| 摘要 |
PROBLEM TO BE SOLVED: To provide a side arm type transfer device which facilitates assembly.SOLUTION: A side arm type transfer device 29 comprises: a right side arm 100; a center arm 110; a left side arm 120; a lifting table 27; laser sensors 301-306; a turning mechanism 320; and a transfer control part 81c. The laser sensors 301-306 are provided on the lifting table 27 and detect presence/absence of an article on a radiation line of laser. The turning mechanism 320 horizontally turns the laser sensors 301-306. The transfer control part 81c determines presence/absence of an article on transfer places S1-S4, and on positions of side parts of the transfer places S1-S4 where the right side arm 100, center arm 110, and left side arm 120 are going to be extended, by horizontally turning the laser sensors 301-306, thereby detecting presence/absence of an article on plural detection parts P1-P12, Q1-Q12 on a cargo storage shelf 11.SELECTED DRAWING: Figure 13 |
