JPH0218241B2 - - Google Patents
Info
- Publication number
- JPH0218241B2 JPH0218241B2 JP57164295A JP16429582A JPH0218241B2 JP H0218241 B2 JPH0218241 B2 JP H0218241B2 JP 57164295 A JP57164295 A JP 57164295A JP 16429582 A JP16429582 A JP 16429582A JP H0218241 B2 JPH0218241 B2 JP H0218241B2
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- unmanned guided
- bogie
- protrusion
- shutter
- 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.)
- Expired - Lifetime
Links
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Description
【発明の詳細な説明】
この発明は台車とこの台車の下方に配置される
無人誘導車とを連結する無人誘導車用連結装置に
関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a coupling device for an unmanned guided vehicle that connects a bogie and an unmanned guided vehicle disposed below the bogie.
軌道に沿つて施設された導線の発生磁気を検知
して所定軌道を走行する無人誘導車は、工場等に
おいて広く利用され省力化に貢献している。とこ
ろで、上面が略平らに形成された平型の無人誘導
車はその上面に荷を積載して運搬するほか、台車
（被牽引車）の下方に配置され、連結装置により
この台車と連結されてこの台車を牽引するという
動作をも行う。この場合の連結動作を第１図イ，
ロを参照して説明する。第１図イ，ロは各々無人
誘導車１と台車２の側面図であり、イは連結前、
ロは連結後を各々示している。また、この図にお
いて３は無人誘導車１の上面１ａの中央部付近に
設けられる連結器であり、その中央部に上方に移
動可能な円柱状のスライダ４を有している。この
連結器３は図では１個のみ示したが実際には上面
１ａの幅方向に所定距離隔てて２個設けられてい
る。一方、５は台車２の下面２ａの略中央部に設
けられているホルダ部であり、その中央部に下方
に開口する円柱状の溝部５ａが設けられ、この溝
部５ａの形状がスライダ４の形状よりやや大きめ
に設定されている。このホルダ部５は下面２ａの
幅方向に所定距離隔てて２個設けられ、またその
設置位置は前述した連結器３の位置に対応してい
る。 Unmanned guided vehicles, which travel along a predetermined track by detecting the magnetism generated by conducting wires installed along the track, are widely used in factories and the like, contributing to labor savings. By the way, a flat unmanned guided vehicle with a substantially flat top surface is used to load and transport loads on its top surface, and is also placed below a truck (towed vehicle) and connected to the truck by a coupling device. It also performs the action of towing this trolley. The connection operation in this case is shown in Fig.
This will be explained with reference to b. Figures 1A and 1B are side views of the unmanned guided vehicle 1 and the trolley 2, respectively;
B shows the results after connection. Moreover, in this figure, 3 is a coupler provided near the center of the upper surface 1a of the unmanned guided vehicle 1, and has a cylindrical slider 4 movable upward in the center. Although only one connector 3 is shown in the figure, two connectors 3 are actually provided at a predetermined distance apart in the width direction of the upper surface 1a. On the other hand, reference numeral 5 denotes a holder portion provided approximately in the center of the lower surface 2a of the truck 2, and a cylindrical groove portion 5a opening downward is provided in the center portion of the holder portion. It is set slightly larger. Two holder parts 5 are provided at a predetermined distance apart from each other in the width direction of the lower surface 2a, and their installation positions correspond to the positions of the couplers 3 described above.
連結を行なう場合は、まず無人誘導車１の軌道
上に台車２を正確に配置し、連結器３の移動線上
にホルダ部５がくるようにする（第１図イ）。そ
して、第１図イに示す状態から、無人誘導車１を
図面右方向に移動させて台車２の下方に進入さ
せ、溝部５ａの直下にスライダ４が到達した時点
で、無人誘導車１を停止させる。次に、第１図ロ
に示すようにスライダ４を上方に移動させ、この
スライダ４を溝部５ａに挿入する。これにより、
スライダ４が溝部５ａに係止されるので、無人誘
導車１と台車２との連結が完了する。 When making the connection, first place the cart 2 accurately on the track of the unmanned guided vehicle 1 so that the holder part 5 is on the line of movement of the coupler 3 (FIG. 1A). Then, from the state shown in FIG. 1A, the unmanned guided vehicle 1 is moved to the right in the drawing to enter below the bogie 2, and when the slider 4 reaches just below the groove 5a, the unmanned guided vehicle 1 is stopped. let Next, as shown in FIG. 1B, the slider 4 is moved upward and inserted into the groove 5a. This results in
Since the slider 4 is locked in the groove portion 5a, the connection between the unmanned guided vehicle 1 and the truck 2 is completed.
ところで、上述した従来の連結器３においては
連結器３のスライダ４が上下に移動するから、連
結器３はスライダ４が下がつた場合の保有スペー
スを必要とし、高さが高くなる。したがつて、無
人誘導車１の上面１ａに連結器３を取り付けた場
合、台車２の底面２ａの位置も高くしなければな
らず、これにより、台車２と無人誘導車１との連
結点の位置が高い位置となつてしまい、無人誘導
車１の台車２に対する牽引力のモーメントが大き
くなり走行が不安定になるという問題が発生し
た。また、連結の際、台車２の位置決めを正確に
行ない、溝部５ａの位置をスライダ４の移動線上
に正確に一致させなければ連結が行えないという
不都合があつた。 By the way, in the above-described conventional coupler 3, since the slider 4 of the coupler 3 moves up and down, the coupler 3 requires a holding space when the slider 4 is lowered, and the height becomes high. Therefore, when the coupler 3 is attached to the top surface 1a of the unmanned guided vehicle 1, the position of the bottom surface 2a of the bogie 2 must also be raised, which makes it difficult to connect the bogie 2 and the unmanned guided vehicle 1. This caused a problem in that the moment of the traction force of the unmanned guided vehicle 1 with respect to the trolley 2 became large and the running became unstable. Furthermore, there is a problem in that connection cannot be performed unless the carriage 2 is positioned accurately and the groove portion 5a is precisely aligned with the line of movement of the slider 4.
この発明は上述した事情に鑑み、連結点の位置
を低くして牽引後の走行を安定させることがで
き、また、連結の際の台車の位置決めに多少のず
れがあつても連結を行うことができる無人誘導車
用連結装置を提供するもので、台車の下面に設け
られ下方に突出する突出部と、無人誘導車の上面
に設けられ前記突出部が進入可能な開口部を前記
無人誘導車の進行方向に有し、前記突出部が嵌挿
される連結フレームと、前記突出部が前記連結フ
レーム内に嵌挿されたか否かを検出する検出手段
と、前記検出手段が嵌挿終了を検出した後に閉塞
部材を水平に駆動して前記連結フレームの開口部
と閉塞する閉塞手段とを具備したものである。 In view of the above-mentioned circumstances, this invention makes it possible to stabilize traveling after towing by lowering the position of the connection point, and also allows connection to be performed even if there is a slight deviation in the positioning of the bogie during connection. The present invention provides a coupling device for an unmanned guided vehicle that can connect a protrusion provided on the lower surface of the bogie and protruding downward, and an opening provided on the upper surface of the unmanned guided vehicle into which the protrusion can enter. a connecting frame which extends in the traveling direction and into which the protrusion is inserted; a detection means for detecting whether the protrusion has been inserted into the connection frame; and after the detection means detects that the insertion has been completed. The apparatus includes a closing means for horizontally driving a closing member to close the opening of the connection frame.
以下図面を参照してこの発明の実施例について
説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第２図イ，ロは各々この発明の一実施例の平面
図および側面図であり、第３図は同実施例におけ
る台車の断面図である。 2A and 2B are a plan view and a side view of an embodiment of the present invention, respectively, and FIG. 3 is a sectional view of a truck in the same embodiment.
第２図イにおいて、１０ａ，１０ｂは各々同じ
大きさの長方形状の側壁であり、距離d1隔てて対
向している。側壁１０ａと１０ｂの右端間には側
壁１０ｃが設けられ、側壁１０ｃにはその上面中
央部から下方へ延びる細長い切欠部１１が形成さ
れている。この側壁１０ａ〜１０ｃでコ字状の連
結フレーム１０が構成されている。また、側壁１
０ｃの右側面にはリミツトスイツチ１２がそのア
クチエータ１２ａを切欠部１１に通して取り付け
られ、側壁１０ａ，１０ｂの下端部には長方形状
の取付板１３ａ，１３ｂが各々連結フレーム１０
の外側に水平に設けられている。この場合、取付
板１３ａ，１３ｂの長手方向の長さは各々側壁１
０ａ，１０ｂより長くなつており、取付板１３
ａ，１３ｂの左端部は側壁１０ａ，１０ｂの左端
部よりも左方に延びている。そして、側壁１０
ａ，１０ｂの左方には後述するロール２５，２６
がフレーム１０の開口部に案内するガイド板１６
ａ，１６ｂが設けられており、このガイド板１６
ａ，１６ｂの右端下部が各々取付板１３ａ，１３
ｂの左端部に取り付けられている。また、側壁１
０ａとガイド板１６ａとの間隙、および側壁１０
ｂとガイド板１６ｂとの間隙を通つてシヤツタ１
７が水平方向に移動自在に設けられている。１８
はシヤツタ１７を駆動するシヤツタ駆動部であ
り、リミツトスイツチ１２がON状態のとき（ア
クチエータ１２ａが押されている時）、シヤツタ
１７を突出させて連結フレーム１０の開口部を閉
塞し、リミツトスイツチ１２がOFF状態のとき、
および、外部からシヤツタ開信号が供給されたと
き、シヤツタ１７を引き込んで連結フレーム１０
の開口部を開放する。上述した各構成要素からホ
ルダ部２０が構成されており、このホルダ部２０
は同図ロおよび第３図の一点鎖線に示すように無
人誘導車１の上面１ａの中央部にネジ１５，１
５，…によつて取り付けられている。なお、第２
図ロにおいてシヤツタ駆動部１８は図示略した。 In FIG. 2A, 10a and 10b are rectangular side walls of the same size, and are opposed to each other with a distance d1 between them. A side wall 10c is provided between the right ends of the side walls 10a and 10b, and the side wall 10c has an elongated notch 11 extending downward from the center of its upper surface. The side walls 10a to 10c constitute a U-shaped connection frame 10. Also, side wall 1
A limit switch 12 is attached to the right side of the connecting frame 10c with its actuator 12a passed through the notch 11, and rectangular mounting plates 13a and 13b are attached to the lower ends of the side walls 10a and 10b, respectively.
is installed horizontally on the outside of the In this case, the length of the mounting plates 13a, 13b in the longitudinal direction is
It is longer than 0a and 10b, and the mounting plate 13
The left end portions of a and 13b extend further to the left than the left end portions of the side walls 10a and 10b. And the side wall 10
On the left side of a and 10b are rolls 25 and 26, which will be described later.
a guide plate 16 that guides the frame 10 to the opening of the frame 10;
a, 16b are provided, and this guide plate 16
The lower right ends of a and 16b are mounting plates 13a and 13, respectively.
It is attached to the left end of b. Also, side wall 1
The gap between 0a and the guide plate 16a, and the side wall 10
shutter 1 through the gap between b and guide plate 16b.
7 is provided movably in the horizontal direction. 18
is a shutter drive unit that drives the shutter 17, and when the limit switch 12 is in the ON state (actuator 12a is pressed), the shutter 17 is projected to close the opening of the connection frame 10, and the limit switch 12 is turned OFF. When the state is
When a shutter open signal is supplied from the outside, the shutter 17 is retracted and the connecting frame 10
Open the opening. A holder section 20 is constructed from each of the above-mentioned components, and this holder section 20
As shown in FIG.
It is attached by 5,... In addition, the second
The shutter drive unit 18 is not shown in the figure.
一方、第３図に示すようにこの実施例における
台車２の下面２ａの中央部には下方に突出するピ
ン２１，２２が、長手方向に距離d2をとつて設け
られている。ピン２１，２２にはロール２５，２
６が各々回転自在に設けられるとともに、ピン２
１，２２の先端にはストツパ２７，２８が取り付
けられている。ここで、距離d1，d2について説明
すると前述した距離d1（第２図イ）はロール２５，
２６の直径よりやや大きく設定され、距離d2はロ
ール２５，２６が第２図イ，ロに示すように連結
フレーム１０とシヤツタ１７とで仕切られた空間
にロール２５と２６の外周が連結フレーム１０、
シヤツタ１７に略接する状態で収納されるように
設定される。 On the other hand, as shown in FIG. 3, pins 21 and 22 projecting downward are provided at the center of the lower surface 2a of the truck 2 in this embodiment at a distance d2 in the longitudinal direction. Rolls 25 and 2 are attached to pins 21 and 22.
6 are provided rotatably, and the pins 2
Stoppers 27 and 28 are attached to the tips of 1 and 22. Here, to explain the distances d 1 and d 2 , the aforementioned distance d 1 (Fig. 2 A) is the distance between the roll 25,
The distance d 2 is set slightly larger than the diameter of the rolls 25 and 26, and the distance d 2 is such that the outer peripheries of the rolls 25 and 26 are connected to the space partitioned by the connection frame 10 and the shutter 17 as shown in FIG. 10,
It is set so that it is stored in a state in which it is substantially in contact with the shutter 17.
次に、この実施例の動作を説明する。まず、台
車２を無人誘導車１の軌道上に配置し、次に無人
誘導車１をガイド板１６ａ，１６ｂ側を前方にし
て台車２に向けて発進させる。この時、リミツト
スイツチ１２のアクチエータ１２ａは非押圧状態
にあるので、シヤツタ駆動部１８はシヤツタ１７
を引き込んでおり、連結フレーム１０の開口部は
開放状態にある。そして、無人誘導車１が台車２
の下方に進入すると、ロール２６がガイド板１６
ａもしくは１６ｂに案内されて連結フレーム１０
内に進入し、次いで、ロール２５も同様にして連
結フレーム１０内に進入する。ロール２５が連結
フレーム１０内に進入すると、第２図ロに示すよ
うにロール２６の右端がリミツトスイツチ１２の
アクチエータ１２ａを押す。これにより、シヤツ
タ駆動部１８がシヤツタ１７を突出させ連結フレ
ーム１０の開口部を閉塞する。この結果、ロール
２５，２６が連結フレーム１０およびシヤツタ１
７に係止され（第２図イ，ロ参照）、無人誘導車
１と台車２との連結が終了し（第３図参照）、両
者が一体となつて移動を開始する。そして、無人
誘導車１が目的地まで台車２を牽引すると、シヤ
ツタ駆動部１８にシヤツタ開信号が供給され、こ
のシヤツタ駆動部１８にシヤツタ１７が引き込ま
れて、連結フレーム１０の開口部が開放状態とな
る。次に、無人誘導車１が連結フレーム１０の開
口部と逆方向に移動し、ロール２５，２６が連結
フレーム１０から外れ、連結が解除される。 Next, the operation of this embodiment will be explained. First, the bogie 2 is placed on the track of the unmanned guided vehicle 1, and then the unmanned guided vehicle 1 is started toward the bogie 2 with the guide plates 16a and 16b facing forward. At this time, the actuator 12a of the limit switch 12 is in a non-pressed state, so the shutter drive section 18 moves the shutter 17.
has been retracted, and the opening of the connection frame 10 is in an open state. Then, unmanned guided vehicle 1 moves to trolley 2.
When the roll 26 enters below the guide plate 16
a or 16b to connect the connecting frame 10.
Then, the roll 25 similarly enters the connecting frame 10. When the roll 25 enters the connecting frame 10, the right end of the roll 26 pushes the actuator 12a of the limit switch 12, as shown in FIG. As a result, the shutter drive section 18 causes the shutter 17 to protrude and closes the opening of the connection frame 10. As a result, the rolls 25 and 26 are connected to the connecting frame 10 and the shutter 1.
7 (see Fig. 2 A and B), the connection between the unmanned guided vehicle 1 and the trolley 2 is completed (see Fig. 3), and the two begin to move as one. When the unmanned guided vehicle 1 tows the trolley 2 to the destination, a shutter open signal is supplied to the shutter drive unit 18, the shutter 17 is retracted by the shutter drive unit 18, and the opening of the connection frame 10 is opened. becomes. Next, the unmanned guided vehicle 1 moves in the opposite direction to the opening of the connection frame 10, and the rolls 25 and 26 are removed from the connection frame 10, and the connection is released.
なお、この実施例におけるシヤツタ駆動部１８
は電気的に構成してもよく、また、無人誘導車１
が油圧装置を積載している場合は、油圧モータ、
油圧シリンダ等により構成してもよい。 Note that the shutter drive section 18 in this embodiment
may be configured electrically, and the unmanned guided vehicle 1
If the is loaded with hydraulic equipment, the hydraulic motor,
It may also be configured by a hydraulic cylinder or the like.
また、ホルダ部２０を台車２の下面２ａに、ロ
ール２５，２６を無人誘導車１の上面１ａに各々
設けても同様の効果を得ることができるが、一般
に台車２は動力源を持たないのでこの実施例の様
にした方が望ましい。 Further, the same effect can be obtained by providing the holder part 20 on the lower surface 2a of the trolley 2 and the rolls 25 and 26 on the upper surface 1a of the unmanned guided vehicle 1, but since the trolley 2 generally does not have a power source, It is preferable to do something like this embodiment.
また、この実施例において台車２側に回転可能
なロール２５，２６を設けたのは、連結をし易く
するためであり、荷重が小さい場合は単なる突起
でもよい。 Further, in this embodiment, the reason why rotatable rolls 25 and 26 are provided on the side of the truck 2 is to facilitate connection, and if the load is small, simple protrusions may be used.
また、この実施例においてロール２５，２６を
長手方向に所定距離隔てて２個設けたのは、連結
時において、無人誘導車１と台車２との間で回転
が起らないようにするためであり、さらに、この
ように長手方向に隔てて設置すると、連結時に無
人誘導車１と台車２の方向性がつき易く、台車２
の位置決めが容易になる利点が得られる。 Furthermore, in this embodiment, the reason why two rolls 25 and 26 are provided at a predetermined distance apart in the longitudinal direction is to prevent rotation between the unmanned guided vehicle 1 and the trolley 2 when they are connected. Furthermore, if they are installed apart in the longitudinal direction, the directionality of the unmanned guided vehicle 1 and the trolley 2 will be easily determined when they are connected, and the trolley 2
The advantage is that positioning becomes easier.
以上説明したようにこの発明によれば、台車の
下面に設けられ下方に突出する突出部と、無人誘
導車の上面に設けられ前記突出部が進入可能な開
口部を前記無人誘導車の進行方向に有し、前記突
出部が嵌挿される連結フレームと、前記突出部が
前記連結フレーム内に嵌挿されたか否かを検出す
る検出手段と、前記検出手段が嵌挿終了を検出し
た後に閉塞部材を水平に駆動して前記連結フレー
ムの開口部を閉塞する閉塞手段とを具備したの
で、台車と無人誘導車の連結点の位置を低くする
ことができ、無人誘導車の台車に対する牽引力の
モーメントが小さくなり、これにより、牽引後の
走行を安定させることができる。また、連結前に
おける台車の位置にある程度の誤差範囲を持たせ
ることができるので、台車の位置決めが容易にな
る利点が得られる。またさらに、駆動力を持たな
い台車に簡単な構成を付加するのみで、この台車
を牽引し得る利点も得られる。 As explained above, according to the present invention, the protrusion provided on the lower surface of the bogie and protruding downward, and the opening provided on the upper surface of the unmanned guided vehicle into which the protrusion can enter, are arranged in the traveling direction of the unmanned guided vehicle. a connecting frame into which the protrusion is inserted, a detection means for detecting whether or not the protrusion is inserted into the connection frame, and a closing member after the detection means detects that the insertion is completed. Since the coupling frame is driven horizontally to close the opening of the connection frame, the position of the connection point between the bogie and the unmanned guided vehicle can be lowered, and the moment of the traction force of the unmanned guided vehicle with respect to the bogie can be reduced. This makes it possible to stabilize traveling after towing. Further, since it is possible to provide a certain degree of error range for the position of the cart before connection, there is an advantage that the positioning of the cart is facilitated. Furthermore, by simply adding a simple configuration to a truck that does not have a driving force, it is possible to obtain the advantage that the truck can be towed.
第１図イ，ロは各々従来の牽引装置の連結動作
を説明するための説明図、第２図イ，ロは各々こ
の発明の一実施例の平面図および側面図、第３図
は同実施例における台車２の断面図である。
１０……連結フレーム、１２……リミツトスイ
ツチ（閉塞手段）、１７……シヤツタ（閉塞部
材；閉塞手段）、１８……シヤツタ駆動部（閉塞
手段）、２１，２２……ピン（突出部）、２５，２
６……ロール（突出部）、２７，２８……ストツ
パ（突出部）。
Figures 1A and 2B are explanatory diagrams for explaining the connecting operation of a conventional traction device, Figures 2A and 2B are a plan view and a side view of an embodiment of the present invention, and Figure 3 is an illustration of the same embodiment. It is a sectional view of truck 2 in an example. 10... Connection frame, 12... Limit switch (closing means), 17... Shutter (closing member; closing means), 18... Shutter drive section (closing means), 21, 22... Pin (projecting part), 25 ,2
6... Roll (protrusion), 27, 28... Stopper (protrusion).
Claims (1)
車とを連結する無人誘導車用連結装置において、
前記台車の下面に設けられ下方に突出する突出部
と、前記無人誘導車の上面に設けられ前記突出部
が進入可能な開口部を前記無人誘導車の進行方向
に有し、前記突出部が嵌挿される連結フレーム
と、前記突出部が前記連結フレーム内に嵌挿され
たか否かを検出する検出手段と、前記検出手段が
嵌挿終了を検出した後に閉塞部材を水平に駆動し
て前記連結フレームの開口部を閉塞する閉塞手段
とを具備することを特徴とする無人誘導車用連結
装置。1. In an unmanned guided vehicle coupling device that connects a bogie and an unmanned guided vehicle placed below the bogie,
A protrusion provided on the lower surface of the bogie and protruding downward, and an opening provided on the upper surface of the unmanned guided vehicle into which the protrusion can enter, are provided in the traveling direction of the unmanned guided vehicle, and the protrusion is fitted. a connecting frame to be inserted; a detecting means for detecting whether or not the protrusion has been inserted into the connecting frame; and after the detecting means detects completion of insertion, horizontally driving a closing member to remove the connecting frame. A coupling device for an unmanned guided vehicle, comprising: a closing means for closing an opening of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57164295A JPS5953212A (en) | 1982-09-21 | 1982-09-21 | Coupling device for driverless guided car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57164295A JPS5953212A (en) | 1982-09-21 | 1982-09-21 | Coupling device for driverless guided car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5953212A JPS5953212A (en) | 1984-03-27 |
| JPH0218241B2 true JPH0218241B2 (en) | 1990-04-25 |
Family
ID=15790394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57164295A Granted JPS5953212A (en) | 1982-09-21 | 1982-09-21 | Coupling device for driverless guided car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5953212A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61148320A (en) * | 1984-12-22 | 1986-07-07 | Jeco Co Ltd | Tilt angle detector |
| JP3482463B2 (en) * | 2000-12-15 | 2003-12-22 | 矢崎化工株式会社 | Submersible guided towing vehicle |
| JP7140560B2 (en) * | 2018-06-13 | 2022-09-21 | シャープ株式会社 | Coupling devices, conveying devices and conveying systems |
-
1982
- 1982-09-21 JP JP57164295A patent/JPS5953212A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5953212A (en) | 1984-03-27 |
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