| 摘要 |
PROBLEM TO BE SOLVED: To prevent the running in the oblique direction, and the oblique stopping, of a running body. SOLUTION: To the left side and the right side at a guide tape 31 side laid along the running routes at the left and the right directions A and B, magnetic detectors 72 and 74 to perceive the distance between the guide tape 31 and a running body in the longitudinal direction are provided, a solenoid proportional flow control valve 65 to control a hydraulic cylinder to change the direction of the wheel at each wheel to support the running body, and a pressure oil fed to the hydraulic cylinder; and a steering angle sensor 62 to detect the steering angle of the wheels; are provided. The wheels are divided into the left and the right blocks, the object values of the steering angles of the wheels of the left and the right blocks are found by the distances detected by the magnetic detectors 72 and 74 respectively, and a controller 42 to control the solenoid proportional flow control valves 65 by comparing the above object values and the steering angles detected by the steering angle sensors 62 is also provided. By such a structure, the wheels of the left and the right blocks are steered in the same angle independently respectively. |
