JPH0346843B2 - - Google Patents
Info
- Publication number
- JPH0346843B2 JPH0346843B2 JP57045976A JP4597682A JPH0346843B2 JP H0346843 B2 JPH0346843 B2 JP H0346843B2 JP 57045976 A JP57045976 A JP 57045976A JP 4597682 A JP4597682 A JP 4597682A JP H0346843 B2 JPH0346843 B2 JP H0346843B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- pair
- fixed position
- line
- position detection
- 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
- 238000001514 detection method Methods 0.000 claims description 13
- 235000014676 Phragmites communis Nutrition 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】 本発明は、誘導式台車の幅寄せ装置に関する。[Detailed description of the invention] The present invention relates to a width shifting device for a guided truck.
従来の幅寄せ装置の２例を第１図と第２図に示
す。１が台車、２が駆動輪、３が駆動輪２の駆動
操向装置、４が誘導ライン６からの偏位を感知す
る操向センサ、５が従動輪、７が本線、８が支
線、９が作業箇所である。 Two examples of conventional width adjusting devices are shown in FIGS. 1 and 2. 1 is a bogie, 2 is a drive wheel, 3 is a drive steering device for the drive wheel 2, 4 is a steering sensor that detects deviation from the guide line 6, 5 is a driven wheel, 7 is a main line, 8 is a branch line, 9 is the work area.
第１図のものは、支線８が長い。幅寄せの
ために必要な路面（床）のスペースが大きい。
幅寄せに必要な時間が長くかかる。作業箇所９
の側縁１０に密着した状態での幅寄せがむずかし
い。といつた問題がある。 In the one shown in FIG. 1, the branch line 8 is long. The road surface (floor) space required for width alignment is large.
It takes a long time to adjust the width. Work area 9
It is difficult to adjust the width in a state where the paper is in close contact with the side edge 10 of the paper. There is a problem.
第２図のものは、大きな旋回動作を要する。
幅寄せのために必要な路面スペースが大きい。
幅寄せ時間が長くかかる。側縁１０に対して
横づけできない。といつた問題があつた。 The one in FIG. 2 requires a large turning motion.
The road surface space required for width adjustment is large.
It takes a long time to adjust the width. It cannot be placed horizontally against the side edge 10. I had a problem.
本発明の目的は、これら従来装置のもつ問題点
を解決することである。 An object of the present invention is to solve the problems of these conventional devices.
そのために本発明が講じた手段すなわち構成
を、第３図の原理的構成図を参照して説明する。 The means or structure taken by the present invention for this purpose will be explained with reference to the principle block diagram shown in FIG.
台車１１は、それの前後一対の駆動輪１２，１
３の何れもが駆動操向輪であり、その台車１１に
は、路面に敷設の誘導ライン１４からの偏位を電
磁波の捕捉に基づいて感知する前後一対の操向セ
ンサ１５，１６と、
それら操向センサ１５，１６による検出偏位を
０に近づけるように、前方側の操向センサ１５の
検出偏位に基づいて前方側の駆動論１２を操向制
御し、且つ、後方側の検出偏位に基づいて後方側
の駆動輪１３を操向制御する制御装置１７と、
定位置検出センサ１８とを備えさせ、
前記誘導ライン１４は、作業箇所１９横脇にお
いて本線２０の、前記一対の操向センサ１５，１
６間の規定寸法だけ隔てた２箇所から前記作業箇
所に近づく一対の支線２３，２４をもち、各支線
２３，２４は、前記本線２０が出す電磁波の周波
数f0とは異なる周波数f1，f2の電磁波を出すもの
であり、
前記一対の操向センサ１５，１６は、前記本線
２０の周波数f0を感知する状態と、前記支線２
３，２４の周波数f1，f2を感知する状態とに切換
自在に構成され、
路面は、前記各操向センサ１５，１６が前記各
支線２３，２４始端に近接又は一致する状態の前
記台車１１における前記定位置検出センサ１８に
対応した被検出体２５を備えており、
前記台車１１は、前記定位置検出センサ１８の
幅寄せ時の検出作動に基づき前記各操向センサ１
５，１６の感知周波数を各支線２３，２４につい
ての周波数f1，f2に切換える制御装置２６を備え
ている。 The truck 11 has a pair of front and rear driving wheels 12,1
3 are drive steering wheels, and the bogie 11 includes a pair of front and rear steering sensors 15 and 16 that detect deviation from the guide line 14 laid on the road surface based on the capture of electromagnetic waves. The front drive theory 12 is controlled based on the detected deviation of the front steering sensor 15 so that the detected deviation by the steering sensors 15 and 16 approaches 0, and the detected deviation of the rear side is controlled. The guide line 14 is provided with a control device 17 that controls the steering of the rear drive wheels 13 based on the position, and a fixed position detection sensor 18. direction sensor 15,1
A pair of branch lines 23, 24 approach the work area from two locations separated by a prescribed dimension of 6, and each branch line 23, 24 has a frequency f 1 , f different from the frequency f 0 of the electromagnetic waves emitted by the main line 20. The pair of steering sensors 15 and 16 detect the frequency f 0 of the main line 20 and the branch line 2.
3 and 24 frequencies f 1 and f 2 , and the road surface is configured such that the steering sensors 15 and 16 are close to or coincide with the starting ends of the branch lines 23 and 24 of the bogie. The trolley 11 is equipped with a detected object 25 corresponding to the fixed position detection sensor 18 in 11, and the trolley 11 detects each of the steering sensors 1 based on the detection operation of the fixed position detection sensor 18 at the time of width closing.
A control device 26 is provided for switching the sensing frequencies of 5 and 16 to frequencies f 1 and f 2 for each branch line 23 and 24, respectively.
（注１） 電磁誘導方式では、本線２０および支
線２３，２４がトウバスワイヤでありそれ自ら
電磁波を出す。光学誘導方式では、本線２０お
よび支線２３，２４が光反射テープであり台車
１１の投光器からの光線（ある波長領域の電磁
波）を反射する。(Note 1) In the electromagnetic induction method, the main line 20 and branch lines 23 and 24 are tow bus wires and emit electromagnetic waves themselves. In the optical guidance system, the main line 20 and branch lines 23 and 24 are light reflective tapes that reflect light (electromagnetic waves in a certain wavelength range) from the light projector of the truck 11.
上記〔〕ないし〔〕の構成の作用は次のと
おり。第４図参照。第４図に示すように、台車１
１が誘導ライン１４の本線２０に沿つて走行して
いる状態では、前後の操向センサ１５，１６夫々
が、本線２０から発せられる周波数f0の電磁波を
捕捉してその本線２０からの偏位を感知してい
る。そして制御装置１７が、それの検出偏位に基
づいて、それら偏位を０に近づけるべく前後一対
の駆動輪１２，１３夫々を操向制御している。 The effects of the above configurations [] to [] are as follows. See Figure 4. As shown in Figure 4, the trolley 1
1 is running along the main line 20 of the guide line 14, the front and rear steering sensors 15, 16 each capture the electromagnetic waves of frequency f 0 emitted from the main line 20 and detect the deviation from the main line 20. is sensing. Based on the detected deviations, the control device 17 controls the steering of the pair of front and rear drive wheels 12 and 13 in order to bring the deviations closer to zero.
やがて台車１１が、前後の操向センサ１５，１
６が各支線２３，２４の始端に近接又は一致する
位置に達すると、定位置検出センサ１８が路面の
被検出体２５を検出する。この幅寄せ時の検出作
動に基づいて、制御装置２６は、前後の操向セン
サ１５，１６を本線２０の周波数f0を感知する状
態から各支線２３，２４の周波数f1，f2を感知す
る状態に切換える。 Before long, the truck 11 is connected to the front and rear steering sensors 15, 1.
6 reaches a position close to or coinciding with the starting end of each branch line 23, 24, the fixed position detection sensor 18 detects the detected object 25 on the road surface. Based on this detection operation at the time of width closing, the control device 26 changes the front and rear steering sensors 15 and 16 from a state in which they detect the frequency f 0 of the main line 20 to a state in which they detect the frequencies f 1 and f 2 of each branch line 23 and 24. Switch to the state where
それによつて、前方側の操向センサ１５は、前
方側の支線２３から発せられる周波数f1の電磁波
を捕捉して支線２３からの偏位を感知し、それと
同様に、後方側の操向センサ１６は、後方側の支
線２４から発せられる周波数f2の電磁波を捕捉し
て支線２４からの偏位を感知する。制御装置１７
は、それぞれの偏位を０に近づけるように、前方
側の操向センサ１５の検出偏位に基づいて前方側
の駆動輪１２を操向制御し、後方側の操向センサ
１６の検出偏位に基づいて後方側の駆動輪１３を
操向制御する。 Thereby, the steering sensor 15 on the front side captures the electromagnetic wave of frequency f 1 emitted from the branch line 23 on the front side and senses the deviation from the branch line 23, and similarly, the steering sensor 15 on the rear side 16 captures electromagnetic waves of frequency f 2 emitted from the branch line 24 on the rear side and senses deviation from the branch line 24 . Control device 17
controls the steering of the front drive wheels 12 based on the detected deviations of the front steering sensor 15 so that the respective deviations approach 0, and adjusts the detected deviations of the rear steering sensor 16. Based on this, the steering control of the rear drive wheels 13 is performed.
台車１１が本線２０から各支線２３，２４へ誘
導される場合、前後一対の駆動輪１２，１３は同
一方向へ同時に操向されるので、台車１１は、本
線２０に沿つて走行していた状態での姿勢を保ち
ながら走行することになる。すなわち台車１１
は、各支線２３，２４に沿つた姿勢にはならず、
本線２０に対して平行移動しながら作業箇所１９
に向けて幅寄せしていくことになる。 When the bogie 11 is guided from the main line 20 to each branch line 23, 24, the pair of front and rear drive wheels 12, 13 are simultaneously steered in the same direction, so the bogie 11 is in a state where it was traveling along the main line 20. You will drive while maintaining this posture. In other words, the trolley 11
does not take a posture along each branch line 23, 24,
Work location 19 while moving parallel to the main line 20
We will continue to move towards this.
本発明の効果は次のとおりである。 The effects of the present invention are as follows.
(イ) 支線が短くてすむ。(b) Branch lines can be short.
(ロ) 幅寄せのために必要な路面スペースが小さく
てすむ。(b) The road surface space required for width adjustment is small.
(ハ) 幅寄せに必要な時間が少なくてすむ。(c) Less time is required for width adjustment.
(ニ) 幅寄せが確実に行える。殊に作業箇所の側縁
に密着した状態での幅寄せを行うことが可能で
ある。(d) Width alignment can be performed reliably. In particular, it is possible to perform width adjustment in close contact with the side edges of the work area.
次に本発明の実施態様について概説する。 Next, embodiments of the present invention will be outlined.
(1) 各操向センサ１５，１６について夫々２つあ
る感受周波数のうちの各一方は互いに等しいf0
が残りの周波数f1，f2も互いに等しいこの（f1
＝f2）。この場合、２つの支線２３，２４につ
いての発振源の兼用化や２つの操向センサ１
５，１６の同一化などに有利である。(1) One of the two sensing frequencies for each steering sensor 15 and 16 is equal to each other f 0
but the remaining frequencies f 1 and f 2 are also equal to each other (f 1
= f2 ). In this case, the two branch lines 23 and 24 may be used as oscillation sources, or the two steering sensors 1
This is advantageous for the identification of numbers 5 and 16.
(2) これは第３図、第４図に示されているのだ
が、定位置検出センサ１８が前後一対のリード
スイツチ２７，２８の組合せからなり、被検出
体２５が前後一対の磁石２９，３０の組合せか
らなつていること。これは、周波数f0→f1（又
はf1→f0）の切換えと周波数f0→f1（又はf2→f0）
の切換えとをタイミングをずらせて行うことを
許すものである。すなわち駆動輪１２，１３の
操向を各別に行うことに起因して周波数切換え
のタイミングをずらせなければならないような
事態が生じるが、これに適正に対応させるため
である。(2) As shown in FIGS. 3 and 4, the fixed position detection sensor 18 is composed of a pair of front and rear reed switches 27, 28, and the detected object 25 is a combination of a pair of front and rear reed switches 27, 28. Consists of 30 combinations. This involves switching the frequency f 0 → f 1 (or f 1 → f 0 ) and switching the frequency f 0 → f 1 (or f 2 → f 0 ).
This allows the timing of the switching to be shifted. That is, this is to appropriately cope with a situation where the timing of frequency switching must be shifted due to the fact that the drive wheels 12 and 13 are steered separately.
次に実施例を第５図ないし第７図に基づいて説
明しよう。 Next, an embodiment will be explained based on FIGS. 5 to 7.
第５図は台車１１を示す。３１，３２はキヤス
タで台車１１の対角線上にある。駆動輪１２，１
３も対角線上にある。操向センサ１５，１６は車
体幅の中心線上にある。１５′，１６′は夫々セン
サ１５，１６と対に設けられた後進時用の操向セ
ンサである。３３，３４は各駆動輪１２，１３を
駆動する走行モータ、３５，３６は各駆動輪１
２，１３の操向モータで、各駆動輪１２，１３の
スプロケツト３７，３８に対しチエーン３９，４
０にて伝動する。４１は台車１１の側縁に付設し
た縦軸をもつガイドローラで、これは作業箇所１
９の側縁４２に作用する。 FIG. 5 shows the trolley 11. 31 and 32 are casters located diagonally on the trolley 11. Drive wheel 12,1
3 is also on the diagonal. The steering sensors 15 and 16 are located on the center line of the vehicle body width. Reference numerals 15' and 16' indicate steering sensors for reversing, which are provided in pairs with sensors 15 and 16, respectively. 33, 34 are driving motors that drive each drive wheel 12, 13; 35, 36 are each drive wheel 1;
Steering motors 2 and 13 connect chains 39 and 4 to sprockets 37 and 38 of each drive wheel 12 and 13.
Transmission occurs at 0. 41 is a guide roller with a vertical shaft attached to the side edge of the cart 11, and this is a guide roller attached to the side edge of the cart 11, which is
It acts on the side edge 42 of 9.
すべてのガイドローラ４１が側縁４２に作用し
ている幅寄せ状態での、各センサ１５，１５′，
１６，１６′を構成する各一対のピツクアツプコ
イル４３，４４〔何れのセンサについても同一番
号で統一する。〕とトウパスワイヤである本線２
０および支線２３，２４との位置関係が第６図、
第７図に示されている。 Each sensor 15, 15',
Each pair of pick-up coils 43, 44 constituting the sensors 16, 16' (all sensors are given the same number). ] and main line 2, which is a towpath wire.
0 and branch lines 23 and 24 are shown in Figure 6.
It is shown in FIG.
支線２３，２４からの周波数f1，f2の電磁波を
捕えている幅寄せ状態では、ａ＜ｂである。つま
りピツクアツプコイル４３が捕える電磁エネルギ
ーはピツクアツプコイル４４が捕える電磁エネル
ギーより大であり、台車１１をなおも矢印（×）
方向へ移動させようとする操向力が働く。つまり
幅寄せが確実に行われる。 In the width-aligned state where electromagnetic waves of frequencies f 1 and f 2 from the branch lines 23 and 24 are captured, a<b. In other words, the electromagnetic energy captured by the pick-up coil 43 is greater than the electromagnetic energy captured by the pick-up coil 44, and the trolley 11 is still marked by the arrow (x).
A steering force acts to move the object in that direction. In other words, width adjustment is performed reliably.
脱出時には支線２３，２４からの周波数f1，f2
の電磁波を捕えつつ脱出し、各リードスイツチ２
７，２８が磁石２９，３０を捕えたときに本線２
０によつて案内されるようコイル４３，４４の感
知周波数をf1→f0，f2→f0と切換えてもよい。し
かし脱出初期から切換えておくと次の利点が得ら
れる。すなわちa′＞b′であるから台車１１は脱出
初期から矢印Ｙ方向へと移動せんとし、ガイドロ
ーラ４１が側縁４２から直ちに離間される。すな
わちガイドローラ４１のこすれによる脱出抵抗が
なくスムースに脱出できる。 At the time of escape, frequencies f 1 and f 2 from branch lines 23 and 24
Escape while catching the electromagnetic waves, and each reed switch 2
When 7, 28 captures magnets 29, 30, main line 2
The sensing frequencies of the coils 43 and 44 may be switched from f 1 to f 0 and from f 2 to f 0 so that the coils 43 and 44 are guided by F 0 . However, if you switch from the beginning of escape, you will get the following advantages. That is, since a'>b', the carriage 11 attempts to move in the direction of the arrow Y from the initial stage of escape, and the guide roller 41 is immediately separated from the side edge 42. That is, there is no escape resistance due to the rubbing of the guide roller 41, and the escape can be made smoothly.
第３図において４５は投光器、４６は受光器、
４７は光反射面である。これらは幅寄せ中の台車
１１を定位置で停止させるもので、受光器４６
は、走行モータ３３，３４に連係されている。こ
れに代わる定位置停止方式の採用もある。 In FIG. 3, 45 is a light emitter, 46 is a light receiver,
47 is a light reflecting surface. These are used to stop the cart 11 in a fixed position during width-alignment, and the light receiver 46
are linked to travel motors 33 and 34. An alternative to this is a fixed position stopping method.
第１図、第２図は各々従来装置の平面図であ
る。第３図ないし第７図は本発明に係り、第３図
は原理的構成を示す平面図、第４図は作用を説明
する平面図、第５図ないし第７図は実施例を示す
平面図である。
１１……台車、１２，１３……駆動輪、１４…
…誘導ライン、１５，１６……操向センサ、１７
……制御装置、１８……定位置検出センサ、１９
……作業箇所、２０……本線、２３，２４……支
線、２５……被検出体、２６……制御装置、２
７，２８……リードスイツチ、２９，３０……磁
石。
1 and 2 are plan views of conventional devices, respectively. 3 to 7 relate to the present invention; FIG. 3 is a plan view showing the basic configuration, FIG. 4 is a plan view explaining the operation, and FIGS. 5 to 7 are plan views showing the embodiment. It is. 11... Trolley, 12, 13... Drive wheel, 14...
...Guidance line, 15, 16...Steering sensor, 17
...Control device, 18...Fixed position detection sensor, 19
... Work location, 20 ... Main line, 23, 24 ... Branch line, 25 ... Detected object, 26 ... Control device, 2
7, 28... Reed switch, 29, 30... Magnet.
Claims (1)
１３の何れもが駆動操向輪であり、その台車１１
には、路面に敷設の誘導ライン１４からの偏位を
電磁波の捕捉に基づいて感知する前後一対の操向
センサ１５，１６と、 それら操向センサ１５，１６による検出偏位を
０に近づけるように、前方側の操向センサ１５の
検出偏位に基づいて前方側の駆動輪１２を操向制
御し、且つ、後方側の検出偏位に基づいて後方側
の駆動輪１３を操向制御する制御装置１７と、 定位置検出センサ１８とを備えさせ、 前記誘導ライン１４は、作業箇所１９横脇にお
いて本線２０の、前記一対の操向センサ１５，１
６間の規定寸法だけ隔てた２箇所から前記作業箇
所に近づく一対の支線２３，２４をもち、各支線
２３，２４は、前記本線２０が出す電磁波の周波
数f0とは異なる周波数f1，f2の電磁波を出すもの
であり、 前記一対の操向センサ１５，１６は、前記本線
２０の周波数f0を感知する状態と、前記支線２
３，２４の周波数f1，f2を感知する状態とに切換
自在に構成され、 路面は、前記各操向センサ１５，１６が前記各
支線２３，２４始端に近接又は一致する状態の前
記台車１１における前記定位置検出センサ１８に
対応した被検出体２５を備えており、 前記台車１１は、前記定位置検出センサ１８の
幅寄せ時の検出作動に基づき前記各操向センサ１
５，１６の感知周波数を各支線２３，２４につい
ての周波数f1，f2に切換える制御装置２６を備え
ている誘導式台車の幅寄せ装置。 ２ 前記前記一対の支線２３，２４が出す電磁波
の各周波数f1，f2どうしが互いに等しい特許請求
の範囲第１項に記載の誘導式台車の幅寄せ装置。 ３ 前記定位置検出センサ１８が前後一対のリー
ドスイツチ２７，２８の組合せからなり、前記被
検出体２５が前後一対の磁石２９，３０の組合せ
からなつている特許請求の範囲第１項に記載の誘
導式台車の幅寄せ装置。[Claims] 1. The bogie 11 has a pair of front and rear drive wheels 12,
All of 13 are drive steering wheels, and the trolley 11
A pair of front and rear steering sensors 15 and 16 are used to detect deviation from the guide line 14 laid on the road surface based on the capture of electromagnetic waves, and a steering wheel is provided so that the detected deviation by the steering sensors 15 and 16 approaches zero. Then, the front driving wheels 12 are steered based on the detected deviation of the front steering sensor 15, and the rear driving wheels 13 are controlled based on the detected deviation of the rear side. A control device 17 and a fixed position detection sensor 18 are provided.
A pair of branch lines 23, 24 approach the work area from two locations separated by a prescribed dimension of 6, and each branch line 23, 24 has a frequency f 1 , f different from the frequency f 0 of the electromagnetic waves emitted by the main line 20. The pair of steering sensors 15 and 16 detect the frequency f 0 of the main line 20 and the branch line 2.
3 and 24 frequencies f 1 and f 2 , and the road surface is configured such that the steering sensors 15 and 16 are close to or coincide with the starting ends of the branch lines 23 and 24 of the bogie. The trolley 11 is equipped with a detected object 25 corresponding to the fixed position detection sensor 18 in 11, and the trolley 11 detects each of the steering sensors 1 based on the detection operation of the fixed position detection sensor 18 at the time of width closing.
5 and 16 to frequencies f 1 and f 2 for each branch line 23 and 24. 2. The width adjustment device for a guided bogie according to claim 1, wherein the frequencies f 1 and f 2 of the electromagnetic waves emitted by the pair of branch lines 23 and 24 are equal to each other. 3. The fixed position detection sensor 18 comprises a combination of a pair of front and rear reed switches 27, 28, and the detected object 25 comprises a combination of a pair of front and rear magnets 29, 30. Guide type bogie width adjustment device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57045976A JPS58163018A (en) | 1982-03-23 | 1982-03-23 | Draw-up device of guide truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57045976A JPS58163018A (en) | 1982-03-23 | 1982-03-23 | Draw-up device of guide truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58163018A JPS58163018A (en) | 1983-09-27 |
| JPH0346843B2 true JPH0346843B2 (en) | 1991-07-17 |
Family
ID=12734232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57045976A Granted JPS58163018A (en) | 1982-03-23 | 1982-03-23 | Draw-up device of guide truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58163018A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6149796U (en) * | 1984-09-04 | 1986-04-03 |
-
1982
- 1982-03-23 JP JP57045976A patent/JPS58163018A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS58163018A (en) | 1983-09-27 |
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