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1. 发明专利

JPH0632599A LOADING/UNLOADING CONTROL METHOD FOR FORK TYPE CARRIAGE 失效
公开(公告)号：JPH0632599A
公开(公告)日：1994-02-08
申请号：JP18662592
申请日：1992-07-14
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU , YASUDA MASARU , NOMURA HAJIME , NISHIMURA ATSUSHI , KATO TSUTOMU , OKANO TADASHI
IPC分类号： B65G1/04 , B66F9/24
摘要： PURPOSE:To improve working efficiency by providing a sensor on a carriage main body for detecting the position of a load, and controlling the stop and the fork operation of the carriage main body based on the output of the sensor so as to automatically receive and unload the load. CONSTITUTION:At receiving operation of a load, when a fork type carriage is run along a guide rail and an objective load is detected with an unloading sensor 23, the carriage is stopped on a decided position just before the load. Next, after a fork 15 is brought down, the fork 15 is advanced by the full stroke so as to insert it under the load, in this condition the carriage is a little advanced to approach the load, and the carriage is stopped when perfect loading of the load is detected with a load detecting sensor 24. Next, the fork 15 is elevated by means of a hydraulic cylinder 18 so as to lift up the load, simultaneously the fork 15 is retreated on the carriage main body side, the carriage is run to the guide rail at ON of a backing limit switch, and then it is transported to a decided position along the guide rail.

2. 发明专利

JPH05189043A TRAVEL CONTROL METHOD FOR UNMANNED TRAVELING VEHICLE 失效
公开(公告)号：JPH05189043A
公开(公告)日：1993-07-30
申请号：JP461192
申请日：1992-01-14
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU , OKANO TADASHI , NOMURA HAJIME
IPC分类号： G05D1/02
摘要： PURPOSE:To make the unmanned traveling vehicle travel, laterally without laying any guide track with a high accuracy by making the vehicle travel laterally after correcting the direction of the vehicle body so that sensors at the same positions of the front and rear parts in a straight traveling direction detect a guide track at the same time. CONSTITUTION:When the unmanned traveling vehicle 1 stops slightly shifting from a position B, for example, in the right direction, sensors in an optical sensor unit 12a and an optical sensor unit 12b which detect the guide track 20 are different. At this time, the inclination and its inclination extent of the unmanned traveling vehicle 1 are detected from the difference between the detection sensors of the optical sensor units 12a and 12b. The front wheels 3 or rear wheels 4 are driven to the right or left according to the detection result to make the unmanned traveling vehicle 1 travel laterally after correcting its attitude until the vehicle becomes parallel to the guide track 20. In this case, the front wheels are driven, for example, until the sensors at the same positions in the front-rear direction in the optical sensor units 12a and 12b are detected to move the unmanned traveling vehicle 1 to the right, and the vehicle is made to travel laterally when entering a parallel state shown by a dotted line.

3. 发明专利

JPH04254247A UNMANNED CONVEYING TRUCK 失效
公开(公告)号：JPH04254247A
公开(公告)日：1992-09-09
申请号：JP1521691
申请日：1991-02-06
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU , NOMURA HAJIME , UENO TAKATOSHI , OKANO TADASHI
IPC分类号： B61B13/00 , G05D1/02
摘要： PURPOSE:To reduce slip resistance due to a difference between inner/outer wheels while simplifying a running route and operation control by steering front/rear wheels independently of each other and also rotating the inner/outer wheels by mutually different rotational speeds so that running on a curve of small radius of curvature is made possible. CONSTITUTION:Rotation of a running motor 24 is transmitted to each drive wheel 2, 2' of the first/second drive wheel parts through a differential gear mechanism box 27 to run a body main unit 4 of an unmanned conveying truck. On the other hand, rotation of each steering motor 17, 17' is transmitted to the differential gear mechanism box 27 of the first/second drive wheel parts to steer each drive wheel 2, 2'. Simultaneously, rotation of each steering motor 17, 17' is transmitted to each driven wheel 3, 3' of the first/second driven wheel parts to steer these driven wheels. The car body main unit 4 is moved along a main running route 6 and a plurality of branch running routes 7, 7'.

4. 发明专利

JPH04286008A DIRECTION CONTROL METHOD FOR UNMANNED VEHICLE 失效
公开(公告)号：JPH04286008A
公开(公告)日：1992-10-12
申请号：JP10498791
申请日：1991-03-14
申请人： SHIMIZU CONSTRUCTION CO LTD , MITSUBISHI HEAVY IND LTD
发明人： UENO TAKATOSHI , NOMURA HAJIME , OKANO TADASHI , WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU
IPC分类号： G05D1/02
摘要： PURPOSE:To dissolve meandering at the time of running a curve part of in an unmanned vehicle which travels automatically along a guiding track while detecting the guiding track. CONSTITUTION:Identification marks 21a, 21b, 21e, 21f which give information on the curve direction and the curvature of said curve to the traveling unmanned vehicle 1 are provided for the curve beginning part of the guiding track 20. Thus, a steering angle beta (-beta) corresponding to the curvature is previously given to the steering wheels 3, 4 of the unmanned vehicle 1.

5. 发明专利

JPH04254248A UNMANNED CONVEYING TRUCK 失效
公开(公告)号：JPH04254248A
公开(公告)日：1992-09-09
申请号：JP1521791
申请日：1991-02-06
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU , NOMURA HAJIME , UENO TAKATOSHI , OKANO TADASHI
IPC分类号： B61B13/00
摘要： PURPOSE:To use an unmanned conveying truck even in the case that withstand load of a floor surface can not be increased by enabling own weight of a car body main unit to reduce. CONSTITUTION:A fork (pawl) 50 is protruded to the outside of a car body main unit 5 to crawl underneath a conveyed object 2 and next lifted to support the conveyed object 2 conveyed, when a vehicle tumble-preventing arm 31 is protruded to the outside of the car body main unit 5 to prevent it from tumbling. Consequently, necessity as in the past such that, dead weight of an unmanned conveying truck is increased to about two times weight of the conveyed object so as to prevent the unmanned conveying truck from tumbling when a pallet and the conveyed object on the pallet are lifted by the fork (pawl), is eliminated, and the unmanned conveying truck can be used even in the case that withstand load of a floor surface can not be increased by enabling the dead weight to reduce of the car body main unit 5.

6. 发明专利

JPH0797188A CONTROL METHOD FOR TRANSFER DEVICE OF BUILDING CONSTRUCTION 失效
公开(公告)号：JPH0797188A
公开(公告)日：1995-04-11
申请号：JP23765993
申请日：1993-09-24
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： OYAMADA NOBORU , FUJIWARA KOJI , KIRITANI MICHINORI , ABE YOSHIKAZU
IPC分类号： E04G21/16 , B66D1/50
摘要： PURPOSE:To control moving a mobile rail and a hoist by concurrently performing automatic control and manual control. CONSTITUTION:A mobile rail 7 is moved along a roof beam, and a hoist 10 is moved along the mobile rail 7. When a control combined switch 24a is closed, arm automatic control part 25 and a manual control part 26 are both started. In the mobile rail 7 and the hoist 10, when control signals SA, SH are received from both the automatic control part 25 and the manual control part 26, a first arrival control signal is selected by deciders 28R1 to 28Rn, 28H1 to 28Hn, and the control signal selected when in standby is fed to onboard control panels R1 to Rn, H1 to Hn. When the corntrol signal is received by the onboard control panels R, H, the mobile rail 7 and the hoist 10 are moved in accordance with a coommand of the control signal.

7. 发明专利

JPH0632227A UNMANNED CONVEYING TRUCK 失效
公开(公告)号：JPH0632227A
公开(公告)日：1994-02-08
申请号：JP18662492
申请日：1992-07-14
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU , YASUDA MASARU , NOMURA HAJIME , NISHIMURA ATSUSHI , KATO TSUTOMU , OKANO TADASHI
IPC分类号： B61B13/00 , B61D47/00 , B65G63/00
摘要： PURPOSE:To prevent an unmanned conveying truck from tumbling while reducing its own weight by providing a frame member having the proximal end mounted on the lower end of a lift guide post and the distal end abutting against the lower surface of a fork and a frame member having the proximal end mounted on the root of a fork and the distal end abutting against a floor surface to connect both members to each other pivotably in the central portions thereof. CONSTITUTION:In a truck tumble preventing frame 6, the proximal end of a frame member 6a is mounted rotatably on the lower end of a lift guide post 9 by a pin 8a and the proximal end of a frame member 6b is mounted rotatably on the root of a fork 5 by a pin 8b. The frame members 6a, 6b are connected pivotably to each other at the central portions by a pin 8c. The frame member 6a is provided on the distal end with a roller 11 to movably guide the lower surface of a fork 5, and the distal end of the frame member 6b is provided with a roller 10 to come in contact with the ground. When the fork 5 is lifted by a hydraulic cylinder 7, a truck tumble preventing frame 6 is extended. Under such a condition, the roller 10 receives the weight of goods on the fork 5 to prevent the truck from tumbling.

8. 发明专利

JPH0673891A AUTOMATIC TRANSPORT SYSTEM FOR ARTICLE 失效
公开(公告)号：JPH0673891A
公开(公告)日：1994-03-15
申请号：JP22392492
申请日：1992-08-24
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： MATSUMOTO TAKEJI , OYAMADA NOBORU , KIRITANI MICHINORI , FUKUNAGA TERUO , ABE YOSHIKAZU , KONDO KOJI
IPC分类号： B61L23/00 , B65G1/04 , B65G1/137 , B65G43/00 , E04G21/16
摘要： PURPOSE:To efficiently transport many articles in a short time by using a table for generating a route, and deciding a transport route of a member to be transported based on transported member data, transport sequence data, and equipment construction data. CONSTITUTION:A plurality of moving rails 6 provided along paired fixed rails are provided with a plurality of hoists 7 capable of being run, and a moving rail control device 36 and a hoist control device 31 are respectively provided for them. Transmission devices 25, 30, 35 are provided between the central control device 22 provided in an operation chamber 15 and the moving rail control device 36 and the hoist control device 31, so as to transmit electric power for control and control signals. Further, the central control device 22 is provided with a table 47 for generating a route of a transported member and a route generating means 46. Transported member data 43, transport sequence data 44, and equipment construction data 45 are input to the route generating means 46, and a transport route constituted of combination of the moving rails 6, the hoists 7, vertical carriers 12, and the like is decided based on them.

9. 发明专利

JPH04185869A MATERIAL CARRIER FOR CONSTRUCTION 失效
公开(公告)号：JPH04185869A
公开(公告)日：1992-07-02
申请号：JP31470090
申请日：1990-11-20
申请人： SHIMIZU CONSTRUCTION CO LTD , MITSUBISHI HEAVY IND LTD
发明人： NOMURA HAJIME , UENO TAKATOSHI , OKANO TADASHI , WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU
IPC分类号： E04G21/16 , B65G1/04 , B65G43/00 , B66F9/24
摘要： PURPOSE:To reduce the number of workers in charge of carrying materials and construct a structure efficiently by providing a lift and an automatic truck with an input means and a commanding means, and by running the automatic truck to material placing positions from a lift mounting or unloading port, to carry the materials. CONSTITUTION:The input of the destination of an automatic truck 10 to the input means of a lift 3 is provided, and the lift 3 with the automatic truck 10 mounted on is stopped on a floor Fn. After that, the input of the mounting places of materials 30 to the input means of the automatic truck 10 is made. After that, from the mounting or unloading port 6 of the lift 3 to positions near material placing positions 40, along a guide track 11 a reflective tape or the like is where set, the automatic truck 10 is run, and it is stopped to be run on a distance controlled by an order means based on input data. Then, the ascending or descending function of the automatic truck 10 is worked, and the materials 30 are unburdened at the material placing positions 40, and after that, the automatic truck 10 is run in the reverse direction, and is mounted on the lift 3, and is left from, and carrying work is repeated, and the materials 30 are put on the material places 40.

10. 发明专利

JPH04299711A AUTOMATIC CARRIER TRUCK 失效
公开(公告)号：JPH04299711A
公开(公告)日：1992-10-22
申请号：JP6471891
申请日：1991-03-28
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU , NOMURA HAJIME , OKANO TADASHI , UENO TAKATOSHI
IPC分类号： G05D1/02
摘要： PURPOSE:To improve the running stability of an automatic carrier truck and also to prevent the easy derailment even at the curve parts by providing the sensors at the front and rear parts of the truck. CONSTITUTION:The sensors 3A and 3B are provided on the center position of the front and rear parts of a four-wheel, carrier truck 2 respectively. Thus the front wheels 4 are steered by the signals of the sensor 3A, and the rear wheels 5 are steered by the signals of the sensor 3B respectively. In this case, the steering value of the wheels 5 is set smaller then that of the wheels 4. Therefore the independent steering control is attained to both wheels 4 and 5 along the path of an optical reflecting tape 1 with high accuracy especially in such a case where the straight lines and curves are mixed together. Owing to this individual steering control of both wheels, the attitude of the attitude of the truck 2 much more than the wheels 4. In this respect, the steering value of the wheels 5 is reduced. So that, the running stability of the vehicle 2 is improved.

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