JPS5953212A - Coupling device for driverless guided car - Google Patents
Coupling device for driverless guided carInfo
- Publication number
- JPS5953212A JPS5953212A JP57164295A JP16429582A JPS5953212A JP S5953212 A JPS5953212 A JP S5953212A JP 57164295 A JP57164295 A JP 57164295A JP 16429582 A JP16429582 A JP 16429582A JP S5953212 A JPS5953212 A JP S5953212A
- Authority
- JP
- Japan
- Prior art keywords
- shutter
- guided vehicle
- coupling
- frame
- bogie truck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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)
Abstract
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重用連結装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an unmanned guidance heavy-duty coupling device for connecting a truck and an unmanned guided vehicle placed below the truck.
軌道に沿っ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１＆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１＆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５ＩＬ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
方向に所定用離隔てて２側設けられ、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 will be explained with reference to FIGS. 1(a) and 1(b). Figure 1 (a) (b)
1 and 2 are side views of the unmanned guided vehicle 1 and the trolley 2, respectively, with (a) showing them before connection and (b) showing them after connection. Moreover, in this figure, 3 is a coupler provided near the center of the upper surface 1& 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 1&. 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 5IL opening downward is provided in the center portion of the holder portion. It is set slightly larger. The holder portions 5 are provided on two sides of the lower surface 2a at a predetermined distance apart from each other in the width direction, 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＆））。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（す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. 1 &)). And Figure 1 (a)
From the state shown in , the unmanned guided vehicle 1 is moved rightward in the drawing to enter below the trolley 2, and when the slider 4 reaches directly below the groove 5a, the unmanned guided vehicle 1 is stopped. Next, as shown in FIG. 1, move the slider 4 upward and insert the slider 4 into the groove 5a.
Since the slider 4 is locked in the groove 5a, the unmanned guided vehicle 1
The connection between the and the trolley 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が下がった場合の保有スペースを必要とし、焔さが
高くなる。したがって、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ってしまい、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。By the way, in the conventional coupler 3 mentioned above, the coupler 3
Since the slider 4 moves up and down, the coupler 3 requires a holding space when the slider 4 is lowered, and the flame becomes higher. 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.
The position of the connection point with the vehicle is located at a high position, and a problem arises in that the moment of traction force of the unmanned guided vehicle 1 with respect to the trolley 2 becomes large and the running becomes unstable.
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った。Further, 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っても連結を行う
ことができる無人１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、前Ｖ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
装される連結フレームと、前記突出部が前記連結フレー
ム内に嵌装され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. We provide a coupling device for unmanned 1 guided vehicle that can
It has a protrusion provided on the lower surface of the bogie and protrudes downward, and an opening provided on the upper surface of the front V unmanned guided vehicle into which the protrusion can enter, in the traveling direction of the unmanned guided vehicle, into which the protrusion is fitted. and a closing means for driving a closing member horizontally to close an opening of the connecting frame after the protrusion is fitted into the connecting frame.
以下１て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 first aspect.
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用
の断面図である。FIGS. 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 table in the same embodiment.
第２図（→において、ｉｏ＆Ｘ １０ｂは各々同じ大き
さの長方形状の側壁であり、距離（１，１隔てて対向し
ている。側壁１０ａと１０ｂの右端間には側壁１００が
設けられ、側壁１００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１０
＆〜１００でコ字状の連結フレーム１０が構成されてい
る。また、側壁１００の右側面にはリミットスイッチ１
２がそのアクチェータ１２ａを切欠部１１に通して取り
付けられ、側Ｆｅ１ＯａｓｌＯｂの下端部には長方形状
の取付板１３ａｓ１３ｂ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１３ａｓｉ
３ｂの長手方向の長さは各々側壁１０ａｓｌＯｂより長
くなっており、取付板１３＆％１３ｂの左端部は側壁１
０＆％１０１）の左端部よりも左方に延びている。そし
て、側壁１０ａ、ｌＱｂの左方には後述するロール２５
．２６をフレーム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１６ａｓ１
６ｂの右端下部が各々取付板１３＆、１３ｂの左端部に
取り付けられている。また、側壁１０ａとガイド板１６
ａとの間隙、および側壁１０ｂとガイド板１６ｂとの間
隙を通ってシャッタ［１７が水平方向に移動自在に設け
られている。In Fig. 2 (→, io & 100 is formed with an elongated cutout 11 extending downward from the center of its upper surface.
&~100 constitute a U-shaped connection frame 10. In addition, a limit switch 1 is provided on the right side of the side wall 100.
2 is attached by passing its actuator 12a through the notch 11, and a rectangular mounting plate 13as13b is provided horizontally on the outside of the connection frame 10 at the lower end of the side Fe1OaslOb. In this case, the mounting plate 13asi
The length in the longitudinal direction of 3b is longer than the side wall 10aslOb, and the left end of the mounting plate 13&%13b is longer than the side wall 10aslOb.
0&%101). And, on the left side of the side walls 10a and lQb, there is a roll 25 to be described later.
．． Guide plate 16 that guides 26 to the opening of the frame 10
a, 16b are provided, and this guide plate 16as1
The lower right end of the mounting plate 6b is attached to the left end of the mounting plate 13&, 13b. In addition, the side wall 10a and the guide plate 16
A shutter [17 is provided to be movable in the horizontal direction through the gap between the side wall 10b and the guide plate 16b.
１８はシャッタ１ｔ１７を駆動するシャツタイ駆動部で
あり、リミットスイッチ１２がＯＮ状態のとき（アクチ
ェータ１２＆が押されている時）、シャッタ〆１７を突
出させて連結フレーム１０の開口部を閉塞し、リミット
スイッチ１２が０ＩＦＦ状態のとき、および、外部から
シャツタ開信号が供給されたとき、シャッタ［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、こめ
ホルダ部２０は同図（りおよび第３図の一点＠線に示す
ように無人誘導車１の上面１＆の中央部にネジ１５．１
５、・・・によって取り付けられている。18 is a shirt tie drive unit that drives the shutter 1t17, and when the limit switch 12 is in the ON state (when the actuator 12& is pressed), the shutter 17 is protruded and the opening of the connection frame 10 is closed; When the limit switch 12 is in the 0IFF state and when a shutter open signal is supplied from the outside, the shutter [17 is pulled in to open the opening of the connection frame 10. The holder part 20 is constituted by each of the above-mentioned components, and the holder part 20 has a screw 15. 1
5. It is attached by...
なお、第２図（勢においてシャッタ駆動部１８は図示略
した。Note that the shutter drive unit 18 is not shown in FIG.
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ｍａ、ｔ＝とって股ゆられている。ピン
２１．２２にはロール２５．２６が各々回転自在に設け
られるとともに、ピン２１．２２の先端にはストッパ２
７．２８が取り付けられている。ここで、距離ｄ、、ａ
２について説明すると前述した距１１！Ｉ 、ｉ、（第
２図（→）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とシャツタビ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、シャッタ〆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 swung at the center of the lower surface 2a of the truck 2 in this embodiment at a distance ma, t= in the longitudinal direction. Rolls 25, 26 are rotatably provided on the pins 21, 22, and a stopper 2 is provided at the tip of the pin 21, 22.
7.28 is installed. Here, the distance d,,a
To explain about 2, the aforementioned distance 11! I, i, (Fig. 2 (→) is set slightly larger than the diameter of the roll 25.26, and the distance d2 is set so that the roll 25.26 is Fig. 2 (A),
As shown in (b), the connecting frame 10 and the shirt tab 17
The rolls 25 and 26 are housed in a space partitioned by a space with the outer peripheries of the rolls 25 and 26 substantially in contact with the connecting frame 10 and the shutter cover 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１６ａｓ１６ｂ側を前方にして台車２に向けて発進
させる。この時、リミットスイッチ１２のアクチェータ
１２ａは非押圧状態にあるので一シャッタγ駆動部１８
はシャッタ〆１７を引き込んでおり、連結フレーム１０
の１４）１０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、資−ル２６がガイド
板１６＆もしくは１６１３に案内されて連結フレーム１
０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１
０内に進入すると、第２図（すに示すようにロール２６
の右端がリミットスイッチ１２のアクチェータ１２ａを
押す。これにより、シャッタ駆動部１８がシャッタ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、ｐ−ル２５．２６が連結フレーム１０およびシャ
ッタ１７に係止され（第２図（イ）、―）参照）、無人
誘導車１と台車２との連結が終了しく第３図参照）。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 plate 16as16b side facing forward. At this time, since the actuator 12a of the limit switch 12 is in a non-pressed state, one shutter γ drive unit 18
is retracting the shutter 17, and the connecting frame 10
14) 10 parts are in an open state. When the unmanned guided vehicle 1 enters below the trolley 2, the material 26 is guided by the guide plate 16 & or 1613 and the connecting frame 1
0, and then the roll 25 similarly enters the connecting frame 10. Roll 25 connects frame 1
0, the roll 26 as shown in FIG.
The right end of presses the actuator 12a of the limit switch 12. As a result, the shutter drive section 18 moves the shutter 17
protrudes and closes the opening of the connection frame 10. As a result, the pulleys 25 and 26 are locked to the connection frame 10 and the shutter 17 (see Fig. 2 (a), -)), and the connection between the unmanned guided vehicle 1 and the trolley 2 is terminated.See Fig. 3. ).
両者が一体となって移動を開始する。そして、無人誘導
車１が目的地まで台車２を牽引すると、シャッタ駆動部
１８にシャツタ開信号が供給され、このシャッタ駆動部
１８にシャッタ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、缶入誘導車１が連結
フレーム１０の開口部と逆方向に移動し、四−ル２５．
２６が連結フレーム１０から外れ、連結が解除される。The two begin to move as one. When the unmanned guided vehicle 1 tows the trolley 2 to the destination, a shutter opening signal is supplied to the shutter drive unit 18, the shutter 17 is retracted by the shutter drive unit 18, and the connecting frame 10 is pulled by the shutter drive unit 18.
The opening becomes open. Next, the can guide car 1 moves in the opposite direction to the opening of the connecting frame 10, and the four-wheel 25.
26 is removed from the connection frame 10, and the connection is released.
なお、この実施例におけるシャッタ駆動部１８は電気的
に構成してもよく、また、缶入誘導車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 unit 18 in this embodiment may be configured electrically, or if the canned guide vehicle 1 is loaded with a hydraulic device, it may be configured using a hydraulic motor, a hydraulic cylinder, etc. .
また、ホルダ部２０を台車２の下面２ａに、四−ル２５
．２６を無人誘導車１の上面１＆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 holder portion 20 is attached to the lower surface 2a of the trolley 2, and the four-wheel 25
．． 26 can be provided on the upper surface 1& of the unmanned guided vehicle 1 to obtain the same effect, but since the trolley 2 generally does not have a power source, it is preferable to use this embodiment.
また、この実施例において台車２側に回転可能なｐ−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, rotatable pulls 25 and 26 are provided on the side of the truck 2 in order to facilitate connection, and if the load is small, a simple protrusion may be sufficient.
また、この実施例において四−ル２５．２６を長手方向
に所定圧離隔てて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、連結時に無人誘導眼１と台車２の方向性がつき
易く、合屯２の位置決めが容易になる利点が得られる。Furthermore, in this embodiment, two four-wheels 25 and 26 are provided with a predetermined distance apart in the longitudinal direction to prevent rotation between the unmanned guided vehicle 1 and the trolley 2 when they are connected. Moreover, when they are installed separated in the longitudinal direction in this way, the directionality of the unmanned guide eye 1 and the truck 2 can be easily determined when they are connected, and the positioning of the dock 2 is facilitated.
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、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銹
導曵の進行方向に有し、前記突出部が嵌装される連結フ
レームと、前記突出部が前記連結フレーム内に嵌装され
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、台車の位静袂葡が容易にな
る利点が得られる。またさらに、駆動力を待たない台車
に簡時ｔ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 truck and protruding downward and the opening provided on the upper surface of the unmanned guided vehicle into which the protrusion can enter are connected to the unmanned hail. a connecting frame that extends in the traveling direction and into which the protruding portion is fitted; and a closing member that horizontally drives a closing member to close the opening of the connecting frame after the protruding portion is fitted into the connecting frame. Since the above-mentioned means is provided, 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 against the bogie is reduced, thereby stabilizing the running after towing. . Further, since it is possible to provide a certain degree of error range in the position of the carts before connection, there is an advantage that the positioning of the carts is facilitated. Furthermore, it is possible to obtain the advantage that the truck can be towed by simply adding a simple configuration to the truck that does not require a driving force.
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図ピ）、（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・・・・・リミット
スイッチ（閉塞手段）、１７・・・・・シャッタ（閉塞
部材；閉塞手段）、１８・・・・・シャッタ駆動部（閉
塞手段）、２１．２２・・・・・ピン（突出部）、２５
．２６・・・・・ロール（突出部）、２７．２ｇ・・・
・・ストッパ（突出部）。Figures 1 (a) and (b) are explanatory views for explaining the connecting operation of a conventional traction device, and Figures 2 (b) and (b) are a plan view and a side view of an embodiment of the present invention, respectively. , FIG. 3 is a sectional view of the truck 2 in the same embodiment. 10...Connection frame, 12...Limit switch (closing means), 17...Shutter (closing member; closing means), 18...Shutter drive unit (closing means) , 21.22...Pin (protrusion), 25
．． 26...Roll (projection), 27.2g...
...Stopper (protrusion).
Claims (1)
する無人誘導重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、前記突出部が嵌装される連結
フレームと、前記突出部が前記連結フレーム内に嵌装さ
れ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
る無人誘導重用連結装置。In an unmanned guidance heavy-use coupling device that connects a bogie and an unmanned guided vehicle disposed below the bogie, a protrusion provided on the lower surface of the bogie and protrudes downward, and a protrusion provided on the upper surface of the unmanned guided vehicle. a connecting frame in which the protruding part is fitted, the connecting frame having an opening in the traveling direction of the unmanned guided vehicle into which the protruding part can enter, and a closing member held horizontally after the protruding part is fitted into the connecting frame. An unmanned guidance heavy-duty connection device, comprising: a closing means that is driven to close the opening of the connection frame.
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 true JPS5953212A (en) | 1984-03-27 |
| JPH0218241B2 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) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61148320A (en) * | 1984-12-22 | 1986-07-07 | Jeco Co Ltd | Tilt angle detector |
| US6481521B2 (en) * | 2000-12-15 | 2002-11-19 | Yazaki Industrial Chemical Co., Ltd. | Under-cart type guided tractor |
| JP2019214322A (en) * | 2018-06-13 | 2019-12-19 | シャープ株式会社 | Coupling device, conveyance device, and conveyance system |
-
1982
- 1982-09-21 JP JP57164295A patent/JPS5953212A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61148320A (en) * | 1984-12-22 | 1986-07-07 | Jeco Co Ltd | Tilt angle detector |
| US6481521B2 (en) * | 2000-12-15 | 2002-11-19 | Yazaki Industrial Chemical Co., Ltd. | Under-cart type guided tractor |
| JP2019214322A (en) * | 2018-06-13 | 2019-12-19 | シャープ株式会社 | Coupling device, conveyance device, and conveyance system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0218241B2 (en) | 1990-04-25 |
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