-3840-PF; d. Page 7 V. Description of the invention (2) The upper part of the bow I vehicle prevents travel. Eighth, in the conventional submersible shield type induction tractor, a rigid plate-shaped frame that is not cut is usually used. Therefore, When the ground has large unevenness, there is a risk that, for example, when the tractor is traveling from a downward slope to an upward slope, the wheels are lifted from the ground, making the tractor uncontrollable. 'When the tractor travels from an upward slope to a downward slope f 丄 has a perspective view from the direction of travel of the tractor, which usually appears on the traction bundle' ΐ ί The distance between the detector and the inducing element 'such as a tape increases the tractor The risk of Ai Chuan's uncontrollable way. Che :: ΐ 可 3 Ming's purpose is to provide a submersible shield-type induced traction ground travel, that is, two ancient talents in Kuang • 'from-fulcrum support' so you can smooth the ground ：. Use special suspension mechanism for driving wheels or for in-cargo freewheels:-Free wheel that goes along with cargo and can be safely towed-Yun 70 King does not make the vertical load of the freight truck act on the tractor. Summary of invention: According to: A submersible shield-type inductive driving unit of the present invention includes a driving unit including a driving frame including a driving unit along a ground side, a suitable magnetic tape, and an induction unit. The signal-induced intrusion route is paved: and a freight truck loaded with cargo, under a load platform with a free freight truck. The guided tractor is located on the frame of the guided tractor with a degree 'allowable. Inductive Page 8 2063-3840-PF; Calvin.ptd V. Description of the invention (3) A vertical lead frame of a towing vehicle in a freight vehicle, including the direction of travel of the vehicle, is permitted to adopt an upward or rack tie element The system is suitable for detecting a part when it is applied to a position. The frame according to the present invention may include two moving wheels on the left and one on the right. The front central portion of the curved structure of the frame. The frame according to the present invention may also include a rear frame element attached to the floor and the clamp structure. The moving unit is controlled and sensed to move under the induced load of a frame, and at least two separated frame elements are aligned in a line in the induced type, and are inserted by a frame of a lead vehicle. Frame clamp structure downward bend with free wheels equipped with a submersible shield type that can be guided on the side and clamps the induction element separated front has a free wheel drive unit one curved one and a structure tractor. The piece 'is in the frame to make the frame. The ground is driven with a clamp structure up to the carriage of a freight truck. A square sensor structure is applicable to the frame of a high- or low-traction tractor-to-truck, such as a tape, which is not allowed to be induced by a drafting device. And the lower device of the clip frame is provided on the induction signal induction type and the rear frame, and the sub-shield type three separated from the left side and the right side of the induced shield type front, middle and rear frames which are partially induced by the attached frame are driven by a counterpart The unit setter is provided on the frame tractor frame element of each tractor tractor. Sense of the rear of the tractor 'back frame freewheeling. Zhongcheng is driven in the front control as well as in operation, each of which is used in the central part of the inductive sensor system. In the frame element, the guided tractor of the truck from the frame element and the rear frame unit is a frame element, and the frame of the tractor on the ground is set on the front frame guided tractor. Each front and rear wheel is suitable for the front and rear of the drive system equipped with a frame element. Freewheel can be _

506936 V. Description of the invention (4) Spring casters. According to the above-mentioned submersible shield type guided tractor, it can not only travel smoothly on a level ground, but also on a ground with large unevenness, such as slopes, waves, etc., even if no special suspension mechanism is used. It is suitable for driving wheels or free wheels for traveling with the driving wheels on the ground; and it can safely pull a truck without causing the vertical load of the truck to act on the tractor. In order to make the above and other objects, features, and advantages of the present invention more comprehensible, several preferred embodiments are exemplified below and described in detail in conjunction with the accompanying drawings. Brief description of the drawings: Fig. 1 is a front view of an embodiment of a submersible shield type induction tractor of the present invention. Fig. 2 is a plan view of the embodiment shown in Fig. 1; 3A and 3B are front views showing how the embodiment shown in Figs. 1 and 2 travels. Fig. 4 is a front view of another embodiment of the submersible shield type induction tractor of the present invention. Fig. 5 is a plan view of the embodiment shown in Fig. 4; Fig. 6 is a front view showing how the embodiment shown in Figs. 4 and 5 travels. Fig. 7 is a front view showing how the embodiment shown in Figs. 4 and 5 travels.

2063-3840-PF; Calvin.ptd Page 10 506936 V. Description of the Invention (5) Figure 8 is a front view of another embodiment of the submersible shield type induction tractor of the present invention. Explanation of symbols: 1,-frame; 2 ^ ^ driving wheel; 3 '"driving unit; 4, ^ ground; 5--freight truck; 6'-frame; 7--front frame element; 8,-rear frame element 9 ~ Latch; 10 ~ clamp structure; 11 ~ free wheel; 12 ~ free wheel; 13 ~ sensor; 14 ~ tape; 15 ~ power supply battery; 16 ~ control device; 17 ~ iron weight; 18 ~ clamp 19 ~ bumper; 20 ~ front frame element 21 ~ middle frame element; 22 ~ rear frame element 23 ~ drive wheel; 24 ~ free wheel; 25 ~ control drive unit; 26 ~ sensor; 27 ~ control motor; 28 ~ Bolt shaft; 29 ~ Control device; 30 ~ Shock absorber; 31 ~ Frame; 32 ~ Clamp; 33 ~ Clamp mechanism; 40 ~ Plate bearing; 50 ~ Car seat bearing 0 _ Detailed description of the preferred embodiment

2063-3840-PF; Calvin.ptd Page 11 506936 V. Description of the Invention (6) Figures 1 and 2 show the embodiment of the present invention. Of the submersible shield type induced tractor of the moon — the submersible shield type guided tractor ± + -〇A, r »frame 1 as early as possible and Ig. Private xm W on the lower side The driving wheels are equipped with moving early parts, for example, a rod along the ground 4 ai is used to lay the reed line with an induction signal from an inducer-the magnetic tape 14, the delivery-the delivery truck 5, This makes the towing with free wheels " and loading cargo ^ ^ ^ τ 45 ^ ^ g 1 # 3 ρ / guided tractor has the following characteristics:-moving under the frame 6, and a load of 51 on the truck 5 A vertical block acting on the inductive tractor U freight truck 5 is Nao Haku 5151, the frame 1 includes to frames: pieces 7, 8, and a frame two is arranged in the traveling direction of the inductive tractor: the bolt 9 is in the frame Elements 7 and 8 are allowed to be combined in an upward or downward direction of the test curve structure; the frame i has a free wheel 12 suitable for traveling on the ground 4 with the driving wheel 2; the frame elements 7 and 8 are equipped with A clamp structure 10 is lowered, and the clamp structure is suitable for the frame 6 of the truck 5 when the traction tractor reaches The frame 6 is lifted when the position of one of the squares is raised and the frame 6 of the truck 5 is lost; and a sensor 13 is provided for detecting a part of the induction signal sent from the induction element, such as a magnetic tape 14 ( The invention described in the first patent application scope). Specifically, the submersible shield type induction tractor shown in Figs. 1 and 2 is a tractor capable of moving forward and backward. It is a so-called "double bent type" tractor, in which the frame 1 includes two separate front and rear frame elements 7,8. Each frame element 7, 8 is tied to the left

2063-3840-PF; Calvin.ptd Page 12 ^ 06936

V. Description of the invention (7) There are free wheels (universal casters) 2 on the right side, more specifically, there are four free wheels 12 in total, one in each of the four corners of the frame. These freewheel trains are the type that is easy to control and are suitable for traveling with the drive wheel 2 on the ground. . The drive unit 3 is located near a part of the frame suitable for bending. The sensors 13 are provided at the front central portion of the front frame member 7 and the rear central portion of the rear frame member 8 (the invention described in item 2 of the scope of patent application).

More specifically, the driving unit 3 includes a driving wheel and a motor (not shown) for driving the driving wheel 2, and an outer frame element of the rear frame element 8 is used so that the driving unit 3 occupies the frame as seen in a plan view 丨The center of gravity right (center of Figure 2). The driving unit 3 including the driving wheels 2 and the motor is controlled using a so-called "two-wheel speed difference method".

The frame elements 7 and 8 are made of steel and have substantially the same size. The frame elements 7 and 8 are so combined that they can respectively occupy the center of gravity of the frame 1 as seen in a plan view (center of Fig. 2). Here, the drive wheels 2 and 2 are provided on both sides of the lower side of the front face portion of the outer frame member of the rear frame member 8, respectively. Above the driving wheels 2, 2, the bearings 50, 50 are arranged one level below the upper side of the frame. The plate-shaped bearings 40 and 40 are provided on the rear surface of the outer frame member 7 so as to extend parallel to the inside of the bearings 50 and 50, respectively. The front frame member 7 and the rear frame member 8 are coupled by a pin shaft 9 so that they can be allowed to adopt an upward or downward bending structure. The axial direction of the latch shaft 9 is parallel to the traveling surface and perpendicular to the traveling direction of the frame. It goes without saying that the bearings 40 and 40 may be arranged at the extension of the outer frame member 7 of the front frame member 7, and are equivalent to the bearings 50 and 50 provided at the rear frame member 8. '

506936 V. Description of the invention (8) The clamp mechanism 10 is generally arranged in the center of the frame 1 to extend over the frame members 7, 8. The clamp mechanism 10 is raised and lowered by a control device 16 including an electro-hydraulic cylinder (hereinafter simply referred to as a "cylinder") provided at the center of the frame j and extending substantially horizontally. The clamp mechanism has four clamps 18, that is, two clamps 18 are disposed to face each other on the left side, and two clamps 18 are disposed to face each other on the right side. Each clamp 18 is adapted to be raised from outside to inside. The clamps 8 have sufficient rigid trucks 5. In order to ensure that the ground friction force required to smoothly pull the truck 5 acts on the driving wheels 2, the illustrated guided tractor has four iron weights η arranged in front of and behind each driving wheel 2. Specifically, these iron weights 17 are arranged on the left and right sides of the front frame member 7 in a well-balanced manner, and on the left and right sides of the front frame member 8 in a well-balanced manner. The means for ensuring the required ground friction force acting on the driving wheel 2 by two is not limited to the above. If the center of gravity of the front frame member 7 is located at the rear portion and the center of gravity of the rear frame member 8 is located at the front portion, it is not necessary to focus on: In the embodiment, the magnetic tape 14 is used as the induction member. However, it is limited to the magnetic tape 14. Use wires, magnetics, or optical guides. At the 2nd time, the number 2 indicates a pool, and the number 19 indicates a buffer, which has an obstacle " 贞 Measure switch function, which is used to read the guidance guided tractor to stop the field-induced tractor. It is seductive when it comes in contact with obstacles, explaining the operation of the submersible shield type induction tractor with the above structure.

$ 14 pages 506936 one I one five. Description of invention (9). The soft system of the control device executes the ## style pull, the car starts from a master control = into a submerged shield type induction or wireless transmission with the above structure and starts to work :::: Signal use-Photoinductor continues to operate until It is said that following the author's operation in a manner described below -❹ 来 = or = is configured as a part of the inductive car, so that f 彳 fw π two τ control device is usually placed in the tractor control device: : Towing work by L tractor. Due to & _% n this is not shown in the figure. At the time of :, the movement of the χ direction in the following direction: The sensor U moves along the ground: the strength and direction of the central part before the racking element 7. Induction ^ The routed magnetic tape 14 detects the magnetic force to drive the wheels 2 and 2 to travel automatically from the 2 magnetic induction. Yunkang Kang: 'Zeyi 1 3 is detected at a fixed position. Detectors such as vehicles-when the car is transported' are connected to the sensing lead of the frame 1 (stop position), and the induced water is drawn. κ \ 如 止. Then, the cylinder 16 of the clamp mechanism 10 is expanded, so that: 2: raise and come into contact with the frame member 6 of the freight car 5 and Λ 5 turbulence; 1: sensor 13 detects the tape 14 , And under the control of the software, ^ 'Λ pushes the frame 6 of the truck 5 to the left. In this way, the truck 5 is dragged in the direction of χ in the figure. This operation ^ -...: ί 2 ΐ I! When a predetermined position is reached, the sensor detects the stop position on the route of the tape 14 and the like. Thus, the cylinder 16 'of the refreshing clamp mechanism U) Page 15 2063-3840-PF; Calvin.ptd 5. Description of the invention (10) =: The frame elements of the freight truck 5 release the clamps 18, 18 or move backward through the lower side of the freight truck 5 and wait = lead the vehicle to the regular type to attract ^ Ϊ guided tractor travels on 4 level ground, shield

Γ2 Λ.: Ϊ: 5V ^, U Yun ΐ ΐ = Ding gan 1 on the ground 4 'shooting 18 with the pinch mechanism 10' On = =: robbed by large unevenness on the ground, or for example When the slope from the downward direction to the frame 'includes the combination of the bolt shaft 9 = the upward f-curve is shown in FIG. 3A, so that the free wheel 12 of the ϊ ϊ 邦 face 8 is prevented from being lifted from the ground 4. Therefore, The distance between the sensor 13 and the magnetic tape 14 set on the frame m / day will always be maintained. If there is no tractor, it will become uncontrollable. In this way, i: smooth on a level ground地 行 •. Another-square brackets When traveling from two downward slopes to one upward slope, the package i: frame 1 of the combined frame element is downward as shown in FIG. 3B: surface ί = Taxi driving wheel 2 is lifted from the ground 4. Because the driving wheel always travels, the ground friction required to smoothly pull the truck 5 = so that there is no risk that the tractor will become uncontrollable. The car can travel as smoothly as it travels on a level ground. The following pull-back: 3 ^ is similar to Shang Dingtui and s, and is placed on the rear frame element 8 The strength and direction of the sensor 13 from the force of the magnetic tape laid along the route of travel on the ground. The induction tractor is induced by magnetism from the fifth, description of the invention (11) to move dynamically to drive the wheel? The left end of Η is detected by the square position controlled by the drive motor. 1 ^ or 鳊) can be used by the sensor 1 3, the sensor in a fixed frame 1, etc. When the vehicle is under the vehicle 5, it is engaged and inducted. HI by, alpha transport vehicle 5 drag position (stop position), expand, iiLtil slow and stop. However, 'cylinder mechanism 10 cylinder 16 will further transport the second pole 6; = 13 detection tape ", and The tractor is pulled to the right 5 The table is pushed to the right. In this way, the freight truck 5 is towed-water; the shield-type induction tractor can not only smoothly travel on the to-down slope, but also from: 元 元 ^ t R plus the slope. As the frame including the bolt shaft 9 is bent as shown in Λ3Α, the figure and Figure 3B are upward (or downward). The large unevenness on the ground is flat. Yu Ruo uses the caster caster as the free free wheel of frame i (as stated in item 4 of the scope of patent application The described invention f = transport and truck 5 can travel well enough on bumpy ground 4. Figures 4 and 5 show the submersible shield-type inductive traction of the present invention as described in item 1 of the patent application scope. Another embodiment of the vehicle. 丨 The submersible shield type induction tractor shown therein is a so-called "three-bend type pnple bent type" tractor, in which the frame "includes three bladed frame wood elements"> [牛'That is to say, front, middle and rear frame elements 20, p. 17 2063-3840-PF; Calvin.ptd 506936 5. Description of the invention (12) 21, 22. Each of the front and rear frame members 20 and 22 is provided with free wheels 24 on the left and right sides of a rear portion thereof, and thus four free wheels 12 are provided in total. These types of free wheel trains are easy to control and are suitable for traveling with the drive wheel 23. A clamp structure 10 is arranged on the middle frame element 21. As driving units, two driving driving units 25 are arranged at the front and rear frame members 20 and 22. The sensors 26 and 26 are provided in front of and behind each of the control driving units 25 and 25 (such as the invention described in item 3 of the scope of patent application). Reference numeral 2 7 indicates a control motor that can be turned forward or backward, so that the related control drive units 25, 25 perform a control function. A control driving unit 25 provided with a sensor 26 and a control motor 27 is similar to the magnetic force used in a magnetically induced type 0 truck proposed by the inventor and disclosed in Japanese Patent Laid-Open No. 10-399 35. Inductively manipulate the drive unit. Therefore, the description of the manipulation driving unit 25 is omitted.框架 Frame elements 20 points have similar 28 combinations. Insert direction. The curved structure of the frame is the same. Therefore, in order to ensure that the driving wheel 23 has a good flat 23 __ the structure of the previous embodiment with the combination of your Tian Gang split and busy and the frame element is parallel to the running surface by the axis of the latch pin shaft 28 And the rows perpendicular to the frame == 20, 2 1, 22 are combined in such a way that the frame elements can only be upward or upward. & ν r Structure = The clips shown in Fig. 1 and Fig. 2 will be omitted. % FU i υ Flat: The ground friction required for pulling the truck 5 on the ground 2 acts on the scales and is arranged at 2 丨 f with iron weights (not shown) placed on the driving wheels of the rear frame elements 20 and 22

V. Description of the Invention (13) In the case of 1 Γ, the magnetic tape 14 is used as an inducing element. Ran: cited in tape 14. Use electric, wire, magnetic or optical poles 3 " »St. In Figs. 4 and 5, only 30 does not bluff. 4 shows no rush | §, which has an obstacle as described in one embodiment. The object detection switch works like this. The double-bend KΐΞίΠί tractor and the material-type drawbridge shown in Figures 1 and 2 operate in much the same way. Type paper; type: i 弋 ::: The soft system of the manufacturing device 29 is set to start the action by the three bends, and then automatically follows the following tape == style ;! "until it is measured and laid along the travel route的 磁 f # refers to the stop position. When the three-bend submersible shield-type induced traction fish travels, it moves as shown in the X direction in the figure forward to the 22 control drive units 25 and 25; ^ Front and rear frame elements 2. The magnetic two inductive tractor laid on the travel route on surface 4 is induced by magnetism and measures the strength and direction of the magnetic force. The units 25 and 25 travel by automatic control to drive the left end of the magnetic tape 14 The motors 27 and 27 are operated to enable detection. When the inductive traction device 26 and 26 are in a fixed position, a pickup truck 5 is pulled and stopped and transported / under the truck 5, the 'sensors, etc. slow down and Stop. After that, the clamp is upright), and the inductive tractor is raised to contact the "": the cylinder 16 expands, making the clamp 0 and the tape 14 and the tractor will move

〇63-384〇-pp; Calvin.ptd $ 19

The truck 5 is dragged to the left of the frame 6 of the truck 5 in the figure. This X direction. Stop = move 2 to the sensor detection tape 14 and other frame elements on the indicated travel route 5 release the clamps 18,18. Tractor moving through: the second transport y side to the side opposite to the control device 29, and wait for the next-when the U5 transport, the shield-type induction tractor travels on the horizontal ground 4 2; Π = ί induction The tractor can be driven smoothly and smoothly on the ground by the driving wheels 23, 3 of the tractor, and by the free wheels 12 of the tractor suitable for traveling with the driving wheels 23, 23 and the free wheels 11 of the truck 5. The clamps 18 of the sweet-sweep mechanism 10 push the frame 6 of the truck 5.

; When the tractor is traveling through a large unevenness on the ground, for example, from an upward slope to a downward slope, the frame 31 including the frame member combined by the latch shaft 28 is bent upward as shown in FIG. 6, The drive wheels 23 and 23 preventing the front and rear frame elements 20 and 22 from being lifted from the ground 4 are made. Therefore, the distance between the front sensors 26, 26 and the magnetic tape 14 provided in front of the manipulation drive units 25, 25 is always fixed, and there is no risk of control. In this way, the lead vehicle can drive in as smoothly as possible at 4 = ::. On the other hand, when the tractor travels from a downwardly inclined plane to an upwardly inclined plane, the frame 31 including the frame element joined by the pin shaft 28 is bent downward as shown in FIG. 7 so that the driving wheels 23, 23 are prevented Raised from the ground 4. Since the driving wheels 23, 23 always travel in contact with the ground, the ground friction required to smoothly pull the truck 5 is always present. There is no risk that the tractor will become uncontrollable

2063-3840-PF; Calvin.ptd Page 20 506936 V. Description of the invention (15) Advance on a level ground-Proceed smoothly. When the submersible type guided tractor wants to move backwards. Therefore, if the province = body type uses spring feet U: type: shield type guided tractor, the free wheel (such as the free wheel of Shen 31 and the above surface 4 of the freight truck 5 travels well enough) Β Shi Huanbei has also been explained according to the diagram. Must, the owner, the present invention is not limited to the artist shown in Figure 2 & without departing from this example. Any changes that are familiar with this And retouching. For example, the two essences and the consumption β β can still make some q such as, as shown in Figure 8, such as 篦 4 ~ — 刼 Control drive unit 25, 25 can be used as shown in 坌 1 ^ The type-inducing platform a * The double-bent submersible shield shown in the figure of the ten fires is not limited to i μ; ^ rear frame elements 7, 8; In addition, the clip mechanism is 10 dry, S '!: side fixed transport The structure of the truck. As shown in FIG. 8: The clamp mechanism 33 of the straight two clamp 32 can make the $, as long as it is pulled, the illustrated embodiment is a double-double two-bow type, but the present invention is not limited to this. It goes without saying that the present invention can be implemented using examples such as four-bend or five-bend. Although the present invention has been disclosed in several preferred embodiments As above, however, the combination of the invention and the invention, any person skilled in this art, without departing from the second invention =: and scope, can still make a few changes and retouching, so the scope of the present invention shall be treated as an attached patent The scope defined shall prevail.

2063.3840.PF; Calvln.ptd

Claims (1)

View 936 patent application scope drive 1 single: type f shield type induction tractor 'includes: a frame with-including drive wheels on the underside of the drive unit, the induction 1: the vehicle is adapted to be driven from an induction element A tape on the chest floor, induced by the out-of-induction signal, and dragging and loading the "cargo," in-state, so that the induction system is located on the loading platform of the truck. Bottom 'where the frame where the i = i car is attracted has-Gao Yu, which allows the inductive tractor to move under a frame of ^, and a structure that does not allow the cargo ^ a vertical load to act on the inductive Tractor, the inductive traction frame includes at least two separate frame elements, and is arranged in a line in the inducing direction of the inductive draft bow, and the pin is used to allow the frame element to take an upward or downward direction. In combination with the curved structure, the frame of the inductive tractor has free wheels, which are suitable for traveling with the driving wheels on the ground. The frame element is equipped with a clamp structure that raises or lowers. The clamp structure is suitable for being lifted when the induced tractor reaches a position below the frame of the truck, and the sensor is provided for detecting the induction of the frame from the induction truck. A component, such as a magnetic tape, sends out a portion of the induced signal. 2 · The submersible shield type induction tractor according to item 1 of the scope of the patent application, wherein the frame of the induction tractor includes two separate front and rear frame elements, each of which is on the left and right sides There are free wheels which are suitable for traveling with the drive wheels on the ground, the drive unit is located near a part of a bend of the curved structure constituting the frame of the inductive tractor, and senses Device is provided on the front frame-frame element 2063-3840-PF; Calvin.ptd Page 22 506936 6. Scope of patent application The front central part and the rear central part of the rear frame element. 3. The submersible shield type inductive tractor according to item 1 of the scope of patent application, wherein the frame of the inductive tractor includes three separate front, middle and rear frame elements, and each such front and rear frame element There are free wheels on the left and right sides. The free wheels are suitable for traveling with the drive wheels on the ground. The middle frame element is equipped with a clamp structure. The control drive unit is arranged in front and rear. The driving unit of the frame element, and the sensors are arranged before and after each of the driving units. 4. The submersible shield type guided tractor according to any one of claims 1 to 3, wherein the frame provided on the guided tractor and the free-wheel spring casters of the freight car are provided. . _ 2063-3840-PF; Calvin.ptd Page 23