JPS63249405A - Racing prevention system for running truck - Google Patents
Racing prevention system for running truckInfo
- Publication number
- JPS63249405A JPS63249405A JP62082543A JP8254387A JPS63249405A JP S63249405 A JPS63249405 A JP S63249405A JP 62082543 A JP62082543 A JP 62082543A JP 8254387 A JP8254387 A JP 8254387A JP S63249405 A JPS63249405 A JP S63249405A
- Authority
- JP
- Japan
- Prior art keywords
- drive motor
- output
- running
- value
- racing
- 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
- 230000002265 prevention Effects 0.000 title claims description 6
- 238000000034 method Methods 0.000 abstract description 5
- 230000006866 deterioration Effects 0.000 abstract 1
- 230000007423 decrease Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、例えば無人搬送車を対象に、空転し易い走
行面での無人搬送車の空転走行を防止して安定した走行
を可能にした走行台車の空転走行防止装置に関する。[Detailed Description of the Invention] [Industrial Application Field] This invention is aimed at, for example, automatic guided vehicles, and enables stable running by preventing the automatic guided vehicle from idling on a running surface where it is prone to idling. The present invention relates to an idle running prevention device for a traveling bogie.
まず第５図に無人搬送車を対象とした従来における走行
台車の走行制御回路図を示す。図においてｌは走行台車
の車体に装備した駆動輪、２はギヤボックス、３駆動モ
ータ、４はタコゼネレータ、５は速度指令器、６は速度
増幅器７．電流増幅器８を内蔵したコントローラ、９は
電流検出器、１０は駆動輪ｌの走行面である。First, FIG. 5 shows a conventional traveling control circuit diagram of a traveling trolley intended for an automatic guided vehicle. In the figure, l is a drive wheel installed on the body of the traveling truck, 2 is a gear box, 3 is a drive motor, 4 is a tacho generator, 5 is a speed command, 6 is a speed amplifier 7. A controller has a built-in current amplifier 8, 9 is a current detector, and 10 is a running surface of the drive wheel l.
かかる構成で、速度指令器５から与えられる速度指令値
により駆動モータ３を介して駆動輪ｌを駆動し、タコゼ
ネレータ４．電流検出器９で検出した速度検出値、駆動
モータの負荷電流値をそれぞれ制御系にフィードバック
して駆動輪ｌを速度制御することにより、走行台車を指
定された速度で走行させる。With this configuration, the drive wheels l are driven via the drive motor 3 according to the speed command value given from the speed command device 5, and the tacho generator 4. The speed detection value detected by the current detector 9 and the load current value of the drive motor are fed back to the control system to control the speed of the drive wheels 1, thereby causing the traveling bogie to travel at a specified speed.
ところで上記した従来の走行制御方式のままでは、台車
が例えば油脂等で汚損されている路面等の滑り易い走行
面を走行中に駆動輪に空転が発生した場合には、駆動モ
ータは速度指令値の回転速１ｙを維持し続けるために粘
着走行限界を超えて大空転状態に至るようになる。この
結果として台車に横揺れ、蛇行等が生じて走行台車の安
全走行ができなくなる。However, with the conventional travel control method described above, if the drive wheels slip while the truck is running on a slippery surface, such as a road surface contaminated with oil or fat, the drive motor will control the speed command value. In order to continue to maintain the rotational speed 1y, the adhesion running limit is exceeded and a large idling state occurs. As a result, the bogie may sway, meander, or the like, making it impossible for the bogie to travel safely.
このための対策として従来では駆動輪のタイヤに材質、
溝形状を変えてスリップしずらい特殊なタイヤを採用し
たり、あるいは走行面にスリップ防止の砂撒きを行う等
して対処しているが、この方法では特殊タイヤの採用、
走行面の管理が必要でランニングコスト高になる欠点が
あった。Conventionally, as a countermeasure for this, the material of the tires of the drive wheels,
This method has been dealt with by changing the groove shape and using special tires that are less likely to slip, or by sprinkling sand on the running surface to prevent slipping.
This had the disadvantage of requiring high running costs due to the need to manage the running surface.
この発明の目的は、駆動輪と走行面との間の粘着係数は
駆動輪の速度が低いほど高く、がっ走行中に空転が発生
すると走行面との間の粘着係数が低下して駆動モータの
負荷トルク、すなわち負荷電流が減少することに着目し
、これを基に走行中の空転発生を検出して駆動モータに
与える速度指令値を滅し、これにより一時的に駆動モー
タの回転速度を下げて粘着走行状態へ速やかに自動復帰
できるように構成して従来の問題点解決を図った走行台
車の空転走行防止装置を提供することにある。The object of this invention is that the lower the speed of the drive wheel, the higher the adhesion coefficient between the drive wheel and the running surface, and when slipping occurs while the wheel is running, the adhesion coefficient between the drive wheel and the running surface decreases and the drive motor Focusing on the decrease in the load torque, that is, the load current, the system detects the occurrence of slippage during running based on this and eliminates the speed command value given to the drive motor, thereby temporarily lowering the rotation speed of the drive motor. It is an object of the present invention to provide a slip running prevention device for a traveling bogie, which solves the conventional problems by being configured to automatically return to a sticky running state quickly and automatically.
上記問題点を解決するために、この発明によれば、駆動
モータ軸に結合したタコゼネレータの出力電圧を基に駆
動モータの各回転速度に対応した空転基準電流値を得る
空転基準電流変換器と、駆動モータの負荷電流検出器と
、前記空転基準電流変換器の出力と負荷電流検出器の出
力を比較する空転検出用の比較器と、該比較器の一出力
を制御信号として前記速度指令器から駆動モータへ出力
される速度指令値を可変制御する制御手段とを具備し、
駆動輪の空転発生時に速度指令値を減少させ、駆動モー
タを一時的に減速制御して走行台車を粘着走行状態に復
帰させるように構成するものとする。In order to solve the above problems, the present invention provides an idling reference current converter that obtains an idling reference current value corresponding to each rotational speed of the drive motor based on the output voltage of a tacho generator coupled to the drive motor shaft; a load current detector for the drive motor; a comparator for idling detection that compares the output of the idling reference current converter with the output of the load current detector; and one output of the comparator used as a control signal from the speed command device. and control means for variably controlling the speed command value output to the drive motor,
The system is configured to reduce the speed command value when the drive wheels idle, temporarily control the deceleration of the drive motor, and return the traveling truck to the sticky running state.
上記の構成により、速度指令器よりある速度指令値を与
えて運転している通常の走行状態で、走行路面状況等に
起因して駆動輪に空転が発生すると、粘着係数の低下か
ら駆動モータの負荷トルク。With the above configuration, if the drive wheel slips due to the road surface conditions etc. during normal driving conditions where a certain speed command value is given from the speed command device, the drive motor will stop moving due to a decrease in the adhesion coefficient. load torque.
したがって負荷電流が急激に減少する。一方、走行中は
タコゼネレータの出力電圧を基に空転基準ｌａ変換器で
各回転速度に対応した空転発生時における空転基準電流
（−例として実負荷電流の７０％程度の電流値）が作ら
れており、ここで駆動モータの負荷電流と前記の空転基
準電流との比較から駆動輪の空転発生を検出するととも
に同時に比較器の出力で速度指令値が減少制御され、こ
れにより駆動モータは一時的に減速して駆動輪の回転速
度を減じる。この減速制御により駆動輪と走行面との間
の粘着係数が高まり、駆動輪は大空転状態に移行するこ
となく再粘着して台車が粘着走行に復帰する。また粘着
復帰状態に復帰すれば、駆動モータの負荷電流が増加し
て駆動モータに与える速度指令値が再び元の値に戻り、
走行台車は指定された速度で走行する定常走行状態に復
帰するようになる。Therefore, the load current decreases rapidly. On the other hand, while driving, a slip reference current (for example, a current value of about 70% of the actual load current) is created at the time of slip occurrence corresponding to each rotation speed using the slip reference LA converter based on the output voltage of the tacho generator. Here, the occurrence of wheel slip is detected by comparing the load current of the drive motor with the above-mentioned reference slip current, and at the same time, the speed command value is controlled to be decreased by the output of the comparator, and as a result, the drive motor is temporarily Decelerates to reduce the rotational speed of the drive wheels. This deceleration control increases the adhesion coefficient between the drive wheels and the running surface, and the drive wheels re-adhesion without shifting to a large idling state, allowing the bogie to return to adhesion running. If the sticky state returns, the load current of the drive motor will increase and the speed command value given to the drive motor will return to its original value.
The traveling truck returns to a steady running state in which it travels at the specified speed.
第１図はこの発明の実施例による無人搬送車を実施対象
とした走行台車の空転防止装置の制御回路図、第２図は
第１図における要部の詳細回路図、第３図は他の実施例
の制御回路図、第４図はその動作説明図を示す、なお第
５図に対応する同一部品には同じ符号が付しである。FIG. 1 is a control circuit diagram of an anti-slip device for a traveling cart intended for use in an automatic guided vehicle according to an embodiment of the present invention, FIG. 2 is a detailed circuit diagram of the main parts in FIG. 1, and FIG. The control circuit diagram of the embodiment, FIG. 4, is an explanatory diagram of its operation, and the same parts corresponding to FIG. 5 are given the same reference numerals.
まず第１図の実施例において、第５図で述べた従来の走
行制御回路に新たに空転基準電流変換器１１、空転検出
用の比較器１２．および速度指令値の可変制御手段とし
ての制御器１３が追加装備されている。ここで空転基準
電流変換器１１はタコゼネレータ４の出力電圧も基に駆
動モータの各回転速度に対応した空転発生時の比較電流
値を与える空転基準電流を作るものであり、回路は第２
図に示すように増幅器１４．１５から構成されている。First, in the embodiment shown in FIG. 1, an idle reference current converter 11, a comparator 12 for detecting idle rotation are newly added to the conventional travel control circuit described in FIG. A controller 13 is additionally provided as a speed command value variable control means. Here, the idling reference current converter 11 generates an idling reference current that provides a comparison current value when idling occurs corresponding to each rotational speed of the drive motor based on the output voltage of the tacho generator 4, and the circuit is a second one.
As shown in the figure, it consists of amplifiers 14 and 15.
なおこの空転基準電流変換器１１の回路、およびその動
作に付いては詳細を後述する。また＠、流検出器９は駆
動モータ３の回路に介挿した分流器９ａの検出電流を増
幅する増幅器１６を有し、該電流検出器９の出力と前記
した空転基準電流変換器１１の出力とが比較器１２で比
較される。一方、制御器１３は前記比較器１２の出力に
より速度指令器５よりコントローラ６へ与えられる速度
指令値を可変制御するものであり、発光素子と光導電素
子を結合した光−抵抗変１ａ器として成る。なお第１図
中でビ、 １８．１９は抵抗、２０はダイオードである
。The circuit of this idling reference current converter 11 and its operation will be described in detail later. Also, @, the current detector 9 has an amplifier 16 that amplifies the detected current of the shunt 9a inserted in the circuit of the drive motor 3, and the output of the current detector 9 and the output of the above-mentioned idling reference current converter 11. are compared by the comparator 12. On the other hand, the controller 13 variably controls the speed command value given from the speed command device 5 to the controller 6 based on the output of the comparator 12, and serves as a light-resistance transformer 1a combining a light emitting element and a photoconductive element. Become. In FIG. 1, 18 and 19 are resistors, and 20 is a diode.
次に上記回路の動作を第４図とともに説明するなお第４
図は横軸に駆動モータの回転速度を、縦軸にタコゼネレ
ータの出力電圧Ｅ、並びに通常の走行状態時における駆
動モータの実負荷電流ＩＬ。Next, the operation of the above circuit will be explained with reference to FIG.
In the figure, the horizontal axis represents the rotational speed of the drive motor, the vertical axis represents the output voltage E of the tachogenerator, and the actual load current IL of the drive motor during normal running conditions.
空転基準電流変換器で作った空転基準電流ｌ５（−例と
して実負荷電流ＩＬの７０％程度の電流値）、および空
転発生時における駆動モータの負荷電流ＩＯを示す。The idling reference current l5 (-as an example, a current value of about 70% of the actual load current IL) generated by the idling reference current converter and the load current IO of the drive motor at the time of occurrence of idling are shown.
まず速度指令器５で与えられた速度指令値Ｎ１で運転し
ている通常の走行状態（第４図のＡ点）では負荷電流は
１（ａｌであって、回転速度Ｎｌに対応して空転基準電
流変換器１１で得られる空転基準電流Ｉｓの値よりも大
であり、この状態では比較器１２からの出力はなく、駆
動モータ３は速度指令器５で与えられた速度指令値で回
転する。First, in the normal running state (point A in Fig. 4) where the vehicle is operated at the speed command value N1 given by the speed command device 5, the load current is 1 (al), and the idling standard corresponds to the rotational speed Nl. It is larger than the value of the idling reference current Is obtained by the current converter 11, and in this state there is no output from the comparator 12, and the drive motor 3 rotates at the speed command value given by the speed command device 5.
一方、回転速度Ｎｌでの走行中に駆動輪に空転が発生す
るようになると、走行面との間の粘着係数の低下に伴っ
て駆動モータの負荷トルクが減し、負荷電流は回転速度
Ｎ１に対応する空転基準電流■（ｂ）（第４図のＢ点）
よりもさらに低下して電流特性線ＩＯの線上の電流１
（Ｃ１（第４図の０点）まで減少する。この状態になる
と比較器１２が空転発生を検出し、その出力により制御
器１３が駆動されて制御器の出力側抵抗値が小になる。On the other hand, when the drive wheels begin to spin while running at the rotational speed Nl, the load torque of the drive motor decreases as the adhesion coefficient with the running surface decreases, and the load current decreases to the rotational speed N1. Corresponding idle reference current (b) (point B in Figure 4)
The current 1 on the current characteristic line IO decreases further than
(It decreases to C1 (point 0 in FIG. 4). When this state is reached, the comparator 12 detects the occurrence of idle rotation, and its output drives the controller 13, so that the output side resistance value of the controller becomes small.
これにより速度指令器５で設定された速度指令値Ｎ１が
Ｎ２に低下してコントローラ６に与えられにようになり
、この結果として駆動モータ３の回転速度もＮ１からＮ
２に減速制御されることになる。またこの駆動モータの
減速制御により駆動輪は空転状態から脱出して再び粘着
状態に復帰するとともに、タコゼネレータ４の出力電圧
も低下するので、比較器１２の出力が滅じて速度指令値
は再びＮ１からＮ２に回復して最初の設定値に戻り、搬
送車は指定された速度での走行状態に復帰する。なおこ
の制御動作の過程では、駆動モータの電流は第４図にお
けるＡ→Ｃ−Ｄ−・Ｅ−Ａの軌跡を辿るようになる。As a result, the speed command value N1 set by the speed command device 5 decreases to N2 and is now given to the controller 6, and as a result, the rotational speed of the drive motor 3 also decreases from N1 to N2.
The deceleration will be controlled to 2. Also, due to this deceleration control of the drive motor, the drive wheels escape from the idling state and return to the sticky state again, and the output voltage of the tacho generator 4 also decreases, so the output of the comparator 12 disappears and the speed command value becomes N1 again. The speed returns to N2 and returns to the initial set value, and the conveyance vehicle returns to running at the specified speed. In the process of this control operation, the current of the drive motor follows the trajectory of A→CD-・EA in FIG. 4.
また＋ｍ記の空転７５ｍ電流値ばあらかしめ実Ｊａ試験
により求めた空転走行状態での電流実測値を基〈々にし
たものであり、その電流値は駆動モータの回転数に対応
した値を示すことが明らかになっている。一方、前記タ
コゼネレータの出力電圧Ｅを基に第４図に示した各回転
数に対応する空転基準電２Ｈｓの特性を作るには、第２
図に示した空転基！を電／に変換器１１における増幅器
１４の抵抗２１と２２の値を選定して特性線Ｉｓの勾配
を決定し、さらに増幅器１５に接続したバイアス電源２
３のバイアス電圧を選定して電流値１ （ｂｌを決定す
る。In addition, the idling 75m current value in +m is based on the actual measured current value in the idling running state obtained by the actual Ja test, and the current value indicates a value corresponding to the rotation speed of the drive motor. It has become clear that On the other hand, in order to create the characteristics of the idling reference voltage 2Hs corresponding to each rotation speed shown in FIG. 4 based on the output voltage E of the tacho generator, the second
The idle group shown in the figure! The slope of the characteristic line Is is determined by selecting the values of the resistors 21 and 22 of the amplifier 14 in the voltage/voltage converter 11, and the bias power supply 2 connected to the amplifier 15 is selected.
Select the bias voltage of 3 and determine the current value 1 (bl).
第３図はこの発明の別な実施例を示すものであり、速度
指令値の制御手段として第１図における制御器１３の代
わりにコントローラ６に接続した電流制限器２４に対し
、空転発生時に制限電流設定器２５で与えた設定値を比
較２３＋２の出力により下げて駆動モータ３の減速制御
を行うものであり、第１図の実施例と同等な効果を奏す
ることができる。FIG. 3 shows another embodiment of the present invention, in which a current limiter 24 connected to the controller 6 instead of the controller 13 in FIG. The set value given by the current setter 25 is lowered by the output of the comparator 23+2 to perform deceleration control of the drive motor 3, and the same effect as the embodiment shown in FIG. 1 can be achieved.
なお図中２６．２７は電流制限器の回路に介挿した抵抗
である。Note that 26 and 27 in the figure are resistors inserted in the current limiter circuit.
【発明の効果］
以上述べたようにこの発明によれば、駆動モータ軸に結
合したタフゼネレータの出力電圧を基に駆動モータの各
回転速度に対応した空転基準電流値を得る空転基準電流
変換器と、駆動モータの負荷電流検出器と、前記空転基
準電流変換器の出力と負荷ｉａ電流検出器出力を比較す
る空転検出用の比較器と、該比較器の出力を制御信号と
して前記速度指令器から駆動モータへ出力される速度指
令値を可変制御する制御手段とを具備し、駆動輪の空転
発生時に速度指令値を減少させ、駆動モータを一時的に
減速制御して走行台車を粘着走行状態に復帰させるよう
構成したことにより、無人搬送車等の走行台車の走行に
際して従来方式のように駆動輪に特殊タイヤを採用した
り、走行面に砂撒きを行う等の管理を必要とすることな
く、駆動輸の空転が発生した際にはこの空転状態を検出
し、速やかに粘着走行状態に自動復帰させて走行台車を
安定走行させることができるようになる。[Effects of the Invention] As described above, according to the present invention, the idle reference current converter obtains the idle reference current value corresponding to each rotational speed of the drive motor based on the output voltage of the tough generator coupled to the drive motor shaft. , a load current detector for the drive motor, a comparator for idling detection that compares the output of the idling reference current converter and the output of the load ia current detector, and the speed command controller using the output of the comparator as a control signal. and a control means for variably controlling the speed command value output from the drive motor to the drive motor, and when the drive wheel slips, the speed command value is decreased, the drive motor is temporarily decelerated, and the traveling bogie is in a sticky running state. By configuring the system so that it can return to normal, it is not necessary to use special tires on the drive wheels or to manage the running surface by sprinkling sand, etc., as in conventional methods, when running a running trolley such as an automatic guided vehicle. When idle rotation of the drive transport occurs, this idle rotation state is detected, and it is possible to quickly and automatically return to the sticky running state, thereby allowing the traveling trolley to run stably.
第１図は本発明一実施例による空転走行防止装置の制御
回路図、第２図は第１図における要部の詳細回路図、第
３図は本発明の他の実施例の制御回路図、第４図は前記
実施例による空転防止動作の説明図、第５図は従来にお
ける走行制御回路間である。各図において、
ｌ：駆動輪、３：駆動モータ、４：タコゼネレータ、５
：速度指令器、９ａｔ流検出器、１１；空転基準電流変
換器、１２：比較器、１３：速度指令値可変制御手段と
しての制御器、２４：電流制限器、２５：制ｉｉａ流設
定器。
′″ −
代Ｇ人ｆ・−′１− 山 口 ｄ′２゜＋、＋
第１図
第２図
第３図FIG. 1 is a control circuit diagram of an idle running prevention device according to an embodiment of the present invention, FIG. 2 is a detailed circuit diagram of the main parts in FIG. 1, and FIG. 3 is a control circuit diagram of another embodiment of the present invention. FIG. 4 is an explanatory diagram of the slip prevention operation according to the above embodiment, and FIG. 5 is a diagram showing the conventional travel control circuit. In each figure, l: drive wheel, 3: drive motor, 4: tacho generator, 5
: speed command device, 9at flow detector, 11; idling reference current converter, 12: comparator, 13: controller as speed command value variable control means, 24: current limiter, 25: limiting IIA flow setting device. ′'' - Representative G person f・-'1- Yamaguchi d'2゜+,+ Figure 1 Figure 2 Figure 3
Claims (1)
り与えられた速度指令値に応じた回転速度で駆動輪を駆
動して走行させる走行台車において、駆動モータ軸に結
合したタコゼネレータの出力電圧を基に駆動モータの各
回転速度に対応した空転基準電流値を得る空転基準電流
変換器と、駆動モータの負荷電流検出器と、前記空転基
準電流変換器の出力と負荷電流検出器の出力を比較する
空転検出用の比較器と、該比較器の出力を制御信号とし
て前記速度指令器から駆動モータへ出力される速度指令
値を可変制御する制御手段とを具備し、駆動輪の空転発
生時に速度指令値を減少させて駆動モータを一時的に減
速制御し、搬送車を粘着走行状態に復帰させるようにし
たことを特徴とする走行台車の空転走行防止装置。1) In a traveling bogie in which a drive motor is connected to the drive wheel of the bogie and the drive wheel is driven to travel at a rotational speed according to a speed command value given by a speed command device, the output of a tacho generator coupled to the drive motor shaft. An idling reference current converter that obtains an idling reference current value corresponding to each rotational speed of the drive motor based on voltage, a load current detector for the drive motor, an output of the idling reference current converter, and an output of the load current detector. and a control means that uses the output of the comparator as a control signal to variably control the speed command value outputted from the speed command device to the drive motor, and is equipped with a 1. An idling running prevention device for a traveling trolley, characterized in that the speed command value is temporarily reduced to control the drive motor to decelerate temporarily, thereby returning the carrier to a sticky running state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62082543A JPS63249405A (en) | 1987-04-03 | 1987-04-03 | Racing prevention system for running truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62082543A JPS63249405A (en) | 1987-04-03 | 1987-04-03 | Racing prevention system for running truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63249405A true JPS63249405A (en) | 1988-10-17 |
Family
ID=13777418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62082543A Pending JPS63249405A (en) | 1987-04-03 | 1987-04-03 | Racing prevention system for running truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63249405A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012514446A (en) * | 2008-12-29 | 2012-06-21 | ユニバーサル シティ スタジオズ リミテッド ライアビリティ カンパニー | Position control system |
| JP2014156340A (en) * | 2013-02-18 | 2014-08-28 | Mitsubishi Heavy Industries Machinery Technology Corp | Crane driving device and crane |
-
1987
- 1987-04-03 JP JP62082543A patent/JPS63249405A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012514446A (en) * | 2008-12-29 | 2012-06-21 | ユニバーサル シティ スタジオズ リミテッド ライアビリティ カンパニー | Position control system |
| US9308926B2 (en) | 2008-12-29 | 2016-04-12 | Universal City Studios Llc | Position control system |
| JP2014156340A (en) * | 2013-02-18 | 2014-08-28 | Mitsubishi Heavy Industries Machinery Technology Corp | Crane driving device and crane |
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