| 摘要 |
PROBLEM TO BE SOLVED: To continue composition carriage even if a trouble occurs in a steering transmitting means during the composition carriage wherein a plurality of trucks carries carried articles. SOLUTION: A steering controller M20 of a master truck MC is provided with a single-composition mode determining portion 32M determining a composition operation mode and a traveling mode, a composition operation control portion 20C computing a composition slave shaft target steering angle of each wheel device from a composition turning center obtained from steering angles of steering wheels M3, S3, and a steering angle instructing portion M20B outputting a steering angle instruction to the wheel devices. A slave truck SC is provided with a steering controller S20A steering each wheel device by obtaining a driven composition turning center which becomes the same position as the composition turning center of the master truck MC according to a steering angle operated at the same angle as the steering device M3 of the master truck MC and composition data of a composition data output portion 52, when the steering transmitting means 41A, 42, 43A are broken down. COPYRIGHT: (C)2010,JPO&INPIT |
