| 摘要 |
A side arm transfer device that is more easily assembled includes a right-side arm, a central arm, a left-side arm, a lifting table, laser sensors, a turning mechanism, and a transfer controller. The laser sensors are provided on the lifting table and detect presence or absence of an object on an irradiation line of laser light. The turning mechanism horizontally turns the laser sensors. The transfer controller horizontally turns the laser sensors and detects the presence or absence of an object in each of a plurality of detected portions on a load storage shelf, to determine the presence or absence of an object in each of mounting locations and the presence or absence of an object in a location, on the side of each of the mounting locations, to which each of the right-side arm, the central arm, and the left-side arm is to be extended. |
| 主权项 |
1. A side arm transfer device which extends and retracts an arm to and from a side of a load to be transferred, the side arm transfer device comprising:
a mounting table that extendably supports the arm, and is mounted with the load; a laser sensor that is provided on the mounting table and detects presence or absence of an object on an irradiation line of laser light; a turning mechanism that horizontally turns the laser sensor; and a controller that is programmed to horizontally turn the laser sensor and detects presence or absence of an object in each of a plurality of locations on a shelf, to determine presence or absence of an object in a load mounting location and presence or absence of an object in a location, on a side of the mounting location, to which the arm is to be extended. |
