JPS60210105A - Controller of automatic carriage system - Google Patents
Controller of automatic carriage systemInfo
- Publication number
- JPS60210105A JPS60210105A JP59065789A JP6578984A JPS60210105A JP S60210105 A JPS60210105 A JP S60210105A JP 59065789 A JP59065789 A JP 59065789A JP 6578984 A JP6578984 A JP 6578984A JP S60210105 A JPS60210105 A JP S60210105A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- vehicle
- power supply
- trolley
- conveyance
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 16
- 230000032258 transport Effects 0.000 claims 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Intermediate Stations On Conveyors (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は自動搬送システムの制御方式に係り、特に、搬
送車の制御に好適な速度制御及び位置検知装置に関する
。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a control method for an automatic conveyance system, and particularly to a speed control and position detection device suitable for controlling a conveyance vehicle.
従来、自動搬送システムの搬送車の速度制御には送信器
と受信器とによる無線式制御方式、あるいは、レールに
沿って複数の信号用トロリ線を設け、これに制御信号ケ
加え、この信号を検出する方式が考えられ現に笑施され
ている。Conventionally, the speed of a guided vehicle in an automatic transportation system has been controlled using a wireless control method using a transmitter and a receiver, or by installing multiple signal trolley wires along the rails, adding control signals to these, and transmitting these signals. A detection method has been devised and is currently in use.
これらの装置は、地上側制御装置及び搬送車側の制御装
置を複雑高価とする他、走行路側にも′多数の信号用ト
ロリー線を要し、システム全体のコスト高となる他、シ
ステム全体の信頼性茫も低下させる欠点となっていた。These devices not only require complicated and expensive ground-side control devices and control devices on the transport vehicle side, but also require a large number of signal trolley wires on the traveling road side, which increases the cost of the entire system. This was a drawback that also reduced reliability.
本発明の目的は、搬送車が走行する専用の軌道？設けた
自動搬送システムにおいて、軌道に設置した給電用トロ
リーと、信号用トロリー線一本によって、搬送車の速度
制御及び位置検出装置なう簡易な制御方式ケ提供するに
ある。Is the purpose of the present invention a dedicated track for transport vehicles? In the automatic transport system provided, a simple control method such as speed control and position detection device of the transport vehicle is provided using a power supply trolley installed on the track and a single signal trolley wire.
〔発明の概要〕
本発明は、自動搬送システムにおいて、搬送車に給電線
の極性を検知する検知手段を設け、さらに、信号用トロ
リー線を介して地上の位置検知部と、搬送車の高速指令
（または低速指令）受信部全直列に接続し、地上側制御
装置で給電線に印加する電圧の極性を切換え、また、搬
送車が停止すべき区間の手前の減速区間では、あらかじ
め地上側の位置検知回路’ｋＯＮとすることにより、搬
送車はこの区間に入線したとき低速指令ｒ受信して減速
し、次に、停止区間に入線したとき、地上側の位置検知
でこれケ検出して給電線の印加電圧ケＯＦＦとすること
により定位置に停止させるようにしたもので、かつ、前
走車が減速区間に入線したときは、これ全地上の位置検
知装置で検知して、後方の区間に減速指令ｒ与え、また
、前走車が停止区間に入線したとき、これ全地上の位置
検出装置で検出して後方の区間の給電用トロリーの電圧
ｋＯＦＦにする制御？行ない、搬送車の衝突防止と間隔
制御倉行なうようにしたものである。[Summary of the Invention] The present invention provides an automatic transport system in which a transport vehicle is provided with a detection means for detecting the polarity of a power supply line, and furthermore, the transport vehicle is connected to a ground position detection unit and a high speed command for the transport vehicle via a signal trolley wire. (or low speed command) The receivers are all connected in series, and the ground side controller switches the polarity of the voltage applied to the feeder line. By setting the detection circuit 'kON', when the conveyance vehicle enters this section, it receives the low speed command r and decelerates, and then when it enters the stop section, this is detected by the position detection on the ground side and the feeder When the vehicle in front enters the deceleration section, it is detected by the position detection device on the ground and the vehicle is stopped at a fixed position by turning off the applied voltage. Is it possible to give a deceleration command r, and when the vehicle in front enters a stop zone, this is detected by all ground position detection devices and the voltage k of the power supply trolley in the rear zone is turned off? This system is designed to prevent collisions and control the distance between transport vehicles.
次に、本発明の一実施例ｒ図面？用いて説明する。 Next, what is the drawing of an embodiment of the present invention? I will explain using
第１図は本発明を用いた自動搬送システムの一部の平面
図ｔ、第２図は本発明の制御系のブロック線図及び回路
図ケ示す。FIG. 1 is a plan view of a part of an automatic conveyance system using the present invention, and FIG. 2 is a block diagram and circuit diagram of a control system of the present invention.
第ｘｂにおいて、ｌは荷物の積み卸しｔするステーショ
ン？、２は軌道を平行移動に工って乗り換えるための平
行分岐装置ｋｓ３は軌道倉回転移動によって変更する回
転分岐装置ｋｂ４は搬送車に給電する給電トロリー線ｋ
、５は搬送車９が走行する専用の軌道ｋｂ ６は搬送車
の位置を検知するためと、搬送車に対して高低、あるい
は、低速の指令ケ与えるための信号用トロリー、７は給
電用トロリー、または、信号用トロリーの区間を分ける
ための絶縁部、８は搬送車を管理制御するための地上制
御装置、９は搬送車、１０は搬送車の給電用トロリーや
信号用トロリーに接触する集電器、ｌｌは搬送車の走行
用モータ、１２は走行用モータの電流ｒ制御するスイッ
チング回路、１３はスイッチング回路倉制御する速度制
御部、１４はスイッチング回路に対し、給電トロリーの
電圧の極性に関係なく電圧の極性を一定にしてやるため
のダイオード、１５は給電線の極性を検知し、前進方向
の指令を眠りだすダイオード、１６は同じく後進の指令
を取りだすダイオード、１７はフォトカプラー２０．２
１．２２に流れる電流ケ制限する電流制限用の抵抗器、
１８は電磁ブレーキ、２３は速度制御部に対する低速指
令信号、２４は同じく後進指令、２５は同じく前進指令
、２６は各搬送車に対して走行制御を行なう搬送車の運
行制御部、２７は搬送車に対して低速を指令するための
地上制御装置側の低速指令、２８は２６の搬送車位置検
出部に入力する搬送車位置信号、２９は搬送車の位置を
検出するためのフォトカプラー、３０は同区間内に複数
台の搬送車があった場合でも、地上や搬送車のフォトカ
プラーに一定の電流を流すための定電流供給用のゼナー
ダイオード、３１地上側の位置検知用のフォトカプラー
及び搬送車側の高速指令受信用のフォトカプラーに電流
を流すための信号用電源、３２は給電用トロリーに電源
を供給するための搬送車給電用電源、３３は搬送車ケ前
進させたい場合←給電用トロリーに所定の極性に電源と
接続させるための前進用電磁接触器、３４は同じく搬送
車を後進させる場合の電磁接触器、３５は搬送車のモー
タの回転ケ検出するための回転検出器である。In number xb, is l the station for loading and unloading cargo? , 2 is a parallel branching device ks3 for changing the track by parallel movement of the track, and a rotary branching device kb4 for changing the track by rotational movement of the track cage.4 is a power supply trolley line k for feeding power to the conveyance vehicle.
, 5 is a dedicated track kb on which the guided vehicle 9 runs; 6 is a signal trolley for detecting the position of the guided vehicle and for giving commands for height, low, or low speed to the guided vehicle; 7 is a power supply trolley , or an insulating part for separating sections of the signal trolley, 8 a ground control device for managing and controlling the transport vehicle, 9 a transport vehicle, and 10 a collector that contacts the power supply trolley and signal trolley of the transport vehicle. 11 is a switching circuit that controls the current r of the traveling motor; 13 is a speed control unit that controls the switching circuit; 14 is a switching circuit that is related to the polarity of the voltage of the power supply trolley; 15 is a diode that detects the polarity of the power supply line and outputs a forward direction command, 16 is a diode that also outputs a reverse command, and 17 is a photocoupler 20.2.
1.22 A current limiting resistor that limits the current flowing through the
18 is an electromagnetic brake, 23 is a low speed command signal to the speed control section, 24 is also a backward command, 25 is also a forward command, 26 is a transport vehicle operation control section that controls the travel of each transport vehicle, and 27 is a transport vehicle. 28 is a guided vehicle position signal that is input to the guided vehicle position detection section 26, 29 is a photocoupler for detecting the location of the guided vehicle, and 30 is a low speed command from the ground control device side for instructing a low speed for the vehicle. Even if there are multiple transport vehicles in the same section, Zener diodes are used to supply a constant current to the photo couplers on the ground and on the transport vehicles, photo couplers for position detection on the ground side, and A signal power supply for supplying current to the photocoupler for high-speed command reception on the transport vehicle side, 32 is a power supply for power supply to the transport vehicle for supplying power to the power supply trolley, and 33 is a power supply when the transport vehicle wants to move forward. 34 is an electromagnetic contactor for connecting the trolley to a power supply with a predetermined polarity, 34 is an electromagnetic contactor for moving the carrier backwards, and 35 is a rotation detector for detecting the rotation of the motor of the carrier. be.
次に第１図を用いて搬送車の動き、各装置の動作全説明
する。現在搬送車９ａはステーションｌの搬送指令に答
えて走行中であると仮定する。このとき前走車である搬
送車９ｂが平行分岐装置ｉ２に停止中の場合は、地上制
御装置より信号用トロ１／ −６ｂに対して低速指令ケ
与える。搬送車９８はこれｒ検知し減速后低速運転に移
り、信号用トロリー６０のところに入ると、地上制御装
置で位置ｒ検出し、信号用トロリー６０に対応した電源
トロリーの給電葡しゃ断し搬送車ケ停止させる。Next, the movement of the transport vehicle and the operation of each device will be fully explained using FIG. It is assumed that the transport vehicle 9a is currently traveling in response to a transport command from station l. At this time, if the transport vehicle 9b, which is the vehicle in front, is stopped at the parallel branching device i2, the ground control device issues a low speed command to the signal trolley 1/-6b. The transport vehicle 98 detects this r, decelerates and then shifts to low-speed operation, and when it enters the signal trolley 60, the ground control device detects the position r, and the transport vehicle cuts off the power supply of the power supply trolley corresponding to the signal trolley 60. ke to stop.
この場合の足位置停止モードは第１図の（ｂ）の走行曲
線に示すモードとなる。また、搬送車９ｂに対して平行
分岐装置２に定位置停止させる場合は、信号用トロリー
６Ｃに対して低速指令を与え、搬送車が平行分岐装置２
に入った事を検知してこの部分の電源トロリーの給電ケ
しゃ断し定位置に停止させる。この走行モードを第１図
の（ａ）に示す。The foot position stop mode in this case is the mode shown by the travel curve in FIG. 1(b). In addition, when the parallel branching device 2 is to stop the guided vehicle 9b at a fixed position, a low speed command is given to the signal trolley 6C, and the guided vehicle is stopped at the parallel branching device 2.
When it detects that the trolley has entered the trolley, it cuts off the power supply to this part of the trolley and stops it in a fixed position. This running mode is shown in FIG. 1(a).
捷た、搬送車９Ｃに対しては、回転分岐装置３が第１図
に示すように搬送車９ｄが走行する方向に配置されてい
るので、この回転分岐の手前で停止させる必要があり、
信号用トロリ ６ｅに低速指令を与え、搬送車が信号ト
ロｙ ６ｆに入った事を検知してこの部分の電源トロリ
ーの給ｔｋＬや断し停止させる制御？行なう。Since the rotary branching device 3 is arranged in the direction in which the conveying vehicle 9d travels as shown in FIG. 1, it is necessary to stop the conveyance vehicle 9C before the rotation divergence.
Is there a control that gives a low speed command to the signal trolley 6e, detects that the conveyance vehicle has entered the signal trolley 6f, and stops the power supply trolley for this part by turning on or off? Let's do it.
平行分岐装置２から、信号用トロＩ） −５ｅの間は自
由走行区間で、この区間では搬送車は高速で走行する。The section from the parallel branching device 2 to the signal trolley I)-5e is a free travel section, and the conveyance vehicle travels at high speed in this section.
この区間における搬送車の衝突防止はここでは説８Ａ？
省略するが、接触式または超音波センサーなどの非接触
式のスイッチで搬送車同士の衝突を防止している。Is theory 8A the prevention of transport vehicle collisions in this section?
Although omitted here, a contact or non-contact switch such as an ultrasonic sensor is used to prevent collisions between transport vehicles.
第２図は、第１図で述べた制御ケ実行するための地上制
御装置及び搬送車の制御ブロック線図ケ示している。代
表例として第２図は、特に、第１図の回転分岐前の部分
を示している。FIG. 2 shows a control block diagram of a ground control device and a transport vehicle for carrying out the control described in FIG. As a representative example, FIG. 2 particularly shows the portion of FIG. 1 before the rotation branch.
搬送車９の走行用モータ１１は本発明ではブラシレスモ
ータを使用した例で示している。搬送車を前進させる場
合は、地上制御装置８の前進用の電磁接触器３３６ｋＯ
Ｎさせる。この工うにすると搬送車の極性検出用ダイオ
ード１５に電流が流れ、前進信夛受信用フォトカプラー
２０に電流が流れて速度制御ａ１部１３に前進指令が入
力される。The traveling motor 11 of the transport vehicle 9 is shown as an example using a brushless motor in the present invention. When moving the transport vehicle forward, the ground control device 8 uses a forwarding electromagnetic contactor of 336 kO.
Let N. When this is done, a current flows through the polarity detection diode 15 of the transport vehicle, a current flows through the forward signal receiving photocoupler 20, and a forward command is input to the speed control a1 section 13.
速度制御部１３はこの指令ケ受けて、スイッチング回路
１２ｉ制御し、モータを所定の回転方向になるよう制御
する。後進の場合は逆に地上側制御装置の後進用電磁接
触器３４ ｅ ’ｋＯＮさせることにより、搬送車の後
進信号受信用フォトカプラー２１に電流が流れ、速度制
御部１３に後進指令が入り、先とは逆の方向にモータを
回転させるようスイッチング回路が動作する。The speed control unit 13 receives this command and controls the switching circuit 12i to control the motor to rotate in a predetermined direction. In the case of reversing, on the other hand, by turning on the reversing electromagnetic contactor 34e'k of the ground side controller, current flows through the photocoupler 21 for receiving the reversing signal of the guided vehicle, and a reversing command is input to the speed control unit 13, causing the forward The switching circuit operates to rotate the motor in the opposite direction.
搬送車が信号トロリー６ｄの位置から６ｅに移行すると
、地上制御装置側の搬送車位置検知用のフォトカプラー
２９ｅＫ電流が流れ、この信号が搬送車運行制御部２６
に入る。運行制御部は回転分岐３の位置が他の通路（第
１図に示す位置）を形成する位置にあり、搬送車９Ｃが
回転分岐３に乗りこめない状態にある事全判定し、信号
用トロＩＪ（、ｅに与える信号電流金低速指令２７ｅで
カットする。When the guided vehicle moves from the position of the signal trolley 6d to the position of the signal trolley 6e, a current flows through the photocoupler 29eK for detecting the guided vehicle position on the ground control device side, and this signal is transmitted to the guided vehicle operation control unit 26.
to go into. The operation control unit fully determines that the rotary branch 3 is in a position that forms another passage (the position shown in Figure 1) and that the transport vehicle 9C cannot get onto the rotary branch 3, and sets the signal trolley. It is cut by the signal current gold low speed command 27e given to IJ(,e).
これにより搬送車の低速指令受信用のフォトカブ２−に
流れる電流がＯＦＦとなり、低速指令が速度制御部１３
に入力し、速度制御部では、モータの回転数が所定の回
転数になるまで減速させるようスイッチング回路１２＆
−制御する。次に、搬送車が信号用トロリー６ｆに入っ
た事をフォトカプラー２９ｆで検出し、この信号が運行
制御部に入力され、運行制御部で電磁接触器３３ｆｋＯ
ＦＦにして給電用トロリーに印加する電圧’ｋＯＦＦに
する。搬送車は給電用トロリーの電源がしゃ断された事
により電磁ブレーキの電流がＯＦＦ’となり、電磁ブレ
ーキが作用し搬送車は停止する。As a result, the current flowing through the photocube 2- for receiving the low-speed command of the guided vehicle is turned off, and the low-speed command is transmitted to the speed control unit 13.
, and the speed control unit controls the switching circuit 12 &
- control. Next, the photocoupler 29f detects that the guided vehicle has entered the signal trolley 6f, this signal is input to the operation control section, and the operation control section turns on the electromagnetic contactor 33fk.
Turn it FF and turn off the voltage 'k' applied to the power supply trolley. When the power supply of the power feeding trolley is cut off, the electric current of the electromagnetic brake is turned OFF', and the electromagnetic brake is activated to stop the transport vehicle.
また、搬送車運行制御部は、搬送車９Ｃが信号用トロリ
ーの区間６ｆに入った事會検知し、その後方の信号用ト
ロリー６ｅの区間の給電用電磁接触器３３ｅｉｌ、中断
し、後続の搬送車も停止させる。次に回転分岐装置３ヶ
回転させ搬送車ｇｃ＝２回転分岐装置に移動させたどき
、電磁接触器３３ｅ（］１−ＯＮさせて後続車を次°の
区間に移行せしめるように制御し、先行車と後続車の間
隔ケ制御して、後続車の異線進入ケ防止するように制御
する。In addition, the conveyance vehicle operation control unit detects that the conveyance vehicle 9C enters the signal trolley section 6f, interrupts the power supply electromagnetic contactor 33eil in the signal trolley 6e section behind it, and interrupts the subsequent conveyance. Also stop the car. Next, when the three rotary branching devices are rotated and the conveyance vehicle gc is moved to the two rotating branching devices, the electromagnetic contactor 33e (]1-ON is turned on to control the following vehicle to move to the next section, and the preceding vehicle is controlled to move to the next section. The distance between the vehicle and the following vehicle is controlled to prevent the following vehicle from entering the wrong lane.
本発明によれば、簡易な信号伝送方式で搬送車に対する
速度制御指令及び位置検知を行なうことができ、大巾な
設備費の低減と信頼性の向上が因れる。According to the present invention, speed control commands and position detection for the guided vehicle can be performed using a simple signal transmission method, resulting in a significant reduction in equipment costs and improved reliability.
第１図は本発明ケ用いた自動搬送システムの二部の実施
例？示した平面図、第２図は本発明音用いた自動搬送車
の制御ブロック線図と地上側制御装置の位置検知及び走
行制御信号送信回路図である。
１２・・・モータ駆動用スイッチング回路、１３・・・
速度制御部、３４，３４ｅ、３４ｆ・・・後進用給電部
電磁接触器、３５・・・回転検出器。
代理人 弁理士 高橋明夫
循１図Figure 1 shows a two-part embodiment of an automatic conveyance system using the present invention. The plan view shown in FIG. 2 is a control block diagram of an automatic guided vehicle using the sound of the present invention, and a position detection and traveling control signal transmission circuit diagram of a ground side control device. 12... Switching circuit for motor drive, 13...
Speed control section, 34, 34e, 34f... Reverse power feeding section electromagnetic contactor, 35... Rotation detector. Agent Patent Attorney Akio Takahashi Figure 1
Claims (1)
記コンテナケ運搬する搬送車、この搬送車が走行する軌
道、前記搬送車の軌道？変更するための分岐装置、前記
軌道に併設した前記搬送車へ給電するための給電線、前
記搬送車に対して信号ケ与える信号線及びこれらの機器
を制御する地上制御装置からなる自動搬送システムにお
いて、前記搬送車に給電線に与えられた電圧の極性を検
出する装置と、モータ？制御するスイッチング回路と、
このスイッチング回路音制御する速度制御部とを備え、
前記地上制御装置から前記給電線に与える電圧のＯＮ、
ＯＦＦ及び電圧の極性切換によって、前記搬送車の前進
走行、後進走行及び停止制御？行なう手段２設けたこと
ｔ特徴とする自動搬送システムの制御装置。 ２、特許請求の範囲第１項において、信号用トロリー線
に絶縁部？設けて分割し、分割した区間毎のトロリー線
と給電用トロリー線に信号電源ケ接続し、この信号電源
に地上側の位置検出部と搬送車の速度指令検出部とを直
列に接続し、前記搬送車の位置検出と前記搬送車に対す
る高速及び低速指令を前記信号用トロリー線で与えるよ
うにした仁とを特徴とする自動搬送システムの制御装置
。 ３、特許請求の範囲第１項において、回転分岐及び平行
分岐進入部の給電用トロリー及び信号用トロリー忙二区
間に小分割するように絶縁し、先行の前記搬送車と後続
の前記搬送車の異線進入？防止するよう間隔制御１ｔｌ
ｋ行なうこと？特徴とする自動搬送システムの制御装置
。[Claims] 1. Carrying out or carrying in a container? The station where the container is carried out, the conveyance vehicle that transports the container, the track on which this conveyance vehicle travels, and the trajectory of the conveyance vehicle? In an automatic transport system consisting of a branching device for switching, a power supply line for supplying power to the transport vehicle attached to the track, a signal line for giving a signal to the transport vehicle, and a ground control device for controlling these devices. , a device for detecting the polarity of the voltage applied to the power supply line to the conveyance vehicle, and a motor? a switching circuit to control;
This switching circuit is equipped with a speed control section that controls sound,
turning on the voltage applied from the ground control device to the power supply line;
The forward running, backward running, and stopping control of the transport vehicle is performed by switching OFF and voltage polarity. A control device for an automatic conveyance system, characterized in that a means for carrying out the operation is provided. 2. In claim 1, is there an insulating part in the signal trolley wire? A signal power supply is connected to the trolley wire for each divided section and the power feeding trolley wire, and a position detection section on the ground side and a speed command detection section of the guided vehicle are connected in series to this signal power supply. 1. A control device for an automatic transport system, comprising: detecting the position of a transport vehicle; and providing high-speed and low-speed commands to the transport vehicle using the signal trolley wire. 3. In claim 1, the power feeding trolley and the signal trolley at the rotary branch and parallel branch approach sections are insulated so as to be subdivided into two sections, and the leading conveyance vehicle and the following conveyance vehicle are connected to each other. Entering a different line? Interval control 1tl to prevent
k something to do? Features: Control device for automatic conveyance system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59065789A JPS60210105A (en) | 1984-04-04 | 1984-04-04 | Controller of automatic carriage system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59065789A JPS60210105A (en) | 1984-04-04 | 1984-04-04 | Controller of automatic carriage system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60210105A true JPS60210105A (en) | 1985-10-22 |
Family
ID=13297144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59065789A Pending JPS60210105A (en) | 1984-04-04 | 1984-04-04 | Controller of automatic carriage system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60210105A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01311801A (en) * | 1988-06-07 | 1989-12-15 | Daifuku Co Ltd | Drive controller for current collection type self-traveling truck |
| JPH04116008A (en) * | 1990-09-05 | 1992-04-16 | Mitsubishi Electric Corp | Loop-type transporting device |
-
1984
- 1984-04-04 JP JP59065789A patent/JPS60210105A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01311801A (en) * | 1988-06-07 | 1989-12-15 | Daifuku Co Ltd | Drive controller for current collection type self-traveling truck |
| JPH04116008A (en) * | 1990-09-05 | 1992-04-16 | Mitsubishi Electric Corp | Loop-type transporting device |
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