Abstract: A conveyor system for driverless vehicles includes a channel-shaped track adapted to be mounted in a floor. The track has at least one curved section. Along the inner leg of the curved section, there is provided a polymeric plastic liner which is characterized by a low friction and high abrasion resistance. The liner is adapted to contact a side face of a chain disposed within the track.

Abstract: A driverless vehicle, propelled by a longitudinal drive shaft, is provided with a load supporting substrate coupled to the vehicle body by a floating mount which permits the substrate to be moved relative to the body in a limited manner. A precision locator for use with said vehicle orientates the substrate in three directions, namely fore-aft, transversely, and vertically.

Abstract: The speed of a driverless vehicle is controlled along the length of the module from an incoming high speed to an outgoing low speed or vice versa. The module includes first, second and third aligned drive tubes between tracks adapted to support a vehicle. A first motor is coupled to the first drive tube for driving the same at a first (high) speed. The second drive motor is coupled to the third drive tube for driving the same at a second (low) speed. The second drive tube is maintained out of mechanical engagement with the first and third drive tubes. A variable speed motor is coupled to the second drive tube to drive the second tube between the first (high) and second (low) speeds, independently of the first and second motors.

Abstract: An intelligent driverless vehicle rolls on a track and has a pair of drive wheels which engage with a rotating drive shaft. The angular position of the drive wheels relative to the drive shaft determines the speed of the vehicle. Each vehicle has a microcomputer associated therewith, a position encoder for supplying information regarding the position of the vehicle to the microcomputer, an angular position encoder for providing information regarding the angular position of the drive wheels to the microcomputer for the computation of vehicle speed, and a drive wheel control means and associated linkage for changing the angular position of the drive wheels and thus vehicle speed in response to commands from the onboard microcomputer. The microcomputer communicates with a central computer via a bidirectional communications link. The central computer controls the speed and acceleration of each vehicle by selectively communicating with the microcomputers on board the vehicles.

Abstract: A driverless tugger vehicle is adapted to shuttle back and forth and push or pull another driverless vehicle each time it moves in a forward direction. The tugger vehicle is propelled by frictional contact between a drive wheel and a drive shaft with the drive wheel being mounted for pivotable movement through an arc of approximately 90 degrees so that the vehicle may reciprocate in opposite directions without changing the direction of rotation of the drive shaft.

Abstract: A driverless tugger vehicle adapted to contact another driverless vehicle and push or pull the latter to a source of power includes a body having support wheels for riding on tracks. The body has a drive wheel adapted for frictional contact with a drive shaft. A contact member on the body is provided for pushing or pulling the other driverless vehicle. A switch actuator is provided on the body for initiating reversal of direction of movement of the body when the contact member is coupled to said other driverless vehicle.

Abstract: The device controls the speed of a driverless vehicle by way of a cam having an acceleration surface and a deceleration surface for contact with a cam follower on the driverless vehicle. The cam is mounted for reciprocation in a horizontal direction between an operative position wherein the deceleration surface will cause a driverless vehicle to stop and an inoperative position wherein the cam will not cause such vehicle to stop.

Abstract: A drive wheel for driverless vehicle has a tire portion. The tire portion has discrete recesses for enabling the tire portion to be frictionally driven by a drive shaft whose surface is wet or oily.

Abstract: A turntable for driverless vehicles rides on a horizontally disposed circular rail and is pivotable about a vertical axis through an arc of 90.degree.. A vertical shaft is connected at its upper end to the table by way of a universal coupling. A motor is connected to the shaft to pivot the shaft. The turntable is particularly adapted for use at a T junction of a system having a closed loop.

Abstract: An inclined ramp is provided with a bed mounted for pivotable movement about an axis transverse to the ramp. The bed has upstream and downstream portions forming between them an obtuse angle. The upstream portion is provided with a cavity through which a pivotable, shock mounted stop arm extends for easing roll contact with the bed. Motor means is provided for pivoting the stop arm and the bed so that rolls may be fed one at a time.

Abstract: A driverless vehicle has a platform mounted on support wheels for riding on rails. First and second drive wheels adapted for frictional contact with a drive tube are provided on the vehicle. The drive wheels are supported on opposite sides of a longitudinal center line for alternative use depending upon the direction of movement of the vehicle.

Abstract: A plurality of driverless vehicles are pivotably connected together to form a train. Each vehicle has a drive wheel connected to the drive wheel on the next adjacent vehicle by a flexible member extending therebetween so that the drive wheel on the second vehicle is a slave to the drive wheel on the first vehicle.

Abstract: The track for driverless vehicles has a low profile with a rail extending along one side edge portion of the track structure and a drive shaft extending along the opposite side edge portion of the track structure. The drive shaft performs the dual function of supporting wheels on one side of a driverless vehicle and driving the vehicle by frictional contact with said wheels. The rail and the periphery of the drive shaft at the 12 o'clock position thereon are substantially the same elevation.

Abstract: Apparatus is disclosed for controlling the angular position of a drive wheel on a driverless vehicle. The apparatus includes a speed control device movable between two positions and having a lost-motion coupling to a shock absorber so that the device moves rapidly toward the second position for part of its movement and then moves slowly for the remainder of its movement.

Abstract: A jib crane system comprising a horizontally extending load beam rigidly attached to the upper end of a vertically extending mast. The lower of the mast extends inside a hollow pipe and is rotatably associated with a base plate assembly or rotatably secured in the foundation at the site of the crane. Roller bearings are rigidly secured to the mast and positioned in frictional contact with the pipe. The roller bearing revolves around the circumference of the pipe as the mast and load beam rotate around the central axis of the mast. The roller bearings are adjustable for varying the frictional contact of the rollers with the pipe.

Abstract: A driverless vehicle having a plurality of shelves is provided with at least one trough supported by the shelves and separate therefrom. Each trough is open at the top and is open at each end thereof. A discrete puller member extends between side walls of the trough at each end thereof to facilitate pulling a trough and any merchandise therebetween toward one side of the vehicle to facilitate unloading the vehicle.

Abstract: Apparatus for detecting a load within a preselected bin of an automatic storage rack has a transducer for directing an ultrasonic beam into the bin and for detecting an echo reflected from a load struck by the beam; a digital counter adapted to generate plural bit binary pulses which is started upon initial transmission of the ultrasonic beam; and a programmable memory coupled to the counter and programmed to generate a given bin-ful output signal upon initial transmission of the beam and to subsequently generate the opposite binary bin-empty output signal if no echo has been detected when the pulses from the counter stored in the memory indicate that sufficient time has elapsed after initial transmission for the beam to travel a predetermined distance into the bin and for an echo from a load struck by the beam to return to the transducer.

Abstract: A driverless shuttle vehicle transfers driverless vehicles between first and second parallel tracks. The shuttle vehicle has a track thereon adapted to be aligned with each of the first and second tracks. A motor adjacent each end of the first and second tracks is adapted to selectively move the shuttle vehicle track horizontally toward the end of its associated track for loading and unloading of a driverless vehicle.

Abstract: For use in adjustable cantilever rack systems having upright support columns connected to brackets having cantilever arms, a retaining means is provided for securing the bracket to a column member against accidental disconnection, said retaining means including a retaining pin arranged to fit within an aperture located substantially on the neutral axis of a load bearing surface of the column to restrict upward movement of the bracket relative to the column and prevent accidental disengagement caused by upwards, sideways or oblique torsional blows. The retaining pin can be resiliently biased by a flat spring to snap into place once the bracket and column are connected, and the retaining means can also be provided with a thumb latch to provide simple disengagement.

Abstract: A driverless vehicle turntable includes a table pivotably mounted for movement about a vertical axis. The table has tracks and a drive tube as well as drive wheels. An arcuate drive tube assembly is arranged for frictional contact with the drive wheels.