| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to perform a normal transfer irrespective of the shapes of cargo in a transfer apparatus to be used in a stacker crane or a station of an unmanned transfer system.SOLUTION: A transfer apparatus 100 comprises: a first arm drive unit 118 and a second arm drive unit 128 for causing a first slide arm 110 and a second slide arm 120 to slide and move independently of each other; an end position grasping unit 405 for grasping an end position of a cargo 200, against which hooks 114, 115, 124 and 125 can abut; a stroke determination portion 406 for determining the amount of movement of each slide arm on the basis of the end position of the cargo 200, which is grasped by the end position grasping unit 405; and a control unit 400 for controlling the drives of the first slide arm 110 and the second slide arm 120 by the first arm drive unit 118 and the second arm drive unit 128, on the basis of the amount of movement determined by the stroke determination portion 406. |
