| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic teaching method for a stacker crane, enabling to automatically acquire control data for the rising/falling vertical and horizontal positions of a transfer machine arm on each shelf position so that the transfer machine arm is protruded from a preset position and placed on the fixed position of the shelf without colliding on a shelf support or a column in an automated warehouse. SOLUTION: On the column side of the automated warehouse where multistage shelves are formed to store cassettes, detecting markers 6 are provided for individually detecting the upper and lower parts of protruded positions of the transfer arm 4a of a transfer machine 4 on the shelves. On the side of the transfer machine 4, a plurality of optical sensors 5 are provided for detecting the upper and lower detecting markers 6. Positions, where the optical axes of the plurality of sensors 5 are detected at the fixed positions of the detecting markers 6 at the same time, are used as vertical and horizontal position data for the rising/falling transfer arm 4a. These data are used to set the protruded positions of the transfer arm 4a. COPYRIGHT: (C)2009,JPO&INPIT
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