JP2021024688A - Horizontal conveyance carriage - Google Patents

Horizontal conveyance carriage Download PDF

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JP2021024688A
JP2021024688A JP2019143390A JP2019143390A JP2021024688A JP 2021024688 A JP2021024688 A JP 2021024688A JP 2019143390 A JP2019143390 A JP 2019143390A JP 2019143390 A JP2019143390 A JP 2019143390A JP 2021024688 A JP2021024688 A JP 2021024688A
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fork
insertion amount
transported
forklift
amount detection
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JP7272895B2 (en
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優司 木下
Yuji Kinoshita
優司 木下
五十嵐　俊介
Shunsuke Igarashi
俊介 五十嵐
卓 谷
Taku Tani
卓 谷
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Shimizu Construction Co Ltd
Shimizu Corp
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Shimizu Construction Co Ltd
Shimizu Corp
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Abstract

To provide a horizontal conveyance carriage capable of variably setting an insertion amount of a fork to an object to be conveyed.SOLUTION: The horizontal conveyance carriage includes: a carriage body 11 having a pedestal part 11b for depositing a loaded object to be conveyed and including a drive wheel 14 and a steering wheel 13; a forklift part 12 mounted on the carriage body 11 and for loading/unloading the object to be conveyed from the outside to the pedestal part 11b; an expansion/contraction mechanism 15 for expanding and contracting the forklift part 12 in a longitudinal direction; a lifting/lowering mechanism 16 for elevating and lowering the forklift part 12 in a vertical direction; and a control part 17 for controlling the driving wheel 14, the expansion/contraction mechanism 15, and the lifting/lowering mechanism 16. The forklift part 12 is arranged with a plurality of insertion amount detection sensors for detecting different fork insertion amounts of a fork 12a to the object to be conveyed at a base part of the fork 12a. The control part 17 controls the expansion/contraction mechanism 15 on the basis of a detection result of a single insertion amount detection sensor corresponding to the object to be conveyed to control the insertion amount of the fork 12a.SELECTED DRAWING: Figure 1

Description

本発明は、建設現場などにおいて資機材などの被搬送物を水平搬送する水平搬送台車に関する。 The present invention relates to a horizontal transport trolley that horizontally transports objects to be transported such as materials and equipment at a construction site or the like.

従来、建設業において労働者不足を補うために作業の自動化が求められており、中でも多くの人工がかかっている資材搬送はその筆頭である。資材搬送を自動化する上で自走台車を用いるケースは多く、特に現場条件に適した自走台車が採用される傾向にある。こうした自走台車として、例えば特許文献１に示すような台車が知られている。 Conventionally, in the construction industry, automation of work has been required to make up for the shortage of workers, and among them, material transportation, which requires a lot of man-made materials, is the first. There are many cases where self-propelled trolleys are used to automate material transportation, and there is a tendency for self-propelled trolleys that are particularly suitable for on-site conditions to be adopted. As such a self-propelled trolley, for example, a trolley as shown in Patent Document 1 is known.

上述した特許文献１の台車等は、フォークリフト部のフォークを被搬送物に差し込む際、フォークの根元部分に近接センサあるいはリミットスイッチに繋がったストライカーを設け、被搬送物のストライカーへの接触を検知することによってフォーク差込量を制御していた。 In the dolly or the like of Patent Document 1 described above, when the fork of the forklift portion is inserted into the object to be transported, a striker connected to a proximity sensor or a limit switch is provided at the base of the fork to detect contact of the object to be transported with the striker. By doing so, the fork insertion amount was controlled.

特開平０６−３２２２７号公報Japanese Unexamined Patent Publication No. 06-32227

ところで、被対象物によっては、フォーク差込量を変えたい場合がある。例えば、一般に、スイッチ付きストライカーは、様々な高さを有する被対象物の検出を可能にするため、低い位置に配置される。ここで、被対象物の形状が、フォーク差込側上部が底部に比して突出している場合、フォーク差込側上部がフォークリフト部の根元部分の立設部に当接しているにもかかわらず、スイッチ付きストライカーが検知しないため、フォークの差込動作が続けられてしまう。また、被対象物の重心位置によっても、フォーク差込量を変えたい場合もある。 By the way, depending on the object to be object, it may be desired to change the fork insertion amount. For example, a switch striker is generally placed in a lower position to allow detection of objects of varying heights. Here, when the shape of the object is such that the upper part of the fork insertion side protrudes from the bottom part, even though the upper part of the fork insertion side is in contact with the upright part of the base part of the forklift part. , Since the striker with a switch does not detect it, the fork insertion operation continues. In addition, the fork insertion amount may be changed depending on the position of the center of gravity of the object.

本発明は、上記に鑑みてなされたものであって、被対象物に対するフォークの差込量を可変に設定することができる水平搬送台車を提供することを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to provide a horizontal transport carriage capable of variably setting the insertion amount of a fork into an object.

上記した課題を解決し、目的を達成するために、本発明に係る水平搬送台車は、被搬送物を水平搬送するための水平搬送台車であって、荷取りした前記被搬送物を預けるための台座部を有し、駆動輪および操舵輪を備えた台車本体と、前記台車本体に取り付けられ、前記被搬送物を外部から前記台座部に荷取り／荷下ろしするためのフォークリフト部と、前記フォークリフト部を前後方向に伸縮する伸縮機構と、前記フォークリフト部を上下方向に昇降する昇降機構と、前記駆動輪、前記伸縮機構及び前記昇降機構を制御する制御部と、を備え、前記フォークリフト部は、フォークの基部に前記被搬送物に対する前記フォークの異なるフォーク差込量を検出する複数の差込量検出センサが配置され、前記制御部は、前記被搬送物に対応した１つの前記差込量検出センサの検出結果をもとに、前記伸縮機構を制御して前記フォークの差込量を制御することを特徴とする。 In order to solve the above-mentioned problems and achieve the object, the horizontal transport trolley according to the present invention is a horizontal transport trolley for horizontally transporting the transported object, and is for depositing the loaded object to be transported. A trolley body having a pedestal portion and having a drive wheel and a steering wheel, a forklift portion attached to the trolley body and for loading / unloading the object to be transported from the outside to the pedestal portion, and the forklift. The forklift unit includes a telescopic mechanism that expands and contracts the portion in the front-rear direction, an elevating mechanism that elevates the forklift portion in the vertical direction, and a control unit that controls the drive wheel, the telescopic mechanism, and the elevating mechanism. A plurality of insertion amount detection sensors for detecting different fork insertion amounts of the fork with respect to the object to be transported are arranged at the base of the fork, and the control unit detects one insertion amount corresponding to the object to be transported. It is characterized in that the expansion / contraction mechanism is controlled to control the insertion amount of the fork based on the detection result of the sensor.

また、本発明に係る他の水平搬送台車は、上記の発明において、前記差込量検出センサは、ストライカー付きの近接センサであり、前記フォークの基部側に並列配置されることを特徴とする。 Further, another horizontal transport carriage according to the present invention is characterized in that, in the above invention, the insertion amount detection sensor is a proximity sensor with a striker and is arranged in parallel on the base side of the fork.

また、本発明に係る他の水平搬送台車は、上記の発明において、前記制御部は、外部の管理サーバから送られる前記被搬送物に対するフォーク差込量を含む制御情報をもとに、１つの前記差込量検出センサを選択することを特徴とする。 Further, in the other horizontal transport carriage according to the present invention, in the above invention, the control unit is one based on the control information including the fork insertion amount with respect to the transported object sent from the external management server. It is characterized in that the insertion amount detection sensor is selected.

本発明によれば、被対象物に対するフォークの差込量を可変に設定することができる。 According to the present invention, the insertion amount of the fork with respect to the object can be set variably.

図１は、本発明の実施の形態である水平搬送台車の概略構成を示す正面図である。FIG. 1 is a front view showing a schematic configuration of a horizontal transport carriage according to an embodiment of the present invention. 図２は、本発明の実施の形態である水平搬送台車の概略構成を示す平面図である。FIG. 2 is a plan view showing a schematic configuration of a horizontal transport carriage according to an embodiment of the present invention. 図３は、フォークの差込量を大きくした場合の差込動作の一例を示す説明図である。FIG. 3 is an explanatory diagram showing an example of the insertion operation when the insertion amount of the fork is increased. 図４は、フォークの差込量を小さくした場合の差込動作の一例を示す説明図である。FIG. 4 is an explanatory diagram showing an example of the insertion operation when the insertion amount of the fork is reduced.

以下に、図面を参照して、本発明に係る水平搬送台車の実施の形態について詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, embodiments of the horizontal transport carriage according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

図１及び図２に示すように、本発明に係る水平搬送台車１０は、資機材などの荷（被搬送物）を水平搬送するための台車であって、台車本体１１と、フォークリフト部１２とを有する。 As shown in FIGS. 1 and 2, the horizontal transport trolley 10 according to the present invention is a trolley for horizontally transporting a load (object to be transported) such as materials and equipment, and includes a trolley main body 11 and a forklift portion 12. Have.

台車本体１１は、荷取りした被搬送物を預けるための台座部１１ｂを有し、操舵輪１３及び駆動輪１４を有する。台座部１１ｂの左右（Ｘ方向）両側の表面１１ａには、被搬送物が載置される。 The trolley main body 11 has a pedestal portion 11b for depositing a loaded object to be transported, and has a steering wheel 13 and a drive wheel 14. An object to be transported is placed on the surfaces 11a on both the left and right sides (X direction) of the pedestal portion 11b.

操舵輪１３及び駆動輪１４は、台車本体１１の下面の四隅側に設けられる。操舵輪１３は、台車本体１１の下面の前側左右に位置し、電動で、水平搬送台車１０を自在に移動させるためのものである。駆動輪１４は、台車本体１１の下面の後側左右に位置し、電動で、水平搬送台車１０と水平搬送台車１０に積載された荷の荷重を支えながら水平搬送台車１０を自在に移動させるためのものである。この操舵輪１３も、水平搬送台車１０と水平搬送台車１０に積載された荷の荷重を支える。水平搬送台車１０の自在な動きを実現するために、操舵輪１３と駆動輪１４は互いに独立して操舵される。 The steering wheels 13 and the driving wheels 14 are provided on the four corners of the lower surface of the bogie body 11. The steering wheels 13 are located on the front left and right sides of the lower surface of the carriage body 11, and are for electrically moving the horizontal transport carriage 10 freely. The drive wheels 14 are located on the left and right sides of the lower surface of the lower surface of the carriage body 11, and are for electrically moving the horizontal transport carriage 10 and the horizontal transport carriage 10 while supporting the load of the load loaded on the horizontal transport carriage 10 and the horizontal transport carriage 10. belongs to. The steering wheel 13 also supports the load of the horizontal transport carriage 10 and the load loaded on the horizontal transport carriage 10. The steering wheels 13 and the drive wheels 14 are steered independently of each other in order to realize the free movement of the horizontal transport carriage 10.

フォークリフト部１２は、図示しないヤードから荷（被搬送物）を水平搬送台車１０に荷取り／荷下ろしするためのものであり、伸縮機構１５及び昇降機構１６を介して台車本体１１に取り付けられる。このフォークリフト部１２は、前後方向（Ｙ方向）に平行に配置され、前後方向に延びる２本の長尺箱状のフォーク１２ａと、フォーク１２ａの基端（＝Ｙ方向側端部）に立壁部とを有する。また、フォークリフト部１２は、台車本体１１の中央部に配置される。 The forklift section 12 is for loading / unloading a load (object to be transported) from a yard (not shown) to the horizontal transport carriage 10, and is attached to the carriage main body 11 via an expansion / contraction mechanism 15 and an elevating mechanism 16. The forklift portion 12 is arranged parallel to the front-rear direction (Y direction), and has two long box-shaped forks 12a extending in the front-rear direction and a standing wall portion at the base end (= Y-direction side end portion) of the fork 12a. And have. Further, the forklift portion 12 is arranged at the central portion of the bogie main body 11.

制御部１７は、被搬送物の荷取りを行う場合、フォークリフト部１２のフォーク１２ａ側を、伸縮機構１５によって被搬送物側（Ｙ方向）に移動させて被搬送物の下側にフォーク１２ａを差し込む。その後、制御部１７は、昇降機構１６によってフォークリフト部１２を上昇して被搬送物をフォーク１２ａで取り上げる。その後、制御部１７は、伸縮機構１５によって、被搬送物が載置されたフォークリフト部１２を後方（−Ｙ方向）に引き、その後、昇降機構１６によってフォークリフト部１２を下降し、被搬送物を台座部１１ｂの表面１１ａ上に載置し、さらに下降してデフォルト位置に戻る。 When the control unit 17 picks up the object to be transported, the control unit 17 moves the fork 12a side of the forklift unit 12 toward the object to be transported (Y direction) by the expansion / contraction mechanism 15 to move the fork 12a under the object to be transported. Plug it in. After that, the control unit 17 raises the forklift unit 12 by the elevating mechanism 16 and picks up the object to be transported by the fork 12a. After that, the control unit 17 pulls the forklift unit 12 on which the object to be transported is placed rearward (-Y direction) by the expansion / contraction mechanism 15, and then lowers the forklift unit 12 by the elevating mechanism 16 to lift the object to be transported. It is placed on the surface 11a of the pedestal portion 11b, and further lowered to return to the default position.

なお、制御部１７は、被搬送物の荷下ろしを行う場合、荷取りの逆順にフォークリフト部１２を駆動する。 The control unit 17 drives the forklift unit 12 in the reverse order of unloading when unloading the transported object.

（差込量検出センサ）
図１及び図２に示すように、フォーク１２ａの基部側の立壁部に複数のストライカー２１，２２が左右方向（Ｘ方向）に並列配置される。各ストライカー２１，２２は、軸２３を介した一端の検知板２１ａ，２２ａを介してそれぞれ近接センサ２１ｂ，２２ｂに結合している。ストライカー２１の前方向（Ｙ方向）端は、ストライカー２２の前方向端よりも前方向に位置する。したがって、フォーク１２ａを被搬送物側に差し込む際、最初にストライカー２１が被搬送物に接触し、その後、ストライカー２２が被搬送物に接触する。すなわち、ストライカー２１が検知するフォーク１２ａの差込量は、ストライカー２２が検知するフォーク１２ａの差込量よりも小さい。なお、ストライカー２１、軸２３、検知板２１ａ、近接センサ２１ｂは、１つの差込量検出センサとして機能し、ストライカー２２、軸２３、検知板２２ａ、近接センサ２２ｂは、１つの差込量検出センサとして機能する。また、各差込量検出センサは、ストライカー付き近接センサである。 (Insert amount detection sensor)
As shown in FIGS. 1 and 2, a plurality of strikers 21 and 22 are arranged in parallel in the left-right direction (X direction) on the standing wall portion on the base side of the fork 12a. The strikers 21 and 22 are coupled to the proximity sensors 21b and 22b, respectively, via the detection plates 21a and 22a at one end via the shaft 23. The front end (Y direction) end of the striker 21 is located forward of the front end of the striker 22. Therefore, when the fork 12a is inserted into the object to be transported, the striker 21 first contacts the object to be transported, and then the striker 22 contacts the object to be transported. That is, the insertion amount of the fork 12a detected by the striker 21 is smaller than the insertion amount of the fork 12a detected by the striker 22. The striker 21, shaft 23, detection plate 21a, and proximity sensor 21b function as one insertion amount detection sensor, and the striker 22, shaft 23, detection plate 22a, and proximity sensor 22b are one insertion amount detection sensor. Functions as. Further, each insertion amount detection sensor is a proximity sensor with a striker.

制御部１７は、外部の管理サーバ１００から送られる被搬送物に対するフォーク差込量を含む制御情報をもとに、１つの差込量検出センサを選択して荷取りを行わせる。すなわち、制御部１７は、選択した１つの差込量検出センサの検出結果のみを有効としてフォーク１２ａの差込量を制御する。 The control unit 17 selects one insertion amount detection sensor to perform loading based on the control information including the fork insertion amount for the object to be transported sent from the external management server 100. That is, the control unit 17 controls the insertion amount of the fork 12a by validating only the detection result of one selected insertion amount detection sensor.

（差込量を大きくする場合）
図３は、フォーク１２ａの差込量を大きくした場合の差込動作の一例を示す説明図である。図３（ａ）に示すように、まずフォークリフト部１２は、台車本体１１とともに、荷１０１に近接する。その後、図３（ｂ）に示すように、フォークリフト部１２を前方（Ｙ方向）に伸ばしてフォーク１２ａを荷１０１の下側に差し込む。この際、ストライカー２２を含む差込量検出センサが選択されている。最初にストライカー２１が荷１０１に接触して、近接センサ２１ｂが検知状態となるが、ストライカー２１の検知は無視される。その後、ストライカー２２が荷１０１に接触して、近接センサ２２ｂが検知状態となるため、フォーク１２ａの差込動作が停止する。 (When increasing the insertion amount)
FIG. 3 is an explanatory diagram showing an example of the insertion operation when the insertion amount of the fork 12a is increased. As shown in FIG. 3A, the forklift section 12 first approaches the load 101 together with the bogie body 11. After that, as shown in FIG. 3B, the forklift portion 12 is extended forward (in the Y direction) and the fork 12a is inserted under the load 101. At this time, the insertion amount detection sensor including the striker 22 is selected. First, the striker 21 comes into contact with the load 101, and the proximity sensor 21b enters the detection state, but the detection of the striker 21 is ignored. After that, the striker 22 comes into contact with the load 101, and the proximity sensor 22b is in the detection state, so that the insertion operation of the fork 12a is stopped.

（差込量を小さくする場合）
図４は、フォーク１２ａの差込量を小さくした場合の差込動作の一例を示す説明図である。図４（ａ）に示すように、まずフォークリフト部１２は、台車本体１１とともに、荷１０２に近接する。その後、図４（ｂ）に示すように、フォークリフト部１２を前方（Ｙ方向）に伸ばしてフォーク１２ａを荷１０２の下側に差し込む。この際、ストライカー２１を含む差込量検出センサが選択されている。最初にストライカー２１が荷１０２に接触して、近接センサ２１ｂが検知状態となるため、フォーク１２ａの差込動作が停止する。なお、その後、ストライカー２２が荷１０２に接触して、近接センサ２２ｂが検知状態となるが、この検知状態は無視される。 (When reducing the amount of insertion)
FIG. 4 is an explanatory diagram showing an example of the insertion operation when the insertion amount of the fork 12a is reduced. As shown in FIG. 4A, first, the forklift section 12 is close to the load 102 together with the bogie body 11. After that, as shown in FIG. 4B, the forklift portion 12 is extended forward (Y direction) and the fork 12a is inserted under the load 102. At this time, the insertion amount detection sensor including the striker 21 is selected. First, the striker 21 comes into contact with the load 102, and the proximity sensor 21b is in the detection state, so that the insertion operation of the fork 12a is stopped. After that, the striker 22 comes into contact with the load 102, and the proximity sensor 22b enters the detection state, but this detection state is ignored.

なお、上記の実施の形態では、２つの差込量を設定するために２つの差込量検出センサを設けたが、差込量が異なる３以上の差込量検出センサを並列配置してもよい。 In the above embodiment, two insertion amount detection sensors are provided in order to set two insertion amounts, but even if three or more insertion amount detection sensors having different insertion amounts are arranged in parallel. Good.

本実施の形態では、差込量の検知が異なる複数の差込量検出センサを並列配置しているので、被対象物の形状あるいは重心に応じたフォーク差込量を簡易な構成で可変にすることができる。 In the present embodiment, since a plurality of insertion amount detection sensors having different detections of the insertion amount are arranged in parallel, the fork insertion amount according to the shape or the center of gravity of the object can be changed with a simple configuration. be able to.

１０ 水平搬送台車
１１ 台車本体
１１ａ 表面
１１ｂ 台座部
１２ａ フォーク
１２ フォークリフト部
１３ 操舵輪
１４ 駆動輪
１５ 伸縮機構
１６ 昇降機構
１７ 制御部
２１，２２ ストライカー
２１ｂ，２２ｂ 近接センサ
２１ａ，２２ａ 検知板
２３ 軸
１００ 管理サーバ
１０１，１０２ 荷 10 Horizontal transport trolley 11 trolley body 11a Surface 11b Pedestal part 12a Fork 12 Forklift part 13 Steering wheel 14 Drive wheel 15 Telescopic mechanism 16 Elevating mechanism 17 Control unit 21 and 22 Striker 21b, 22b Proximity sensor 21a, 22a Detection plate 23 Axis 100 Management Server 101,102 cargo

Claims (3)

被搬送物を水平搬送するための水平搬送台車であって、
荷取りした前記被搬送物を預けるための台座部を有し、駆動輪および操舵輪を備えた台車本体と、
前記台車本体に取り付けられ、前記被搬送物を外部から前記台座部に荷取り／荷下ろしするためのフォークリフト部と、
前記フォークリフト部を前後方向に伸縮する伸縮機構と、
前記フォークリフト部を上下方向に昇降する昇降機構と、
前記駆動輪、前記伸縮機構及び前記昇降機構を制御する制御部と、
を備え、
前記フォークリフト部は、フォークの基部に前記被搬送物に対する前記フォークの異なるフォーク差込量を検出する複数の差込量検出センサが配置され、
前記制御部は、前記被搬送物に対応した１つの前記差込量検出センサの検出結果をもとに、前記伸縮機構を制御して前記フォークの差込量を制御することを特徴とする水平搬送台車。 A horizontal transport trolley for horizontally transporting the object to be transported.
A trolley body having a pedestal portion for depositing the loaded object to be transported, and having drive wheels and steering wheels.
A forklift section attached to the trolley body for loading / unloading the object to be transported from the outside to the pedestal portion.
An expansion / contraction mechanism that expands / contracts the forklift in the front-rear direction,
An elevating mechanism that raises and lowers the forklift section in the vertical direction,
A control unit that controls the drive wheel, the telescopic mechanism, and the elevating mechanism,
With
In the forklift section, a plurality of insertion amount detection sensors for detecting different fork insertion amounts of the fork with respect to the object to be transported are arranged at the base of the fork.
The control unit is horizontal, characterized in that it controls the expansion / contraction mechanism to control the insertion amount of the fork based on the detection result of one insertion amount detection sensor corresponding to the object to be transported. Transport trolley. 前記差込量検出センサは、ストライカー付きの近接センサであり、前記フォークの基部側に並列配置されることを特徴とする請求項１に記載の水平搬送台車。 The horizontal transport carriage according to claim 1, wherein the insertion amount detection sensor is a proximity sensor with a striker and is arranged in parallel on the base side of the fork. 前記制御部は、外部の管理サーバから送られる前記被搬送物に対するフォーク差込量を含む制御情報をもとに、１つの前記差込量検出センサを選択することを特徴とする請求項１又は２に記載の水平搬送台車。 Claim 1 or the control unit is characterized in that the control unit selects one of the insertion amount detection sensors based on control information including a fork insertion amount for the transported object sent from an external management server. The horizontal transport trolley according to 2.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022080481A1 (en) 2020-10-16 2022-04-21 日本メジフィジックス株式会社 Radioactive complexes of anti-her2 antibody, and radiopharmaceutical

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JPH02119500U (en) * 1989-03-09 1990-09-26
JPH0632227A (en) * 1992-07-14 1994-02-08 Mitsubishi Heavy Ind Ltd Unmanned conveying truck
JPH09175798A (en) * 1995-12-25 1997-07-08 Nichiha Corp Forklift with fork insertion amount detection function
JPH1121098A (en) * 1997-07-03 1999-01-26 Toyota Autom Loom Works Ltd Load taking controller and load placing controller in unmanned forklift truck, and unmanned forklift truck
JP2001253699A (en) * 2000-03-08 2001-09-18 Tcm Corp Forklift with fork insertion amount detector
US20170015537A1 (en) * 2015-07-13 2017-01-19 George R. Bosworth, III Lifting fork positioning system

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JPH02119500U (en) * 1989-03-09 1990-09-26
JPH0632227A (en) * 1992-07-14 1994-02-08 Mitsubishi Heavy Ind Ltd Unmanned conveying truck
JPH09175798A (en) * 1995-12-25 1997-07-08 Nichiha Corp Forklift with fork insertion amount detection function
JPH1121098A (en) * 1997-07-03 1999-01-26 Toyota Autom Loom Works Ltd Load taking controller and load placing controller in unmanned forklift truck, and unmanned forklift truck
JP2001253699A (en) * 2000-03-08 2001-09-18 Tcm Corp Forklift with fork insertion amount detector
US20170015537A1 (en) * 2015-07-13 2017-01-19 George R. Bosworth, III Lifting fork positioning system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022080481A1 (en) 2020-10-16 2022-04-21 日本メジフィジックス株式会社 Radioactive complexes of anti-her2 antibody, and radiopharmaceutical

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