201206795 六、發明說明： 【發明所屬之技術領域】 本發明係關於對保持貨物之支架等進行貨物之移載之移 載裝置。 【先前技術】 先前，為於保持貨物之支架與搬送貨物之搬送台車之間移 載貨物，而於搬送台車具有貨物之移載裝置。 作為該於第一載置場所與第二載置場所之間移載貨物之 方式，可例示：以叉架抬起貨物並移載之叉架方式；以拾取 皮帶滑動移載貨物之拾取皮帶方式；夾持保持貨物兩側而移 載之夾持器方式；及藉由利用設置於伸縮之支臂之爪而進行 貨物之推出及拉進而進行貨物之移載的推挽方式等。 又，亦揭示有為使該移載裝置安全地進行貨物之移載之各 種技術。 例如，根據專利文獻1，於將貨物載置於棚架時，以將貨 物載置於接近該棚架前端之位置而控制滑動叉架。由此，可 提高藉由滑動叉架之前端所具有之光感測器而確認該棚架 上是否有貨物之確實性。 [先前技術文獻] [專利文獻] 專利文獻1:曰本專利特開平5-208708號公報 【發明内容】 100121006 3 201206795 (發明所欲解決之問題） 如上述般用於移載裝置之移載方式各式各樣 ，各方式中需 要與該方式對應之用以安全且效率佳地移載貨物之技術。 例如於採用上述推挽方式之移载裝置之情形時，可藉由 使支臂之伸長速度高速化而提高貨物之移載效率。 又，於該移载裝置取入貨物之情形時，使伸長狀態之支臂 收縮’而使設置於支臂前端部之爪抵接於貨物之後端。為此 於收縮該支臂時’較為理想的是儘可能以低速使爪抵接於貨 物之後端以不傷害貨物。又，為進行該動作需要高精度地 檢測取入對象之貨物之後端。 由此’該移載裝置中，為檢測貨物後端而於例如支臂具有 用以檢測^物後端之光電感測器等檢測器。又，在正為取入 貨物而伸長支臂時’藉由該檢測器而檢測貨物後端。 該移載裝置中，於收縮支臂時，基於該檢測器之檢測結 果，而於爪即將抵接於貨物後端之前使支臂之收縮速度減 速’藉此使爪以低速抵接於貨物後端。 然而，如上所述為提高貨物之移載效率而使支臂以高速伸 長。因此，檢測器於以高速前進之期間檢測貨物後端。 該情形時，會產生因檢測器之相對於輸入之響應時間、及 對來自檢測器之輸出值進行運算處理之控制器之處理時間 所引起的延遲，故而有時於檢測器之檢測結果中產生無法忽 視之程度之誤差。因此，於該移载裝置之動作控制中產生問 ^0121006 , 201206795 例如，取入貨物時之支臂之收縮速度之減速開始時序，係 根據基於檢測器之檢測結果而獲知之貨物後端位置所決 定。因此，存在爪於爪移動速度未降低至對貨物而言安全之 速度之狀態下抵接於貨物之虞。 當然，為防止產生該問題，亦考慮以低速進行支臂之伸 縮，但這樣會導致貨物之移載效率降低，因而並不現實。 本發明考慮到上述先前之課題’其目的在於提供一種可以 支臂前端部所具有之爪取入貨物之移載裝置及移載方法，該 移載裝置及移載方法可安全且效率佳地移載貨物。 (解決問題之手段） 為解決上述先前之課題，本發明之一型態之移載裝置係如 下之移載裝置，即於使伸縮之支臂伸長之後，使上述支臂之 剛端部所具有之爪抵接於放置在第一載置場所之貨物之後 端並使上述支臂收縮，藉此可將上述貨物取入至第二載置場 所，該移載裝置包括：控制器，其控制上述支臂之動作；及 檢測器，其為上述支臂所具有，可檢測上述貨物之後端，上 述控制器於將上述貨物取入至上述第二載置場所時：（幻使 上述支臂以第一速度僅伸長特定距離之後，使上述支臂之伸 長速度變化至較上述第一速度更低速之第二速度；及卬)使 上述支臂之伸長速度變化至上述第二速度之後，基於上述檢 測益所產生的上述貨物後端之檢測結果而使上述支臂之伸 100121006 5 201206795 長停止，藉此使上述爪位於較上述貨物之後端更靠後方。 根據該構成’於進行貨物之取入時，可使支臂以高速伸 長，且可於其中途使支臂之伸長迷度變化至低速。又，於支 臂之伸長變化至低速之後，可藉由檢測器而檢測貨物後端。 因此，根據本型態之移載裝置，支臂可效率佳伸長，且可 高精度地檢測貨物後端。 又，自支臂之伸長速度為低速之狀態驗支臂之伸長停 止，因此可於爪與貨物後端之間隔非常短的狀態下，使支臂 之伸長停止。即，可使得用以取入貨物之支臂之伸長量最小 化。 如此’根據本型態之移載裝置’可效率佳且安全地移載貨 物0 又，本發明之-型感之移載裝置中，上述控制器係於使上 述爪位於較上述貨物之後端更靠後方之後，以⑷使上述支 臂以第三速度㈣，藉此使上述爪接近於上述貨物之後端； 及⑷上述支臂《收縮速度於上述爪抵接於上述貨物之後端 之後，成為較上述第三速度更高速之第四速度；如此而控制 上述支臂之動作。 根據#亥構成’可使得用以取入貨物之爪以低速抵接於貨物 後端，且之後可以高速取入貨物。 又，如上所述，於爪與貨物後端之間隔非常短之狀態下使 支臂之伸長停止。因此，即便使爪以低速接近於貨物後端， 100121006 6 201206795 因支臂以低速收縮之期間非常短，從而亦不會導致移載作業 整體之效率降低。又，於收縮支臂時，無須進行例如最初以 高速收縮，且於爪即將抵接於貨物之前減速之複雜控制。 X’本發明之-型態之移载裝置中，上述控制器於使上述 支臂之伸長停止之情形時’在上述檢測器檢測到上述貨物之 -後端後’在上述支臂僅伸長對應於上述移載裝置之上述爪之 位置與上述檢測器之位置之距離的狀態下，使上述支臂之伸 長停止。 根據該構成’支臂之伸長停止之狀態下之貨物後端與爪之 間隔，不依賴於該貨物之深度尺寸之大小而為較。由此， 可使其後之用以使支臂收縮之控制，不管取人對象之貨物之 深度尺寸之大小而共通化且容易化。 又，本發明之一型態之移載裝置中，上述控制器亦可於使 上述爪位於較上述貨物之後端更靠後方之後，使上述支臂以 上述第二速度僅收縮對應於上述爪之位置與上述檢測器之 •位置之距離以上之預定距離，由此使上述爪接近於上述貨物 後端。 根據該構成，於依序取入深度尺寸各不相同之複數個貨物 j形時’於支臂之伸㈣作完成之後，祕蚊臂收縮固 疋畺，由此可使爪安全地接近於各個貨物。 即，於收縮支臂時，無需進行與各個貨物之深度尺寸對應 之各不相同之控制，從而可以簡單的控制安全且效率佳地移 100121006 7 201206795 載貨物。 又，本發明可實現作為包括上述任一型態之移载裝置之搬 送台車。 ' 又，本發明之一型態之移載方法，係藉由上述任—型態之 移載裝置而執行之移載方法，於將上述貨物取入至上述第二 載置場所時，於使上述支臂以第一速度僅伸長特定距離之 後，使上述支臂之伸長速度變化至較上述第一速度更低速之 第二速度，使上述支臂之伸長速度變化至上述第二速度之 後’基於上述檢測器所檢測的上述貨物後端之檢測結果而使 上述支臂之伸長停止，由此使上述爪位於較上述貨物之後端 更靠後方。 又’本發明亦可實現作為用以使電腦執行該移載方法所包 含之各處理之程式、及作為記錄該程式之記錄媒體。而且， 該程式亦可經由網際網路等傳輸媒體或DVD(digital versatile disc，數位化多功能光碟）等記錄媒體而發送。 (發明效果） 根據本發明而可提供一種能夠以支臂前端部所具有之爪 取入貨物之移載裝置及移載方法，該移載裝置及移載方法可 效率佳且安全地移載貨物。 【實施方式】 參照圖式對本發明之實施形態之移載裝置進行說明。 圖1係表示本發明之實施形態之移载裝置之構成概要之 100121006 g 201206795 圖。 如圖1所示，移載裝置100包括：支臂110 ;設置於支臂 110前端部之爪102 ;設置於支臂110之檢測器105 ;及控 制支臂110之動作之控制器108。 再者，本實施形態中，移載裝置100設置於在由並行設置 之2條執道所構成之移行路160中移行之搬送台車150。 即，移載裝置100可藉由搬送台車150沿著移行路160移 動，而對配置於搬送台車150前方之支架（圖1中未圖示）所 具有之複數個棚架之各個移載貨物。 又，移載裝置100包括2個支臂110，該等係於左右方向 (X軸方向）隔開特定間隔而配置。該些支臂110除具有上述 之前端部之爪102以外，更具有後端部之爪103。 前端部之爪102及後端部之爪103分別可藉由以與Y軸 方向平行之旋轉軸為中心旋轉而自支臂110伸縮。 又，支臂110包括頂端部111、中間部112及基端部113， 藉由該些部分而構成拉桿式結構。即，當藉由驅動裝置（未 圖示）而使中間部112以相對於基端部113突出之方式滑動 時，與該動作連動而使頂端部111以相對於中間部112突出 之方式滑動。由此，支臂110整體伸長。 又，於使伸長之支臂110收縮之情形時，當藉由驅動裝置 而使中間部112以相對於基端部113收回之方式滑動時，與 該動作連動而使頂端部111以相對於中間部112收回之方式 100121006 9 201206795 滑:如由此’伸長支臂110收縮。 '此方式伸縮之支臂11G之動作係如上述般由控制器 10 8控制。控制哭〗〇 Q ^ 1⑽糟由包括例如進行資訊之輸入輸出之 ”面$以執行控制程式之咖i PrGCessing Unit， 中央處理單元)及記憶體等之電腦而實現。 又，控制器108村與支臂110-起為搬送台+150所具 有如經由有線或無線網路而與搬送台車⑽連接 之通彳§裝置所具有。 檢、J器105為對移載裝置1〇〇所移載之貨物進行檢測之裝 置#由例如光電感測器而實現。具體而言，檢測器1〇5 於移载裳置100取入貨物時檢測該貨物之後端。 &制器108基於檢測n 1()5之檢測結果而控制支臂削 之動作。控制器108之具體控制内容將於下文使用圖5〜圖 8進行敍述。 下面，使用圖2及圖3對移載裝置1〇〇之基本動作進行說 明。 再者，2個支臂110均進行相同之動作，因此以下僅對1 個支臂110進行說明。 圖2係表示實施形態之移载裴置100將貨物載置於支架 300時之動作之圖。 如圖2所示，於支臂110之後端部之爪1〇3向貨物2〇〇 之方向突出之狀態下支臂110伸長。由此，載置於搬送台車 100121006 201206795 150上之貨物200被推出至支架300所具有之棚架。 圖3係表示實施形態之移載裝置1 〇〇取入貨物時之動作之 如圖3所示，於支臂11〇伸長至支臂110之前端部之爪 102位於較貨物200後端（圖3之貨物200之下端）更靠後方 之狀態為止之後，使爪102向貨物200之方向突出。 又，於該狀態下支臂110收縮。由此’可一面使爪102 抵接於貨物200之後端，一面將貨物200自支架300之棚架 (第一移載場所）取入至搬送台車150上之特定場所（第二移 載場所）。 再者，如此般使爪抓住貨物後端而進行取入之方式亦可稱 作後鉤方式。 於移載裝置100以該動作取入貨物200之情形時，如上述 般使用檢測器1〇5之檢測結果而控制支臂之動作。 100之動作之控制系統相關 圖4係與實施形態中移載裝置 之方塊圖。 移載裝置100中，檢測器105將檢 之檢測結果通知給控制器⑽。具體而/對象之貨物後减 使支臂U0伸長時’藉由檢測器⑽：’於為取入貨物而 控制器U)8基於由檢測器105所通知，該貨物之後端£ 110之伸長停止。 <檢測結果而使支臂 又’控制器108於支臂110伸長 一6 中，支臂110之伸長 11 201206795 速度降低，並於伸長速度降低之狀態下使檢測器1〇5檢測該 貨物之後端。 如此’實施形態中移載裝置100於藉由控制器1〇8進行之 支詹110之動作控制之方面具有特徵。由此，使用圖5〜圖 8對藉由控制器108進行之支臂110之動作控制進行具體說 明。 圖5係表示實施形態中移載裝置1〇〇取入貨物時之支臂 110之伸長動作之圖。 如圖5所示，移載襞置100中，規定有用以檢測貨物2〇〇 後端之區域即後端檢測區域。 具體而言，使用移載裝置1〇〇應取入之複數個貨物之深度 尺寸（¼物之Y軸方向之長度）之最大值及最小值，計算出該 複數個貨物各自之後端位置之範圍。 其結果，圖5中自記為「後端位置Min」之位置至記為「後 位置Max」之位置為止之範圍，被規定為該複數個貨物各 自之後端位置分佈之範圍即後端檢測區域。 再者，移載裝置100應取入之複數個貨物之各自係以各自 放置之棚架之前端為基準而放置。即，複數個貨物之各自與 棚架之前端之距離為固定。因此，可僅以移載裝置1〇〇應取 入之複數個貨物各自之深度尺寸規定後端檢測區域。 又’各貨物與棚架前端之距離亦可不固定。該情形時，例 如，若預先於例如向棚架载置各貨物時獲取各貨物與棚架之 100121006 12 201206795 刖端之距離並加以記憶’則可根據所記憶之距離與各貨物各 自之深度尺寸而規定後端檢測區域。 又，屺為「後端位置Min」之位置，具體而言以成為移载 裝置1〇〇應取入之複數個貨物中之深度尺寸最小之貨物之 後端的近前側（貨物之取入方向）的方式進行設定。由此，即 便於取入深度尺寸最小之貨物之情形時，亦可確實地檢測該 貨物之後端。 又，後端檢測區域亦可由例如控制器1〇8獲取移載裝置 100應取入之複數個貨物各自之深度尺寸等之資訊，並根據 所獲得之資訊而計算出。 又’控制器108亦可經由例如網路而獲取預先生成之表示 後端檢測區域之資訊。 檢測器105如圖5所示包括：發出光之投光器i〇5b ;及 對自投光器l〇5b發出之光進行檢測之受光器105a。又，檢 測器105係以光轴與支臂110之伸縮方向（γ軸方向）正交， 即，與X軸方向平行而配置於支臂11 〇之前端部。 再者，本實施形態中’檢測器1〇5配置於爪1〇2之近前側 (圖5之上侧）且配置於爪102之附近。 因此，貨物200如圖5所示配置於支架300之棚架，於支 臂110自收縮狀態伸長之情形時，來自投光器l〇5b之光暫 時被貨物200遮蔽’其後，受光器i〇5a檢測來自投光器1〇5b 之光。由此’由檢測器105檢測貨物200之後端。 100121006 201206795 移載裝置100之控制器108於檢測器105進入至如此般規 定之後端檢測區域為止之期間使支臂110以高速伸長，其 後’使支臂110以低速伸長。 具體而言，控制器108如圖5所示，使支臂110以第一速 度僅伸長特定距離(L1)。其後，控制器108使支臂110之伸 長速度變化至較第一速度更低速之第二速度。 其後’於以低速之第二速度伸長之支臂110僅伸長L2之 時序’檢測器105檢測貨物200之後端。具體而言，受光器 l〇5a檢測此前被貨物2〇〇遮蔽之來自投光器1〇5b之光。 檢測器105將用以表示該檢測結果之信號發送至控制器 108。控制器1〇8基於該檢測結果而使支臂u〇之伸長停止。 其結果，於自藉由檢測器1〇5檢測貨物2〇〇後端起僅伸長 L3之狀態下使支臂no之伸長停止。即，於貨物2〇〇之後 端與爪102之距離為L3之狀態下，使支臂11〇之伸長停止。 具體而言，該L3為對應於爪1〇2之位置與檢測器1〇5之 位置之距離。例如，本實施形態中，如圖5所示，檢測器 105配置於爪102之近前側（圖5之上方），即，配置檢測器 105以確§忍爪102之近如側是否有貨物2〇〇。 因此，於受光器105a在支臂no伸長之中途檢測到來自 才又光器105b之光之時間點’爪1 〇2確實地通過貨物200之 後端位置。 由此，控制器108可例如進行與支臂11〇之速度模式對應 100121006 14 201206795 之停止控制，以使支臂110之伸長在最短時間停止。具體而 言，將用以使以第二速度伸長之支臂110安全地且於最短時 間停止之特定控制信號發送至驅動支臂110之驅動裝置。 又，若於檢測器105以檢測爪102之後方（圖5之下方）是 否有貨物200而設置之情形時，則於檢測器1〇5檢測到貨物 200後端之時間點，爪1〇2不通過貨物2〇〇之後端位置。 由此’控制器108進行與支臂110之速度模式對應之停止 控制，以於自檢測器1〇5檢測到貨物2〇〇後端之時間點起僅 經過與第二速度對應之特定時間之後，以例如最短時間使支 臂110之伸長停止。 總之，控制器108對支臂110之動作進行控制以自爪1〇2 通過貨物200後端位置之時序起於最短時間使支臂〗1〇之伸 長停止。 其結果，L3為對應於移載裝置1〇〇之爪1〇2之位置與檢 測器105之位置之距離，與取入對象之貨物之深度尺寸之大 小無關而為固定。 如此’實施形態中控制器1〇8於自檢測器1〇5檢測到貨物 200之後端，在支臂110僅伸長對應於移載裝置1〇〇之爪ι〇2 之位置與檢測105之位置的距離之狀態下，使支臂11〇 之伸長停止。 再者，本實施形態中，如上述般檢測器1〇5配置於爪1〇2 之附近。因此，亦存在檢測器1〇5中光檢測位置與爪 100121006 201206795 之前表面（與貨物200後端抵接之面）之位置嚴格不一致之情 形。 然而，即便於該情形時，若該些位置間之Y軸方向之距 離微小至可忽視之程度，則檢測器105之受光器l〇5a所進 行的光檢測時序，可假定為爪102通過貨物200之後端位置 之時序。即，L3可假定為支臂no完成伸長之狀態下貨物 200之後端與爪1〇2之距離。 又’例如’亦可對現實中之L3實施對應於檢測器1〇5中 之光之檢測位置與爪1〇2之前表面之位置之γ軸方向之距 離的修正，並將該修正後之L3作為貨物2〇〇之後端與爪ι〇2 之距離進行處理。 例如，設定檢測器105配置於爪1〇2之近前側，且檢測器 105中之光之檢測位置與爪i〇2之前表面之γ轴方向之距離 為Mmm之情形。又’設定自檢測器1〇5檢測到貨物200之 後知》，支臂110僅伸長L3 = Nmm便停止之情形。 έ亥情形時’可將(N+M)mm作為修正後之L3(貨物200之 後端與爪102之距離）進行處理。 使用圖6對以上說明之支臂u〇伸長時之支臂n〇之伸長 速度之變化進行說明。 圖6係表示實施形態之移載裝置ι〇〇取入貨物之動作中支 臂110之伸長速度之變化例之圖。 再者’圖6中記載對深度尺寸不同之3個貨物進行取入動 100121006 201206795 作之情形時，各個支臂110之伸長速度之變化的曲線圖。 如該些曲線所圖示，控制器108對任一貨物均使支臂110 首先以第—速度(VI)僅伸長L1。該VI為例如無貨物負載之 狀態下支臂11〇之最高伸長速度（空負載最高速度）。 具體而言，控制器108使支臂110以特定加速度伸長並使 伸長速度達到VI。 其後’控制器108以於支臂11〇之伸長距離成為L1之時 序使伸長速度成為第二速度(V2)，而使支臂110之伸長減 速。作為該V2，設定為即便於考慮到檢測器1〇5之響應延 遲等之情形時，實質上亦不會妨礙檢測器105之檢測精度之 速度(檢測用速度）。 如此，控制器108於使支臂110以空負載最高速度VI僅 伸長L1之後，使支臂no之伸長速度變化至較VI低之檢 測用速度V2。 於藉由該控制而使支臂110之伸長速度變化至檢測用速 度V2之後，藉由檢測器105而精度佳地檢測貨物之後端。 當藉由檢測器10 5檢測到貨物之後端時，獲取該檢測結果 之控制器108控制支臂110,以使支臂110於最短時間停止 伸長。由此，支臂110之伸長減速並停止。 如此，控制器108於使支臂110之伸長速度變化至V2之 後，基於檢測器105所檢測的貨物後端之檢測結果而使支臂 110之伸長停止，藉此使爪102位於較該貨物之後端更靠後 100121006 17 201206795 方0 取入貨物之情形時，不管貨物之 如上所述於移載裝置100 深度尺寸之大小，均對支臂則進行相同内容之控制。因貨 物之冰度尺寸之大小而不同者，僅為檢測器⑽所檢測的貨 物後端之檢測時序。 因此’如圖6之各曲繞圖所； 、良α所不’僅支臂110以低速之V2 伸長之距離L2會因f物之深度尺寸之大小Μ同，自檢測 到貨物之後端起至停止為止之轉u，與㈣之深度尺寸 之大小無關而為固定。 移載裝置100中，於藉由該控制而使支臂11M申長之後， 使爪102肖貨物方向突出並使支臂11〇收縮，藉此可將該貨 物取入至搬送台車15〇。 使用圖7及圖8對在移載裝置1〇〇中收縮支臂u〇時之支 臂110之動作控制進行說明。 圖7係表示實施形態中移載裝置1〇〇取入貨物時之收縮支 臂110之動作之圖。 移載裝置100之控制器108於使爪102位於較貨物200 之後端更靠後方之後收縮支臂11〇。由此，爪102抵接於貨 物200之後端。 具體而言，控制器108藉由使支臂110以低速之第三速度 收縮’而使爪102接近於貨物200之後端。 又’如上述般，於支臂110完成伸長之狀態下，爪102 100121006 201206795 與貨物200之後端之距離為L3，因此控制器1〇8使支臂ιι〇 以第三速度僅收縮L3。再者’控制器1〇8亦可使支臂11〇 以第二速度僅收縮上述之修正後之L3。 如此，支臂110僅收縮L3，由此爪1〇2抵接於貨物 之後端。或，爪102移動至貨物2〇〇之後端附近(其後，即 便於其後支臂110收縮之情形時，爪1()2亦不會對貨物 造成傷害程度，而使爪102與貨物2〇〇之後端成為接近位 置）。 其後，控制器108對支臂11〇之動作進行控制，以使支臂 110之收縮速度於爪1G2抵接於貨物2⑼後端之後，成為較 第二速度更冋速之第四速度。由此，控制器⑽使支臂則 僅收縮L4。 其結果，載置於支架3〇〇之棚架之貨物2〇〇被取入至搬送 台車150。 圖8係表示實施形態之移載裝置議取入貨物之動作中支 . 臂110之收縮速度之變化例之圖。 .再者’® 8中’與® 6相同地記載騎度尺寸不同之3 個貨物進行取人動作之情㈣，各個支臂m之收縮速度之 變化之曲線圖。 如該些曲線圖所示，控制器⑽對任—貨物均使支臂ιι〇 以第二速度(V3)僅收縮L3。該V3係低至即便於爪1〇2接觸 於貨物之情會輯f物造祕害雜之速度(接觸 100121006 19 201206795 速度）。 於此，如上述般，L3與貨物之深度尺寸之大小無關而為 固定。因此，控制器1〇8使爪1〇2接近於貨物時之控制中， 不考慮取入對象之貨物之深度尺寸而進行使支臂11〇僅收 縮L3之控制。又，此時之速度如上述般為低速之接觸速度 V3，爪102不會導致貨物破損。 又，如圖6所示，L3為支臂11〇之伸長速度自低速之檢 測用速度V2變化至零時之制動距離。即，L3為非常短之距 離，即便於以低速之接觸速度V3收縮支臂11〇之情形時， 僅收縮L3所需之時間亦非常短。 再者，使支臂110以接觸速度V3收縮之距離嚴格上亦可 與L3不一致。 具體而言，於取入貨物時收縮支臂11〇之情形時，使以支 臂110以接觸速度V3僅收縮L3以上之預定距離即可。又， 至於使收縮支臂110之距離自L3伸長多少，只要使用檢測 器105之響應速度、或爪102與貨物後端之間之距離與L3 之差分之實測值等規定即可。 其後，控制器108對支臂n〇之動作進行控制以使支臂 110以高速之第四速度(V4)收縮。該V4為例如有貨物負载 之狀態下支臂110之最高伸長速度(實負載最高速度）。 又，控制器108使支臂110僅收縮用以使該貨物移動至搬 送台車150為止所需之距離“。由此，爪1〇2抵接之狀態 100121006 20 201206795 之貨物2〇〇以實負載最高速度v4被取入至搬送台車15〇。 再者’ L4係例如由控制器108使用圖6所示之支臂11〇 之伸長動作時所獲取之貨物後端位置而求得。該情形時，例 如 L4 = Ll+L2。 又’控制器108亦可預先獲取之該貨物之深度尺寸僅加上 特定值而得之值為L4。 如此’實施形態之移載裝置丨00於取入貨物時以如下而控 制支臂110 :使支臂11〇首先以高速之空負載最高速度V1 僅伸長L1 ’於檢測器1〇5進入至後端檢測區域之後，使伸 長速度成為低速之檢測用速度V2。 由此，可兼顧支臂110之伸長動作之效率化與取入對象之 貨物檢測之高精度化。 進而，移載裝置100於貨物之後端與爪102之距離為對應 於爪102之位置與檢測器1〇5之位置之距離L3(亦包含上述 修正後之L3，以下相同）狀態下，使支臂11〇停止伸長。 即，不依賴於取入對象之貨物之深度尺寸之大小，貨物之 後端與爪102之距離始終為L3，L3與低速伸長時之制動距 離實質上相同，因此為非常短之距離。 其後，移載裝置100藉由使支臂110以低速之接觸速度 V3收縮’而使爪102接近於貨物之後端，其後，使支臂ΐι〇 之收縮速度變化至高速之實負載最高速度V4，而將貨物取 入至搬送台車150。 100121006 21 201206795 由此，可緩和取入貨物時爪1〇2與貨物後端之接觸時之衝 擊’從而可防止貨物之破損等。 又，L3如上述般為非常短之距離。因此，用以使支臂no 僅收縮L3之所需時間非常短。進而，無須進行例如使支臂 110最初以高速收縮之後，於爪1〇2接近於貨物後端之時間 點變化至低速之複雜控制。 又，於使支臂110僅收縮L3之後，支臂110之收縮速度 提向至實負載最高速度V4。即，實質上不會對貨物造成傷 害便可實現高速之貨物之取入。 如以上所說明，根據實施形態之移載裝置100，可效率佳 且安全地移載貨物。 再者，本實施形態中，如圖5及圖7所示，移載裝置100 設定為僅相對於支臂110之伸縮方向（γ軸方向）之一方而進 行貨物之移載。 然而，於支臂110不僅可相對於前方亦可相對於後方伸長 之情形時，移載裝置100亦可相對於支臂110之伸縮方向之 雙方而進行貨物之移載。 圖9係表示實施形態之移載裴置ι〇0相對於支臂u〇之伸 縮方向之雙方而進行貨物之移載之情形時之構成例之圖。 圖9中夹著移载裝置100而配置有支架3〇〇與支架3〇1。 又，圖9所示之移載裝置1〇〇中，於支臂11〇之後端部之 爪103附近亦具有檢測器1〇5。 100121006 22 201206795 即’圖9所示之移載裝置100亦可相對於後方（圖9之上 方）之支架301進行貨物2〇〇之移載。 具體而言’於將搬送台車150上之貨物200載置於支架 301之情形時’支臂110之前端部之爪102作為推出貨物2〇〇 之要素而發揮功能。又，於取入載置於支架301上之貨物 200之情形時，支臂110之後端部之爪103作為進行貨物2〇〇 之取入之要素而發揮功能。 進而’與對使用圖5〜圖8所說明之支臂11〇之動作控制 相同地’藉由控制器108而進行基於爪103附近之檢測器 105之檢測結果之支臂ι1〇之動作控制。 即，移載裝置100亦可對後方之支架301效率佳且安全地 移載貨物200。 又’本實施形態中，移載裝置100設定為設置於沿著移行 路160移動之搬送台車150。然而，移載裝置1〇〇亦可設置 於其他類型之台車等。 移載裝置100亦可為例如不具有特定移行軌道之無人搬 送車所具有。又，移載裝置100亦可為例如於自動倉庫中進 行貨物之搬送及移載之堆高式起重機之升降台所具有。 即，移載裝置100亦可配置於需要移載貨物之功能且容許 以支臂110之前端部所具有 <爪102取入貨物之方式之設 備，該設備之類型並不限定於特定者。 又，移載裝Ϊ 100 0又為具有左右一對支臂110,但若異有 100121006 23 201206795 至少1個支臂lio，則可根據處理之貨物之尺寸等而安全且 效率佳地移載貨物。 又，移載裝置1〇〇中’以可以使支臂lio向貨物之上方或 下方前進而具有支臂110。即，移載裝置100採用將支臂110 之爪102抓住貨物後端而進行取入之方式，貨物上之被爪 102抓住之位置亦可為貨物之右端部或左端部。 又’移載裝置100於為取入貨物而收縮支臂110之情形 時’亦可根據例如來自檢測器105之檢測結果而使收縮速度 自V3變化至V4。 具體而言’於檢測器105如圖5等所示配置於爪1〇2之近 前側且附近之情形時，當使伸長之支臂110收縮時，檢測器 105於爪1〇2即將抵接於貨物後端之前之時序檢測貨物後 端。 控制器108藉由接收該檢測結果而控制支臂11〇之動作， 以使支臂110之收縮速度自V3變化至V4。 即便如此’實質上不對貨物造成傷害即可效率佳地取入該 貨物。 又，如此，亦可與上述之檢測器1〇5不同而另外具有用以 控制支臂110之收縮動作之檢測器。 進而該其他檢測器亦可為用以檢測爪102與貨物之接觸 之接觸檢測器。該情形時，於爪102與貨物接觸之後，開始 用以使支臂110之收縮速度自V3變化至V4之控制。然而 100121006 24 201206795 即便於錢形時，因爪102以低速之接觸速度％抵接於貨 物之後端，故而村安全且效率佳地移載貨物。 又’支臂110包括頂端部lu、中間部112及基端部113， 藉由該些部分㈣纽桿式結構。⑼，只要支fll0可相 對於貨物之移載方向而進行伸縮，則用以伸縮之結構並不限 定於特定結構。 又支#110亦可藉由轉動而相對於貨物之移載方向進行 伸縮，而抑對於貨物之移載方向呈餘性地伸縮。 又，檢測器105亦可藉由光電感測器以外之類型之感夠器 實現。即，只要為可檢測取入對象之貨物之後端者，_器 105所&用之檢測方法亦可為使用聲音之方法或利用影像 解析之方料，並不限❻狀方法。 以上’基於實施形態對本發明之移載裝置及移載方法進行 了說明。然而，本發明並不限定於上述實施形態。於不脫離 本發明之主旨之範圍内對本實施形態實施熟悉此技藝者所 心到之各種變形而得者、或者組合上述說明之複數個構成要 素而構成之形態亦包含於本發明之範圍内。 (產業上之可利用性） 本發明之移載裝置為以支臂之前端部所具有之爪取入貨 物之移栽裝置’且係可效率佳且安全地移載貨物之移載裝 置因此’本發明作為於工廠及物流倉庫等中進行貨物之搬 送之搬送台車所具有之移載裝置、及用以於物流倉庫等中進 100121006 25 201206795 行貨物之移載之移載方法等而較為有用。 【圖式簡單說明】 圖1係表示本發明之實施形態中移載裝置之構成概要之 圖。 圖2係表示實施形態中移載裝置將貨物載置於支架時之 動作之圖。 圖3係表示實施形態中移載裝置取入貨物時之動作之圖。 圖4係與實施形態中移載裝置之動作之控制系統相關之 方塊圖。 圖5係表示實施形態中移載裝置取入貨物時之支臂之伸 長動作之圖。 圖6係表示實施形態中移載裝置取入貨物之動作中之支 臂之伸長速度之變化例的圖。 圖7係表示實施形態中移載裝置取入貨物時之收縮支臂 之動作之圖。 圖8係表示實施形態中移載裝置取入貨物之動作中之支 臂之收縮速度之變化例之圖。 圖9係實施形態之移載裝置對於支臂之伸縮方向之雙方 進行貨物移載之情形之構成例之圖。 【主要元件符號說明】 100 移載裝置 102、103 爪 100121006 26 201206795 105 105a 105b 108 * 110 • 111 112 113 150 160 200 300 、 301 LI、L2、L3201206795 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to a transfer device for transferring goods such as a holder for holding goods. [Prior Art] Previously, in order to move the cargo between the carriage of the cargo and the transporting trolley of the transported goods, the transporting trolley had a transfer device for the cargo. As a manner of transferring the cargo between the first loading place and the second mounting place, a fork frame method in which the fork is lifted and transferred is exemplified; and a picking belt method in which the belt is slidably transferred and transported is picked up. a gripper method for holding and holding the goods on both sides of the load; and a push-pull method for carrying out the unloading and pulling of the goods by the claws of the telescopic arms, thereby transferring the goods. Further, various techniques for safely transferring the goods for the transfer device are also disclosed. For example, according to Patent Document 1, when the cargo is placed on the scaffold, the sliding fork is controlled by placing the cargo at a position close to the front end of the scaffold. Thereby, it is possible to confirm the authenticity of the goods on the scaffold by sliding the light sensor at the front end of the fork. [Prior Art Document] [Patent Document] Patent Document 1: Japanese Patent Application Laid-Open No. Hei No. Hei 5-208708 (Summary of the Invention) 100121006 3 201206795 (Problems to be Solved by the Invention) The transfer method for the transfer device as described above Various techniques are required in each mode to transfer goods in a safe and efficient manner corresponding to the method. For example, in the case of the above-described push-pull transfer device, the transfer efficiency of the goods can be improved by increasing the elongation speed of the arms. Further, when the transfer device takes in the cargo, the arm in the extended state is contracted', and the claw provided at the tip end portion of the arm abuts against the rear end of the cargo. For this reason, when the arm is contracted, it is desirable to abut the end of the cargo at a low speed as much as possible so as not to damage the cargo. Further, in order to perform this operation, it is necessary to accurately detect the rear end of the cargo to be taken in. Thus, in the transfer device, for detecting the rear end of the cargo, for example, the arm has a detector such as a photodetector for detecting the rear end of the object. Further, when the arm is being extended for taking in the cargo, the rear end of the cargo is detected by the detector. In the transfer device, when the arm is contracted, based on the detection result of the detector, the contraction speed of the arm is decelerated before the claw abuts against the rear end of the cargo, thereby causing the claw to abut the cargo at a low speed. end. However, as described above, the arm is elongated at a high speed in order to improve the transfer efficiency of the cargo. Therefore, the detector detects the rear end of the cargo during the advancement at a high speed. In this case, a delay due to the response time of the detector with respect to the input and the processing time of the controller for calculating the output value from the detector may occur in the detection result of the detector. The degree of error cannot be ignored. Therefore, in the operation control of the transfer device, a problem is generated. 0121006, 201206795 For example, the deceleration start timing of the contraction speed of the arm when the cargo is taken in is based on the detection of the result of the detector based on the detection of the rear end position of the cargo. Decide. Therefore, there is a tendency for the claw to abut against the cargo in a state where the moving speed of the claw is not lowered to a safe speed for the cargo. Of course, in order to prevent this problem, it is also considered to perform the expansion of the arm at a low speed, but this will result in a decrease in the efficiency of the transfer of the cargo, which is not realistic. The present invention has been made in view of the above-mentioned prior problems, and an object thereof is to provide a transfer device and a transfer method capable of taking in a cargo having a claw at a front end portion of the arm, and the transfer device and the transfer method can be moved safely and efficiently Loading goods. Means for Solving the Problems In order to solve the above problems, a transfer device of one aspect of the present invention is a transfer device in which a rigid end portion of the arm has a rear end portion The claw abuts against the rear end of the cargo placed at the first loading place and shrinks the arm, whereby the cargo can be taken into the second loading place, the transfer device comprising: a controller, which controls the above The action of the arm; and the detector, which is provided by the arm, is capable of detecting the rear end of the cargo, and the controller is configured to take the cargo into the second loading place: After the speed is only extended by a certain distance, the elongation speed of the arm is changed to a second speed lower than the first speed; and 卬) after the elongation speed of the arm is changed to the second speed, based on the detection The result of the detection of the rear end of the cargo generated by the benefit causes the extension of the arm to be stopped 100121006 5 201206795, whereby the claw is located further rearward than the rear end of the cargo. According to this configuration, when the cargo is taken in, the arm can be extended at a high speed, and the elongation of the arm can be changed to a low speed in the middle. Further, after the elongation of the arm changes to a low speed, the rear end of the cargo can be detected by the detector. Therefore, according to the transfer device of this type, the arm can be efficiently extended, and the rear end of the cargo can be detected with high precision. Further, since the elongation of the arm is stopped at a low speed from the state in which the elongation speed of the arm is low, the elongation of the arm can be stopped in a state where the distance between the claw and the rear end of the cargo is extremely short. That is, the amount of elongation of the arm for taking in the goods can be minimized. Thus, the transfer device according to the present type can efficiently and safely transfer the load. Further, in the transfer device of the type of the present invention, the controller is such that the claw is located at the rear end of the cargo. After the rear side, (4) the arm is at a third speed (four), thereby causing the claw to approach the rear end of the cargo; and (4) the arm "shrinking speed after the claw abuts the rear end of the cargo, becomes The fourth speed is higher than the fourth speed; thus controlling the action of the arm. According to the #hai composition, the claw for taking in the cargo can be abutted at the rear end of the cargo at a low speed, and then the cargo can be taken in at a high speed. Further, as described above, the elongation of the arm is stopped in a state where the distance between the claw and the rear end of the cargo is very short. Therefore, even if the claw is approached to the rear end of the cargo at a low speed, the period in which the arm is contracted at a low speed is very short, and the overall efficiency of the transfer operation is not lowered. Further, when the arm is contracted, it is not necessary to perform complicated control such as initial contraction at a high speed and deceleration before the claw is about to come into contact with the cargo. X' The transfer device of the present invention, wherein the controller terminates the extension of the arm, and after the detector detects the rear end of the cargo, the arm extends only in the arm. The elongation of the arm is stopped in a state where the position of the claw of the transfer device is at a distance from the position of the detector. According to the configuration, the interval between the rear end of the cargo and the claw in the state in which the elongation of the arm is stopped is not dependent on the size of the depth of the cargo. Thereby, the control for contracting the arms can be made common and easy to be realized regardless of the size of the depth of the goods to be taken. Moreover, in the transfer device of one aspect of the present invention, the controller may cause the arm to contract only at the second speed corresponding to the claw after the claw is located further rearward than the rear end of the cargo. The predetermined distance above the distance from the position of the detector is such that the jaws are proximate to the rear end of the cargo. According to this configuration, when a plurality of cargo j-shapes having different depth sizes are sequentially taken in. After the extension (four) of the arm is completed, the mosquito arm is contracted and fixed, thereby allowing the claw to be safely approached to each goods. That is, when the arms are contracted, it is not necessary to perform different control corresponding to the depth dimensions of the respective cargos, so that it is possible to easily and safely move the load of 100121006 7 201206795. Further, the present invention can realize a transport carriage as a transfer device including any of the above-described types. Further, a transfer method of one form of the present invention is a transfer method performed by the above-described transfer mode device of any type, and when the goods are taken into the second placement place, After the arm is extended by a certain distance at a first speed, the elongation speed of the arm is changed to a second speed lower than the first speed, and the elongation speed of the arm is changed to the second speed. The detection result of the rear end of the cargo detected by the detector stops the elongation of the arm, thereby causing the claw to be located further rearward than the rear end of the cargo. Further, the present invention can also be realized as a program for causing a computer to execute each process included in the transfer method, and as a recording medium for recording the program. Further, the program can also be transmitted via a transmission medium such as the Internet or a recording medium such as a DVD (digital versatile disc). Advantageous Effects of Invention According to the present invention, it is possible to provide a transfer device and a transfer method capable of taking in goods at a tip end portion of a support arm, and the transfer device and the transfer method can efficiently and safely transfer goods. . [Embodiment] A transfer device according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a view showing the outline of the configuration of the transfer device according to the embodiment of the present invention, 100121006 g 201206795. As shown in Fig. 1, the transfer device 100 includes: an arm 110; a claw 102 disposed at a front end portion of the arm 110; a detector 105 disposed at the arm 110; and a controller 108 for controlling the action of the arm 110. Further, in the present embodiment, the transfer device 100 is provided in the transfer carriage 150 that travels in the travel path 160 including two lanes arranged in parallel. That is, the transfer device 100 can move the transport carriages 150 along the travel path 160, and transfer the cargo to each of the plurality of scaffoldings provided in the bracket (not shown in Fig. 1) disposed in front of the transport carriage 150. Further, the transfer device 100 includes two arms 110 which are arranged at a predetermined interval in the left-right direction (X-axis direction). The arms 110 further have claws 103 at the rear end in addition to the claws 102 at the front end portions described above. The claws 102 at the distal end portion and the claws 103 at the rear end portion are respectively expandable and contractible from the arm 110 by being rotated about a rotation axis parallel to the Y-axis direction. Further, the arm 110 includes a distal end portion 111, an intermediate portion 112, and a proximal end portion 113, and these portions constitute a tie rod structure. That is, when the intermediate portion 112 is slid so as to protrude from the proximal end portion 113 by a driving means (not shown), the distal end portion 111 is slid so as to protrude from the intermediate portion 112 in conjunction with the operation. Thereby, the arm 110 is entirely elongated. Further, when the extended arm 110 is contracted, when the intermediate portion 112 is slid back relative to the base end portion 113 by the driving means, the tip end portion 111 is opposed to the middle in conjunction with the action. The manner in which the portion 112 is retracted 100121006 9 201206795 Slip: as such the 'elongate arm 110 contracts. The operation of the arm 11G of this type is controlled by the controller 108 as described above. Controlling the crying 〇Q ^ 1(10) is implemented by a computer including, for example, the input and output of the information, the face processor $, the central processing unit, and the memory. The arm 110 is a transport station + 150 having a communication device connected to the transport trolley (10) via a wired or wireless network. The J, 105 is transferred to the transfer device 1 The device for detecting the goods # is realized by, for example, a photo-electrical sensor. Specifically, the detector 1〇5 detects the rear end of the goods when the transfer load 100 takes in the goods. The & 108 is based on detecting n 1 ( The action of the arm clipping is controlled by the detection result of 5. The specific control content of the controller 108 will be described below using FIG. 5 to FIG. 8. Next, the basic operation of the transfer device 1 is performed using FIGS. 2 and 3. In addition, since the two arms 110 perform the same operation, only one arm 110 will be described below. Fig. 2 is a view showing the transfer device 100 of the embodiment when the goods are placed on the holder 300. Figure of the action. As shown in Figure 2, on the arm 110 The arm 110 is extended in a state in which the claws 1端3 of the end portion protrude in the direction of the cargo 2〇〇. Thereby, the cargo 200 placed on the transport carriage 100121006 201206795 150 is pushed out to the scaffold provided by the bracket 300. 3 shows the movement of the transfer device 1 of the embodiment. As shown in FIG. 3, the claw 102 at the end before the arm 11 is extended to the arm 110 is located at the rear end of the cargo 200 (Fig. 3). After the state of the lower end of the cargo 200 is further rearward, the claw 102 is protruded in the direction of the cargo 200. Further, in this state, the arm 110 is contracted. Thus, the claw 102 can be abutted against the rear end of the cargo 200. The cargo 200 is taken from the scaffolding (first transfer site) of the rack 300 to a specific place (second transfer place) on the transport cart 150. Further, the claw is grasped at the rear end of the cargo. The manner of taking in can also be referred to as a back hook method. When the transfer device 100 takes in the goods 200 in this manner, the operation of the arm is controlled using the detection result of the detector 1〇5 as described above. The control system related to FIG. 4 is a transfer device in the embodiment In the transfer device 100, the detector 105 notifies the controller (10) of the detection result of the inspection. Specifically, the object of the object is reduced by the arm U0 when it is extended by the detector (10): Upon entering the cargo, the controller U) 8 is based on the notification by the detector 105 that the elongation of the rear end of the cargo is stopped at 110. <Detecting the result so that the arm and the controller 108 are extended in the arm 110, the elongation of the arm 110 is reduced, and the speed is decreased, and after the detector 1〇5 detects the cargo after the elongation speed is lowered end. Thus, in the embodiment, the transfer device 100 is characterized in that it is controlled by the controller 1B. Thus, the operation control of the arm 110 by the controller 108 will be specifically described with reference to Figs. 5 to 8 . Fig. 5 is a view showing an extending operation of the arm 110 when the transfer device 1 picks up the goods in the embodiment. As shown in Fig. 5, in the transfer device 100, a region for detecting the rear end of the cargo 2, that is, the rear end detection region is defined. Specifically, using the maximum and minimum values of the depth dimension (the length of the Y-axis direction of the object) of the plurality of goods to be taken in the transfer device 1 , the range of the rear end positions of the plurality of goods is calculated. . As a result, the range from the position of the "rear position Min" to the position of the "rear position Max" in Fig. 5 is defined as the range of the rear end position distribution of the plurality of goods. Further, each of the plurality of goods to be taken in by the transfer device 100 is placed on the basis of the front end of each of the scaffolds placed thereon. That is, the distance between each of the plurality of goods and the front end of the scaffold is fixed. Therefore, the rear end detection area can be defined only by the depth dimension of each of the plurality of goods to be taken in the transfer device 1 . Moreover, the distance between each cargo and the front end of the scaffolding may not be fixed. In this case, for example, if the distance between each cargo and the scaffolding 100121006 12 201206795 is obtained and stored in advance, for example, when the goods are placed on the scaffolding, the distance between the stored goods and the depth of each cargo can be determined. The backend detection area is specified. Further, the position of the rear end position Min is specifically the front side (the direction in which the goods are taken in) of the rear end of the cargo having the smallest depth dimension among the plurality of goods to be taken in the transfer device 1 The way to set. Thus, even when it is convenient to take in the goods of the smallest depth, the rear end of the goods can be surely detected. Further, the back end detection area may be obtained by, for example, the controller 1A8, information on the depth dimension of each of the plurality of goods to be taken in by the transfer device 100, and calculated based on the obtained information. Further, the controller 108 can also acquire pre-generated information indicating the backend detection area via, for example, a network. The detector 105 includes, as shown in Fig. 5, a light projector i 〇 5b that emits light, and a light receiver 105a that detects light emitted from the light projector l 〇 5b. Further, the detector 105 is disposed such that the optical axis is orthogonal to the direction in which the arm 110 is extended (the γ-axis direction), that is, parallel to the X-axis direction and disposed at the end before the arm 11 〇. Further, in the present embodiment, the detector 1〇5 is disposed on the near side (the upper side in Fig. 5) of the claw 1〇2 and is disposed in the vicinity of the claw 102. Therefore, the cargo 200 is disposed on the scaffold of the bracket 300 as shown in FIG. 5, and when the arm 110 is extended from the contracted state, the light from the light projector l5b is temporarily blocked by the cargo 200. Thereafter, the light receiver i〇5a Light from the emitters 1〇5b is detected. Thus, the rear end of the cargo 200 is detected by the detector 105. 100121006 201206795 The controller 108 of the transfer device 100 causes the arm 110 to elongate at a high speed during the period in which the detector 105 enters the rear end detection region as described above, and thereafter the arm 110 is extended at a low speed. Specifically, as shown in Fig. 5, the controller 108 causes the arm 110 to extend only a certain distance (L1) at the first speed. Thereafter, the controller 108 changes the extension speed of the arm 110 to a second speed that is lower than the first speed. Thereafter, the detector 105 detects the rear end of the cargo 200 at a timing at which the arm 110 elongated at a second speed at a low speed extends only L2. Specifically, the light receiver l〇5a detects the light from the light projectors 1〇5b which were previously blocked by the goods 2〇〇. The detector 105 transmits a signal to indicate the detection result to the controller 108. The controller 1〇8 stops the elongation of the arm u〇 based on the detection result. As a result, the elongation of the arm no is stopped in a state where only L3 is extended from the rear end of the cargo 2〇〇 by the detector 1〇5. That is, in the state where the distance between the end of the cargo 2 and the claw 102 is L3, the elongation of the arm 11 is stopped. Specifically, the L3 is a distance corresponding to the position of the claw 1〇2 and the position of the detector 1〇5. For example, in the present embodiment, as shown in FIG. 5, the detector 105 is disposed on the near side of the claw 102 (above FIG. 5), that is, the detector 105 is disposed to confirm whether or not the cargo is near the side of the claw 102. Hey. Therefore, the time point 'claw 1 〇 2' of the light receiver 105a surely passes through the rear end position of the cargo 200 when the light from the lighter 105b is detected during the extension of the arm no. Thus, the controller 108 can, for example, perform stop control corresponding to the speed mode of the arm 11〇 100121006 14 201206795 to stop the elongation of the arm 110 in the shortest time. Specifically, a specific control signal for causing the arm 110 elongated at the second speed to be safely and stopped in the shortest time is transmitted to the driving means of the driving arm 110. Further, if the detector 105 is installed to detect whether or not the cargo 200 is present behind the pawl 102 (below the FIG. 5), then the pawl 1〇2 is detected at the time when the detector 1〇5 detects the rear end of the cargo 200. Do not pass the cargo 2 〇〇 rear end position. Thus, the controller 108 performs a stop control corresponding to the speed mode of the arm 110 to pass only a specific time corresponding to the second speed from the time point when the detector 1〇5 detects the rear end of the cargo 2〇〇 The elongation of the arm 110 is stopped, for example, in the shortest time. In summary, the controller 108 controls the action of the arm 110 to stop the extension of the arm from the time of the pawl 1〇2 through the timing of the rear end position of the cargo 200. As a result, L3 is the distance from the position of the pawl 1〇2 of the transfer device 1〇〇 to the position of the detector 105, and is fixed irrespective of the size of the depth dimension of the cargo to be taken in. Thus, in the embodiment, the controller 1〇8 detects the rear end of the cargo 200 from the detector 1〇5, and only extends the position corresponding to the claw ι2 of the transfer device 1 and the position of the detection 105 at the arm 110. In the state of the distance, the elongation of the arm 11 is stopped. Further, in the present embodiment, the detector 1〇5 is disposed in the vicinity of the claw 1〇2 as described above. Therefore, there is also a case where the position of the light detecting position in the detector 1〇5 is strictly inconsistent with the position of the front surface of the claw 100121006 201206795 (the surface abutting the rear end of the cargo 200). However, even in this case, if the distance in the Y-axis direction between the positions is as small as negligible, the photodetection timing of the photoreceiver l〇5a of the detector 105 can be assumed to be the cargo passing through the claw 102. Timing of the position of the rear end of 200. Namely, L3 can be assumed to be the distance between the rear end of the cargo 200 and the claw 1〇2 in the state where the arm no is extended. Further, for example, the correction of the distance between the detection position of the light in the detector 1〇5 and the position of the front surface of the claw 1〇2 in the γ-axis direction may be performed on the L3 in reality, and the corrected L3 may be performed. It is treated as the distance between the rear end of the cargo 2〇〇 and the claw ι〇2. For example, the setting detector 105 is disposed on the near side of the claw 1〇2, and the distance between the detection position of the light in the detector 105 and the γ-axis direction of the front surface of the claw i〇2 is Mmm. Further, the setting "from the detection of the cargo 200 by the detector 1〇5" is set, and the arm 110 is stopped only by extending L3 = Nmm. In the case of έ海, (N+M) mm can be treated as the corrected L3 (the distance between the rear end of the cargo 200 and the claw 102). The change in the elongation speed of the arm n〇 when the arm u〇 is extended as described above will be described with reference to Fig. 6 . Fig. 6 is a view showing an example of a change in the elongation speed of the arm 110 in the operation of the transfer device in the embodiment. Further, Fig. 6 is a graph showing changes in the elongation speed of each arm 110 when three cargoes having different depth sizes are taken in, for example, 100121006 201206795. As illustrated by the curves, the controller 108 causes the arms 110 to first elongate L1 at a first speed (VI) for either cargo. This VI is, for example, the maximum elongation speed (the highest speed of the empty load) of the arm 11〇 in the state without the cargo load. Specifically, the controller 108 causes the arm 110 to elongate at a specific acceleration and bring the elongation speed to VI. Thereafter, the controller 108 decelerates the elongation of the arm 110 so that the elongation speed becomes the second speed (V2) when the extension distance of the arm 11 is L1. As this V2, even if the response delay of the detector 1〇5 or the like is taken into consideration, the speed (detection speed) of the detection accuracy of the detector 105 is not substantially hindered. Thus, the controller 108 changes the elongation speed of the arm no to the detection speed V2 lower than VI after the arm 110 is extended by L1 at the maximum load speed VI. After the elongation speed of the arm 110 is changed to the detection speed V2 by the control, the rear end of the cargo is accurately detected by the detector 105. When the rear end of the cargo is detected by the detector 105, the controller 108 that acquires the detection result controls the arm 110 so that the arm 110 stops elongating in the shortest time. Thereby, the elongation of the arm 110 is decelerated and stopped. Thus, after the controller 108 changes the elongation speed of the arm 110 to V2, the elongation of the arm 110 is stopped based on the detection result of the cargo rear end detected by the detector 105, whereby the claw 102 is positioned behind the cargo. The end is further back 100121006 17 201206795 square 0 When the goods are taken in, regardless of the size of the depth of the transfer device 100 as described above, the same content is controlled for the arm. The difference in the size of the ice of the goods is only the detection timing of the back end of the goods detected by the detector (10). Therefore, as shown in Fig. 6, each of the windings; the good α does not 'only the arm 110 is extended at a low speed V2. The distance L2 will vary depending on the depth dimension of the f object, from the detection of the cargo to the rear end. The rotation u until the stop is fixed irrespective of the size of the depth dimension of (4). In the transfer device 100, after the arm 11M is extended by the control, the claw 102 is protruded in the cargo direction and the arm 11 is contracted, whereby the cargo can be taken into the transport carriage 15〇. The operation control of the arm 110 when the arm u is contracted in the transfer device 1A will be described with reference to Figs. 7 and 8 . Fig. 7 is a view showing the operation of the contraction arm 110 when the transfer device 1 picks up the goods in the embodiment. The controller 108 of the transfer device 100 contracts the arms 11A after the jaws 102 are positioned further rearward than the rear end of the cargo 200. Thereby, the claw 102 abuts against the rear end of the cargo 200. Specifically, the controller 108 brings the pawl 102 close to the rear end of the cargo 200 by causing the arm 110 to contract at a third speed at a low speed. Further, as described above, in a state where the arm 110 is extended, the distance between the claw 102 100121006 201206795 and the rear end of the cargo 200 is L3, so the controller 1〇8 causes the arm ι to contract only L3 at the third speed. Further, the controller 1〇8 can also cause the arm 11〇 to contract only the corrected L3 at the second speed. Thus, the arm 110 only contracts L3, whereby the pawl 1〇2 abuts against the rear end of the cargo. Or, the pawl 102 moves to the vicinity of the rear end of the cargo 2 (afterwards, even in the case where the rear arm 110 is contracted, the pawl 1 () 2 does not cause damage to the cargo, but the paw 102 and the cargo 2 The rear end becomes close to the position). Thereafter, the controller 108 controls the operation of the arm 11A so that the contraction speed of the arm 110 becomes the fourth speed which is more idling than the second speed after the pawl 1G2 abuts against the rear end of the cargo 2 (9). Thus, the controller (10) causes the arms to contract only L4. As a result, the cargo 2 placed on the scaffolding of the bracket 3 is taken into the transporting carriage 150. Fig. 8 is a view showing an example of a change in the contraction speed of the arm 110 in the operation of the transfer device of the embodiment. In addition, in the same way as the ® 6, the three pieces of goods having different riding sizes are described in the same manner as in the case of (4), and the change in the contraction speed of each arm m is shown. As shown in the graphs, the controller (10) makes the arm ι 收缩 only shrink L3 at the second speed (V3). The V3 is so low that even if the claws 1〇2 are in contact with the cargo, the speed of the material will be mixed (contact 100121006 19 201206795 speed). Here, as described above, L3 is fixed irrespective of the size of the depth dimension of the cargo. Therefore, the controller 1 〇 8 controls the pawl 1 〇 2 to be close to the cargo, and controls the arm 11 〇 to contract only L3 irrespective of the depth dimension of the cargo to be taken in. Further, at this time, the speed is the low speed contact speed V3 as described above, and the claw 102 does not cause damage to the cargo. Further, as shown in Fig. 6, L3 is the braking distance at which the elongation speed of the arm 11 is changed from the detection speed V2 of the low speed to zero. That is, L3 is a very short distance, and even when the arm 11 is contracted at the low contact speed V3, the time required to contract only L3 is extremely short. Further, the distance by which the arm 110 is contracted at the contact speed V3 may be strictly inconsistent with L3. Specifically, in the case where the arm 11 is contracted when the cargo is taken in, the arm 110 is contracted only by a predetermined distance of L3 or more at the contact speed V3. Further, as long as the distance between the contracting arm 110 is extended from L3, it is sufficient to use the response speed of the detector 105, or the measured value of the difference between the distance between the claw 102 and the rear end of the cargo and L3. Thereafter, the controller 108 controls the action of the arm n〇 to cause the arm 110 to contract at the fourth speed (V4) at a high speed. This V4 is, for example, the maximum elongation speed (solid load maximum speed) of the arm 110 in a state where there is a cargo load. Further, the controller 108 causes the arm 110 to contract only the distance required to move the cargo to the transporting carriage 150. Thus, the cargo of the state in which the pawl 1〇2 abuts 100121006 20 201206795 The maximum speed v4 is taken into the transport carriage 15A. Further, the 'L4 system is obtained, for example, by the controller 108 using the rear end position of the cargo obtained when the arm 11 is extended as shown in Fig. 6. For example, L4 = Ll + L2. The controller 108 can also obtain the depth dimension of the cargo in advance and add a specific value to obtain a value of L4. Thus, the embodiment of the transfer device 丨00 is when the goods are taken in. The arm 110 is controlled such that the arm 11 〇 first elongates L1 ' at a high speed empty load maximum speed V1 and enters the rear end detection area after the detector 1 〇 5, so that the elongation speed becomes the low speed detection speed V2. Thereby, the efficiency of the elongation operation of the arm 110 and the accuracy of the detection of the cargo to be taken in can be achieved. Further, the distance between the rear end of the cargo and the claw 102 of the transfer device 100 is corresponding to the position of the claw 102. The distance L of the position of the detector 1〇5 3 (also including the above-mentioned corrected L3, the same applies hereinafter), the arm 11 is stopped from elongating. That is, the distance between the rear end of the cargo and the claw 102 is always independent of the depth dimension of the cargo to be taken in. L3, L3 are substantially the same as the braking distance at low speed elongation, and therefore are very short distances. Thereafter, the transfer device 100 brings the claw 102 close to the cargo by shrinking the arm 110 at a low speed contact speed V3. Then, the contraction speed of the arm ΐι〇 is changed to the high speed real load maximum speed V4, and the cargo is taken into the transport trolley 150. 100121006 21 201206795 Thereby, the claw 1〇2 can be eased when the goods are taken in. The impact of the contact at the rear end of the cargo can prevent damage to the cargo, etc. Further, L3 is a very short distance as described above. Therefore, the time required for the arm no to contract only L3 is very short. For example, after the arm 110 is initially contracted at a high speed, the complex control of changing to a low speed at a point in time when the claw 1〇2 approaches the rear end of the cargo is performed. Further, after the arm 110 is contracted only by L3, the contraction speed of the arm 110 is reduced.To the real load maximum speed V4, that is, the high-speed cargo can be taken in without substantially harming the cargo. As explained above, the transfer device 100 according to the embodiment can efficiently and safely transfer Further, in the present embodiment, as shown in Figs. 5 and 7, the transfer device 100 is set to transfer goods only in one of the expansion and contraction directions (γ-axis directions) of the arms 110. When the arm 110 can be extended not only to the front but also to the rear, the transfer device 100 can also transfer the goods with respect to both of the telescopic directions of the arms 110. Fig. 9 is a view showing an example of the configuration in the case where the transfer of the goods is carried out with respect to both of the transfer direction of the transfer device 〇0 with respect to the extending direction of the arm u〇. In FIG. 9, the holder 3〇〇 and the holder 3〇1 are disposed with the transfer device 100 interposed therebetween. Further, in the transfer device 1 shown in Fig. 9, the detector 1〇5 is also provided in the vicinity of the claw 103 at the end portion after the arm 11〇. 100121006 22 201206795 That is, the transfer device 100 shown in Fig. 9 can also carry out the transfer of the goods 2 to the support 301 on the rear side (above the figure 9). Specifically, when the cargo 200 on the transporting carriage 150 is placed on the bracket 301, the pawl 102 at the front end of the arm 110 functions as an element for pushing out the cargo 2〇〇. Further, in the case where the cargo 200 placed on the holder 301 is taken in, the claw 103 at the rear end portion of the arm 110 functions as an element for taking in the cargo 2〇〇. Further, the operation control of the arm ι1 基于 based on the detection result of the detector 105 in the vicinity of the claw 103 is performed by the controller 108 in the same manner as the operation control of the arm 11 说明 described with reference to Figs. 5 to 8 . That is, the transfer device 100 can also efficiently and safely transfer the cargo 200 to the rear bracket 301. Further, in the present embodiment, the transfer device 100 is set to be disposed in the transport carriage 150 that moves along the travel path 160. However, the transfer device 1 can also be installed in other types of trolleys and the like. The transfer device 100 can also be provided, for example, by an unmanned transport vehicle that does not have a particular travel track. Further, the transfer device 100 may be provided by, for example, a lifting platform of a stacker for transporting and transferring goods in an automatic warehouse. That is, the transfer device 100 can also be disposed in a function that requires the transfer of goods and is allowed to have the front end of the arm 110. <The device in which the claw 102 takes in the goods, and the type of the device is not limited to a specific one. Moreover, the transfer device 100 0 has a pair of right and left arms 110, but if there is at least one arm lio 100121006 23 201206795, the goods can be safely and efficiently transferred according to the size of the processed goods, etc. . Further, the transfer device 1 has an arm 110 so that the arm lio can be advanced above or below the cargo. That is, the transfer device 100 adopts a method in which the claw 102 of the arm 110 grasps the rear end of the cargo and is taken in. The position at which the claw 102 on the cargo is grasped may be the right end or the left end of the cargo. Further, when the transfer device 100 shrinks the arm 110 for taking in the goods, the contraction speed may be changed from V3 to V4 based on, for example, the detection result from the detector 105. Specifically, when the detector 105 is disposed on the near side and the vicinity of the claw 1〇2 as shown in FIG. 5 and the like, when the elongated arm 110 is contracted, the detector 105 is about to abut at the claw 1〇2. The back end of the goods is detected at a time before the back end of the goods. The controller 108 controls the action of the arm 11〇 by receiving the detection result so that the contraction speed of the arm 110 changes from V3 to V4. Even so, the goods can be efficiently taken in without causing damage to the goods. Further, in this manner, unlike the above-described detector 1A5, a detector for controlling the contraction operation of the arm 110 may be additionally provided. Further, the other detector may be a contact detector for detecting contact of the pawl 102 with the cargo. In this case, after the claw 102 comes into contact with the cargo, control for changing the contraction speed of the arm 110 from V3 to V4 is started. However, when the money shape is convenient, since the claw 102 abuts at the rear end of the cargo at a low speed contact speed, the village safely and efficiently transfers the cargo. Further, the arm 110 includes a top end portion lu, an intermediate portion 112, and a base end portion 113, and the portion (4) is a rod-like structure. (9) The structure for stretching and contracting is not limited to a specific structure as long as the branch fll0 can be expanded and contracted with respect to the direction in which the goods are transferred. The branch #110 can also be stretched and contracted with respect to the direction in which the goods are transferred by rotation, and is retractable for the direction in which the goods are transferred. Moreover, the detector 105 can also be realized by a type of sensor other than the photo-inductor. That is, as long as it is the rear end of the goods that can be detected and taken in, the detection method used by the _105 can also be a method using sound or a method of analyzing using images, and is not limited to the method. The above description has been made on the transfer device and the transfer method of the present invention based on the embodiments. However, the present invention is not limited to the above embodiment. It is also within the scope of the present invention to embody various modifications of the present invention, or a combination of the various constituent elements described above, without departing from the spirit and scope of the invention. (Industrial Applicability) The transfer device of the present invention is a transfer device that takes in cargo from the claws at the front end of the arm and is a transfer device that can efficiently and safely transfer goods. The present invention is useful as a transfer device for transporting goods in a factory, a logistics warehouse, or the like, and a transfer method for transporting goods in a warehouse, such as a warehouse, for example, 100121006 25 201206795. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing an outline of a configuration of a transfer device in an embodiment of the present invention. Fig. 2 is a view showing the operation of the transfer device when the load is placed on the holder in the embodiment. Fig. 3 is a view showing the operation of the transfer device when the goods are taken in the embodiment; Fig. 4 is a block diagram showing a control system relating to the operation of the transfer device in the embodiment. Fig. 5 is a view showing the stretching operation of the arm when the transfer device takes in the goods in the embodiment. Fig. 6 is a view showing an example of a change in the elongation speed of the arm during the operation of the transfer device to take in the cargo in the embodiment. Fig. 7 is a view showing the operation of the contraction arm when the transfer device takes in the goods in the embodiment. Fig. 8 is a view showing an example of a change in the contraction speed of the arm in the operation of the transfer device to take in the cargo in the embodiment. Fig. 9 is a view showing an example of a configuration in which the transfer device of the embodiment performs cargo transfer on both of the extension and contraction directions of the arms. [Description of main component symbols] 100 Transfer device 102, 103 Claw 100121006 26 201206795 105 105a 105b 108 * 110 • 111 112 113 150 160 200 300 , 301 LI, L2, L3
VI V2 V3 V4 檢測器 受光器 投光器 控制器 支臂 頂端部 中間部 基端部 搬送台車 移行路 貨物 支架 L4伸長距離 空負載最高速度 檢測用速度 接觸速度 實負載最高速度 100121006 27VI V2 V3 V4 Detector Receiver Emitter Controller Arm Top End Middle End Base Transfer Trolley Travel Path Cargo Bracket L4 Elongation Distance Maximum Load Speed Detection Speed Contact Speed Actual Load Maximum Speed 100121006 27