TW202039337A

TW202039337A - Transfer apparatus

Info

Publication number: TW202039337A
Application number: TW109101626A
Authority: TW
Inventors: 山田文恵; 棚橋哲資
Original assignee: 日商村田機械股份有限公司
Priority date: 2019-01-28
Filing date: 2020-01-17
Publication date: 2020-11-01
Also published as: JP7088322B2; JPWO2020158019A1; WO2020158019A1

Abstract

In this transfer apparatus for taking out parcels stacked within a rack, a portion to be inserted in the rack when taking out a parcel is configured to have a reduced thickness. A picking apparatus 41 is for transferring cases 5 stacked on a shelf 15, and is provided with an elevation platform 37a, a lower arm 51a, an upper arm 51b, a transfer table 57, and a suction pad 59. The lower arm 51a is mounted to the elevation platform 37a and is capable of pivoting about the vertical axis. The upper arm 51b is mounted to the lower arm 51a so as to be capable of pivoting about the vertical axis. The transfer table 57 is mounted to a lower part of on the leading end side of the upper arm 51b so as to be capable of moving back and forth in the horizontal direction and pivoting about the vertical axis. The suction pad 59 is mounted on the leading end side of the transfer table 57 at a height position that overlaps the upper arm 51b in a lateral view, so as to be capable of moving up and down and back and forth.

Description

移載裝置Transfer device

本發明係關於移載裝置，特別是移載被堆疊的貨物的移載裝置。The invention relates to a transfer device, especially a transfer device for transferring stacked goods.

自動倉庫，係主要具有載架、堆高式起重機。載架，係具有上下左右排列的棚架。堆高式起重機，係於載架的附近行走，將貨物對於載架進行入庫或出庫。視不同的自動倉庫，會有於載架的各棚架載置有1個貨物的情形，亦會有於載架的各棚架堆疊有複數個貨物的情形(例如，參照專利文獻1)。Automated warehouses mainly have racks and stacking cranes. The carrier is a scaffold arranged up, down, left and right. The stacker crane is tied to the carrier and moves near the carrier, and the goods are put in or out of the carrier. Depending on the automatic warehouse, there may be a case where one item is placed on each shelf of the carrier, or there may be cases where a plurality of items are stacked on each shelf of the carrier (for example, refer to Patent Document 1).

於專利文獻1，揭示有棧板及箱體自動收納揀選系統。該系統，係藉由具備載架內輸送機及2個昇降台的堆高式起重機，能夠高效地取出貨物。 [先前技術文獻]Patent Document 1 discloses an automatic storage and picking system for pallets and boxes. This system is able to efficiently take out goods by means of a stacker crane equipped with a conveyor in the carrier and two lifting platforms. [Prior Technical Literature]

[專利文獻1] 日本專利第6343358號公報[Patent Document 1] Japanese Patent No. 6343358

[發明所欲解決之問題][The problem to be solved by the invention]

專利文獻1之移載裝置40，係2台皆具有移載輸送機41以及設有吸附頭43的吸附臂42。在此情形，因***至載架內的移載輸送機41及吸附臂42於上下方向排列配置，故會使該等構件的高度方向尺寸較大。因此，即便揀選對象為最低高度的貨物，為了進行揀選，必須確保棚架有充足的上部空間。The transfer device 40 of Patent Document 1 has two transfer conveyors 41 and a suction arm 42 provided with a suction head 43. In this case, since the transfer conveyor 41 and the suction arm 42 inserted into the carrier are arranged side by side in the vertical direction, the height dimension of these members will be larger. Therefore, even if the picking object is the lowest height goods, in order to pick, it is necessary to ensure that the scaffold has sufficient upper space.

本發明之目的，係在於使取出堆疊在載架內的貨物之移載裝置於取出貨物之際***至載架內的部分的厚度減少。 [解決問題之技術手段]The object of the present invention is to reduce the thickness of the part inserted into the carrier when the transfer device for taking out the goods stacked in the carrier when the goods are taken out. [Technical means to solve the problem]

以下，說明作為用以解決課題之手段的複數個型態。該等型態，能夠視需要任意組合。Hereinafter, a plurality of types as means to solve the problem will be explained. These types can be combined as needed.

本發明之其中一觀點之移載裝置，係用以移載堆疊於棚架的貨物的裝置，其具備：基部、下臂、上臂、移載台、吸附墊。下臂，係以能夠對於基部以垂直軸為中心迴旋的方式安裝。上臂，係以能夠對於下臂以垂直軸為中心迴旋的方式安裝。移載台，係於上臂的前端側下部，以能夠往水平方向進退且能夠以垂直軸為中心迴旋的方式安裝。吸附墊，係於移載台的前端側，在側視下與上臂重疊的高度位置，以能夠進退且能夠上下移動的方式安裝。該裝置，係於上臂的下部安裝移載台，並具備高度與上臂重疊的吸附墊，藉此能夠減少取出貨物之際***至載架內的部分(例如上臂、移載台、吸附墊)的厚度。One aspect of the transfer device of the present invention is a device for transferring goods stacked on a shelf, and includes: a base, a lower arm, an upper arm, a transfer platform, and a suction pad. The lower arm is installed in such a way that it can swing around the vertical axis with respect to the base. The upper arm is installed in such a way that it can swing around the vertical axis with respect to the lower arm. The transfer table is attached to the lower part of the front end side of the upper arm, and is installed so that it can advance and retreat in the horizontal direction and can rotate around the vertical axis. The suction pad is attached to the front end side of the transfer table, and is installed at a height position overlapping the upper arm in a side view, so that it can advance and retreat and can move up and down. This device is attached to the lower part of the upper arm to install the transfer table, and is equipped with a suction pad whose height overlaps with the upper arm, thereby reducing the amount of parts (such as upper arm, transfer table, suction pad) inserted into the carrier when taking out the goods thickness.

移載裝置，係進一步具備控制下臂、上臂、移載台及吸附墊的控制器亦可。控制器，係進行以下動作：使吸附墊前進，吸附於貨物，並舉起該貨物，使移載台前進而藉此***該貨物之下的間隙，並使移載台更加前進而將貨物載置於移載台之上。該裝置，因藉由移載台的前進將貨物載置於移載台，故在取得最裡側的貨物的情形，不須使下臂進一步往裡側移動。因此，下臂不會進入棚架內。The transfer device may be further equipped with a controller to control the lower arm, upper arm, transfer table and suction pad. The controller performs the following actions: Advance the adsorption pad, adsorb to the cargo, and lift the cargo, The transfer platform is advanced to insert the gap under the goods, and the transfer platform is advanced to place the goods on the transfer platform. In this device, since the goods are placed on the transfer table by the advance of the transfer table, it is not necessary to move the lower arm further inward when obtaining the innermost goods. Therefore, the lower arm does not enter the scaffold.

移載裝置，係進一步具備間隔件亦可。間隔件，係設於下臂與上臂之間，並具有比移載台的上下方向尺寸更長的上下方向尺寸。該裝置，藉由間隔件，能夠防止下臂與移載台互相干擾。因此，能夠將臂部摺疊得較小。移載裝置，係進一步具備第1墊支承構件、第2墊支承構件亦可。第1墊支承構件，係以能夠於移載台之上往移載方向移動的方式被支承。第2墊支承構件，係能夠對於第1墊支承構件於上下方向移動，並支承吸附墊亦可。 [發明之效果]The transfer device may be further equipped with spacers. The spacer is arranged between the lower arm and the upper arm, and has a vertical dimension that is longer than the vertical dimension of the transfer table. The device, with spacers, can prevent the lower arm and the transfer platform from interfering with each other. Therefore, the arm can be folded small. The transfer device may further include a first pad support member and a second pad support member. The first pad support member is supported so as to be movable in the transfer direction on the transfer table. The second pad support member may be movable in the vertical direction with respect to the first pad support member and may support the suction pad. [Effects of Invention]

本發明之移載裝置，使在取出貨物之際***至載架內的部分的厚度減少。The transfer device of the present invention reduces the thickness of the part inserted into the carrier when taking out the goods.

1.第1實施形態 (1)自動倉庫系統整體的說明1. The first embodiment (1) Description of the overall automatic warehouse system

使用圖1及圖2，說明自動倉庫系統1。圖1，係自動倉庫系統的示意性俯視圖。圖2，係自動倉庫系統的示意性側視圖。Using Figure 1 and Figure 2, the automatic warehouse system 1 will be explained. Figure 1 is a schematic top view of the automated warehouse system. Figure 2 is a schematic side view of the automatic warehouse system.

自動倉庫系統1，係用以收納及揀選棧板3及箱體5(貨物之一例)的系統。於棧板3，堆疊有複數個箱體5。具體而言，複數個箱體5，係相同種類的商品，於棧板3上以往上下前後左右堆疊的方式載置。亦即，多個箱體5，係於棧板3上以排齊狀態載置。又，於以下僅稱棧板3時，亦有指堆疊了複數個箱體5的棧板3的情形。自動倉庫系統1，係具有第1載架11、第2載架13。第1載架11與第2載架13係並排配置，於兩者之間設有行走通道19。第1載架11，係具有複數列之複數層用以保管棧板3的棚架15。第2載架13，係具有複數列之複數層用以保管棧板3的棚架15。第2載架13，係進一步具有移出箱體用的出庫輸送機17。出庫輸送機17，係配置於第2載架13內，並沿著第2載架13的延伸方向延伸。出庫輸送機17，係配置於第2載架13的上下方向中間位置。出庫輸送機17，係例如滾輪輸送機，1個1個地將箱體5出庫搬運。又，於以下的說明中，以第1載架11及第2載架13所延伸的水平方向作為第1方向(箭號Y)，以正交於第1方向的水平方向作為第2方向(箭號X)。The automatic warehouse system 1 is a system for storing and picking pallets 3 and boxes 5 (an example of goods). On the pallet 3, a plurality of boxes 5 are stacked. Specifically, a plurality of boxes 5 are products of the same type, and are placed on the pallet 3 in a conventional manner of stacking up, down, front, and rear. That is, a plurality of boxes 5 are placed on the pallet 3 in an aligned state. In addition, when only referring to the pallet 3 below, it may also refer to the pallet 3 in which a plurality of boxes 5 are stacked. The automatic warehouse system 1 has a first carrier 11 and a second carrier 13. The first carrier 11 and the second carrier 13 are arranged side by side, and a walking channel 19 is provided between the two. The first carrier 11 is a scaffold 15 having a plurality of rows of multiple layers for storing the pallet 3. The second carrier 13 is a scaffold 15 having plural rows of plural layers for storing the pallets 3. The second carrier 13 further has an outbound conveyor 17 for removing the box. The outbound conveyor 17 is arranged in the second carrier 13 and extends along the extending direction of the second carrier 13. The outbound conveyor 17 is arranged at an intermediate position of the second carrier 13 in the vertical direction. The outbound conveyor 17 is, for example, a roller conveyor, and transports the boxes 5 out of the warehouse one by one. In the following description, the horizontal direction in which the first carrier 11 and the second carrier 13 extend is the first direction (arrow Y), and the horizontal direction orthogonal to the first direction is the second direction ( Arrow X).

自動倉庫系統1，係具有於行走通道19行走的棧板起重機21、箱體起重機23。棧板起重機21，係將棧板3在各棚架15之間進行移載。並且，棧板起重機21，係進行空棧板的回收或貨物的替換動作。箱體起重機23，係揀選載置於棚架15的箱體5。The automatic warehouse system 1 is provided with a pallet crane 21 and a box crane 23 that travel on a traveling aisle 19. The pallet crane 21 is used to transfer the pallet 3 between the scaffolds 15. In addition, the pallet crane 21 performs an operation of collecting empty pallets or replacing goods. The box crane 23 selects the boxes 5 placed on the scaffold 15.

如圖1及圖2所示，箱體起重機23，係配置於棧板起重機21的右側。箱體起重機23係反覆從作為基點的棧板站16往終點方向(第1方向右側)進行箱體5的揀選作業而移出至出庫輸送機17，棧板起重機21係將棧板3收納至從基點至箱體起重機23當前之可移動區域的棚架15。當箱體起重機23到達終點，且棧板起重機21亦同樣地移動至終點，則棧板起重機21及箱體起重機23不進行收納或揀選便返回棧板站16。以該協同動作作為1循環進行連續處理。棧板站16，係具有輸送機，在此與棧板起重機21進行棧板3的授予，以及與堆高機(未圖示)進行棧板3的授予。又，箱體起重機23，與前述揀選動作不同，為了將貨物對於相同出庫目標連續進行出庫，而一邊於遠離行走方向的位置移動一邊反覆進行揀選亦可。又，箱體起重機23，亦能夠將箱體5收納至第1載架11或第2載架13。棧板起重機21，亦揀選棧板3，並將其搬運至作為基點的棧板站16。As shown in FIGS. 1 and 2, the box crane 23 is arranged on the right side of the pallet crane 21. The box crane 23 is to carry out the picking operation of the box 5 from the pallet station 16 as the base point (on the right side of the first direction) repeatedly to the outbound conveyor 17, and the pallet crane 21 stores the pallet 3 from The scaffold 15 from the base point to the current movable area of the box crane 23. When the box crane 23 reaches the end point and the pallet crane 21 also moves to the end point, the pallet crane 21 and the box crane 23 return to the pallet station 16 without storing or sorting. Continuous processing is performed using this coordinated action as one cycle. The pallet station 16 is equipped with a conveyor, and the pallet 3 is awarded with the pallet crane 21 and the pallet 3 is awarded with the stacker (not shown). In addition, the box crane 23, unlike the aforementioned picking operation, may repeatedly pick the goods while moving to a position away from the traveling direction in order to continuously deliver the goods to the same delivery destination. In addition, the box crane 23 can also store the box 5 in the first carrier 11 or the second carrier 13. The pallet crane 21 also selects the pallet 3 and transports it to the pallet station 16 as the base point.

(2)棧板起重機棧板起重機21，係如圖4(後述)所示，具有行走裝置25、昇降裝置27及移載裝置29。行走裝置25，係具有馬達、動力傳達機構、車輪之公知的構成。昇降裝置27，係裝載於行走裝置25，使移載裝置29昇降。昇降裝置27，係具有塔、昇降台、馬達、動力傳達機構之公知的構成。移載裝置29，係將棧板3移載至棚架15。(2) Pallet crane The pallet crane 21 is provided with a traveling device 25, a lifting device 27, and a transfer device 29 as shown in FIG. 4 (described later). The traveling device 25 has a well-known structure of a motor, a power transmission mechanism, and wheels. The lifting device 27 is mounted on the traveling device 25 to lift the transfer device 29 up and down. The lifting device 27 has a well-known structure of a tower, a lifting platform, a motor, and a power transmission mechanism. The transfer device 29 transfers the pallet 3 to the scaffold 15.

(3)箱體起重機箱體起重機23，係如圖4所示，具有行走裝置35、昇降裝置37，以及一對揀選裝置41(移載裝置之一例)。行走裝置35，係具有馬達、動力傳達機構、車輪之公知的構成。昇降裝置37，係裝載於行走裝置35，且係具有塔、一對昇降台37a、馬達、動力傳達機構之公知的構成。一對揀選裝置41，係分別裝載於一對昇降台37a，並能夠彼此獨立昇降。一對揀選裝置41，係分別具有馬達、動力傳達機構。(3) Box crane The box crane 23, as shown in FIG. 4, has a traveling device 35, a lifting device 37, and a pair of picking devices 41 (an example of a transfer device). The traveling device 35 has a well-known structure of a motor, a power transmission mechanism, and wheels. The lifting device 37 is mounted on the traveling device 35, and has a well-known structure including a tower, a pair of lifting platforms 37a, a motor, and a power transmission mechanism. The pair of picking devices 41 are respectively mounted on a pair of lifting platforms 37a and can be lifted and lowered independently of each other. The pair of picking devices 41 each have a motor and a power transmission mechanism.

揀選裝置41，作為概略動作，係從於第1載架11或第2載架13的棚架15以堆疊狀態被保管的箱體5揀選1個，接著移出至出庫輸送機17。As a rough operation, the picking device 41 picks one from the box 5 stored in the stacked state on the shelf 15 of the first carrier 11 or the second carrier 13, and then moves it out to the outbound conveyor 17.

揀選裝置41，係如圖3所示，具有關節型機械手臂(Selective Compliance Assembly Robot Arm, SCARA )51、用以使關節型機械手臂51對於作為昇降台37a的一部分之基部以上下方向軸為中心迴旋的迴旋裝置53。圖3，係揀選裝置的示意性局部正視圖。關節型機械手臂51，係公知技術，使臂部結構迴旋，藉此使彎曲為V字的臂部結構筆直地伸展，而藉此能夠使前端往第1載架11或第2載架13側移動。關節型機械手臂51，係具有下臂51a、上臂51b。下臂51a的基端，係以能夠對於迴旋裝置53繞垂直軸迴旋的方式安裝。上臂51b的基端，係以能夠對於下臂51a的前端繞垂直軸迴旋的方式安裝。又，關節型機械手臂51的下臂51a的基端，係連結至機械手臂驅動裝置81(後述)的馬達(未圖示)，關節型機械手臂51，係具有用以使當下臂51a迴旋則上臂51b連動而迴旋的鏈條連動機構(未圖示)。The picking device 41, as shown in Figure 3, has an articulated robot arm (Selective Compliance Assembly Robot Arm, SCARA ) 51. A swiveling device 53 for making the articulated robot arm 51 swivel about the vertical axis of the base as a part of the lifting platform 37a. Figure 3 is a schematic partial front view of the picking device. The articulated robot arm 51 is a well-known technology that rotates the arm structure to extend the arm structure bent in a V shape straight, and thereby can move the front end toward the first carrier 11 or the second carrier 13 mobile. The articulated robot arm 51 has a lower arm 51a and an upper arm 51b. The base end of the lower arm 51a is attached so as to be capable of turning around a vertical axis with respect to the turning device 53. The base end of the upper arm 51b is attached so as to be able to rotate around the vertical axis with respect to the front end of the lower arm 51a. In addition, the base end of the lower arm 51a of the articulated robot arm 51 is a motor (not shown) connected to the robot arm driving device 81 (described later), and the articulated robot arm 51 has a method for rotating the lower arm 51a. A chain interlocking mechanism (not shown) in which the upper arm 51b rotates in tandem.

揀選裝置41，係具有移載台57。移載台57，係於上臂51b的前端側下部，以能夠往第2方向進退的方式安裝。並且，移載台57，係以能夠對於上臂51b迴旋的方式安裝。具體而言，於上臂51b的前端下部，如圖3所示，以旋轉自如的方式設有基部61。移載台57，係以對於基部61的導引部(未圖示)往第2方向移動自如的方式被支承，並且透過齒條與小齒輪機構(未圖示)連結至基部61。因此，藉由齒條與小齒輪機構之馬達驅動，移載台57能夠對於上臂51b的前端往第2方向移動。具體而言，移載台57，係能夠在前端接近上臂51b之前端的第1位置與前端最遠離上臂51b的前端之第2位置之間移動。於移載台57的前端，以旋轉自如的方式裝設有滾輪58。揀選裝置41，係具有吸附墊59。吸附墊59，係於移載台57的前端側以能夠往第2方向及上下方向移動的方式安裝。具體而言，如圖3所示，第1墊支承構件62係被移載台57支承，具體而言，係被固定於以涵蓋移載台57的第2方向延伸的皮帶機構(未圖示)之皮帶(未圖示)。因此，藉由皮帶機構之馬達驅動，第1墊支承構件62能夠於移載台57之上往第2方向移動。又，取代皮帶機構，使用鏈條機構亦可。並且，第2墊支承構件63以對於第1墊支承構件62的導引部(未圖示)往上下方向移動自如的方式被支承，並且以對於第1墊支承構件62能夠藉由齒條與小齒輪(rack and pinion)機構昇降的方式安裝。又，吸附墊59，係以對於第2墊支承構件63能夠擺首的方式安裝。吸附墊59的高度位置，係對於上臂51b在側視下重疊的位置(吸附墊59的至少一部分被包含在對應於上臂51b的上下方向尺寸的高度區域A內)。又，取代齒條與小齒輪機構，使用電動缸或氣壓缸般之其他直動驅動亦可。The sorting device 41 has a transfer platform 57. The transfer table 57 is attached to the lower part of the front end side of the upper arm 51b, and is attached so as to be able to advance and retreat in the second direction. In addition, the transfer table 57 is attached so as to be rotatable with respect to the upper arm 51b. Specifically, as shown in FIG. 3, a base 61 is provided at the lower part of the front end of the upper arm 51b in a rotatable manner. The transfer table 57 is supported so as to be freely movable in the second direction with respect to a guide portion (not shown) of the base 61, and is connected to the base 61 through a rack and pinion mechanism (not shown). Therefore, by the motor drive of the rack and pinion mechanism, the transfer table 57 can move in the second direction with respect to the front end of the upper arm 51b. Specifically, the transfer table 57 is movable between a first position where the front end is close to the front end of the upper arm 51b and a second position where the front end is farthest from the front end of the upper arm 51b. At the front end of the transfer table 57, a roller 58 is rotatably installed. The sorting device 41 has an adsorption pad 59. The suction pad 59 is attached to the front end side of the transfer table 57 so as to be movable in the second direction and the vertical direction. Specifically, as shown in FIG. 3, the first pad support member 62 is supported by the transfer table 57, specifically, is fixed to a belt mechanism (not shown) extending in the second direction to cover the transfer table 57 ) Of the belt (not shown). Therefore, the first pad support member 62 can be moved in the second direction on the transfer table 57 by the motor drive of the belt mechanism. Also, instead of the belt mechanism, a chain mechanism may be used. In addition, the second pad support member 63 is supported so as to be freely movable in the vertical direction with respect to the guide portion (not shown) of the first pad support member 62, and the first pad support member 62 can be connected to the first pad support member 62 by a rack. The rack and pinion mechanism is installed in the manner of lifting. In addition, the suction pad 59 is attached so as to be able to swing its head to the second pad support member 63. The height position of the suction pad 59 is a position where the upper arm 51b overlaps in a side view (at least a part of the suction pad 59 is included in the height area A corresponding to the vertical dimension of the upper arm 51b). Also, instead of the rack and pinion mechanism, other direct-acting drives such as electric cylinders or pneumatic cylinders can be used.

更具體而言，吸附墊59的上下方向尺寸與上臂51b的上下方向尺寸幾乎相同。並且，吸附墊59的上表面係位於比上臂51b的上表面更低的位置，吸附墊59的下表面係位於比上臂51b的下表面更低的位置。作為變形例，吸附墊59配置於比圖3的位置更高的位置亦可。在此情形，具體而言，吸附墊59的上表面係位於比上臂51b的上表面更低的位置，吸附墊59的下表面係位於比上臂51b的下表面更高的位置。亦即，吸附墊59，係被容納在上臂51b的高度區域A內。作為其他變形例，吸附墊59配置於更高的位置亦可。在此情形，具體而言，吸附墊59的上表面係位於比上臂51b的上表面更高的位置，吸附墊59的下表面係位於上臂51b的上表面與下表面之間的位置。More specifically, the vertical dimension of the suction pad 59 is almost the same as the vertical dimension of the upper arm 51b. In addition, the upper surface of the suction pad 59 is located lower than the upper surface of the upper arm 51b, and the lower surface of the suction pad 59 is located lower than the lower surface of the upper arm 51b. As a modified example, the suction pad 59 may be arranged at a position higher than the position in FIG. 3. In this case, specifically, the upper surface of the suction pad 59 is located at a lower position than the upper surface of the upper arm 51b, and the lower surface of the suction pad 59 is located at a higher position than the lower surface of the upper arm 51b. That is, the suction pad 59 is accommodated in the height area A of the upper arm 51b. As another modification, the suction pad 59 may be arranged at a higher position. In this case, specifically, the upper surface of the suction pad 59 is located at a higher position than the upper surface of the upper arm 51b, and the lower surface of the suction pad 59 is located between the upper surface and the lower surface of the upper arm 51b.

揀選裝置41，係進一步具備間隔件60。間隔件60，係設於下臂51a與上臂51b之間。間隔件60，係具有比移載台57的上下方向尺寸(亦即上下方向的厚度，且係從移載台57與下臂51a的安裝部分至下臂51a的***部分的下端之長度)更長的上下方向尺寸。藉由間隔件60，能夠防止下臂51a與移載台57互相干擾。因此，能夠將關節型機械手臂51摺疊得較小。The sorting device 41 is further provided with a spacer 60. The spacer 60 is arranged between the lower arm 51a and the upper arm 51b. The spacer 60 is larger than the vertical dimension of the transfer table 57 (that is, the thickness in the vertical direction, and the length from the installation part of the transfer table 57 and the lower arm 51a to the lower end of the insertion part of the lower arm 51a) Long vertical dimension. With the spacer 60, the lower arm 51a and the transfer table 57 can be prevented from interfering with each other. Therefore, the articulated robot arm 51 can be folded small.

(4)自動倉庫系統的控制構成圖4，說明自動倉庫系統1的控制構成。圖4，係表示自動倉庫系統的控制構成的方塊圖。自動倉庫系統1，係具有控制器71(控制部之一例)。控制器71，係具有處理器(例如CPU)、記憶裝置(例如ROM、RAM、HDD、SSD等)、各種介面(例如A/D轉換器、D/A轉換器、通訊介面等)的電腦系統。控制器71，係執行儲存於記憶部(對應於記憶裝置的記憶區域之一部分或全部)的程式，藉此進行各種控制動作。(4) Control composition of automatic warehouse system FIG. 4 illustrates the control structure of the automatic warehouse system 1. Figure 4 is a block diagram showing the control structure of the automated warehouse system. The automatic warehouse system 1 has a controller 71 (an example of a control unit). The controller 71 is a computer system with a processor (such as CPU), a memory device (such as ROM, RAM, HDD, SSD, etc.), and various interfaces (such as A/D converter, D/A converter, communication interface, etc.) . The controller 71 executes programs stored in the memory portion (corresponding to part or all of the memory area of the memory device), thereby performing various control actions.

控制器71，雖以單一的處理器構成亦可，然而為了進行各種控制而以複數個處理器構成亦可。以能夠藉由構成控制部的電腦系統執行的程式，來實現控制器71的各要素的功能的一部分或全部亦可。另外，控制器71的各要素的功能的一部分，由客製化IC構成亦可。Although the controller 71 may be configured with a single processor, it may be configured with a plurality of processors in order to perform various controls. A part or all of the functions of each element of the controller 71 may be realized by a program that can be executed by the computer system constituting the control unit. In addition, a part of the function of each element of the controller 71 may be constituted by a customized IC.

控制器71，係控制出庫輸送機17、行走裝置25、昇降裝置27、移載裝置29、行走裝置35、昇降裝置37、迴旋裝置53、機械手臂驅動裝置81、移載台驅動裝置82、吸引裝置83、吸附墊驅動裝置84。機械手臂驅動裝置81，係使關節型機械手臂51進退。具體而言，機械手臂驅動裝置81的馬達(未圖示)驅動鏈條連動機構(未圖示)，藉此當下臂51a的基端迴旋則上臂51b會連動而迴旋。藉此，關節型機械手臂51，能夠擺出彎曲為V字的姿勢，以及筆直地往載架側延伸的姿勢。移載台驅動裝置82，係使移載台57對於上臂51b進退。並且，移載台57，係能夠對於上臂51b迴旋。又，移載台57與上臂51b係藉由鏈條(未圖示)連接，兩者係連動而旋轉。藉此，即便關節型機械手臂51迴旋，移載台57亦能夠筆直地朝向前方。吸引裝置83，係進行吸附墊59之吸引及解除。吸附墊驅動裝置84，係使吸附墊59對於移載台57往上下方向及第2方向移動。The controller 71 controls the delivery conveyor 17, traveling device 25, lifting device 27, transfer device 29, traveling device 35, lifting device 37, turning device 53, robotic arm drive device 81, transfer table drive device 82, suction Device 83, suction pad driving device 84. The robot arm driving device 81 moves the articulated robot arm 51 forward and backward. Specifically, a motor (not shown) of the robot arm driving device 81 drives a chain linkage mechanism (not shown), whereby when the base end of the lower arm 51a rotates, the upper arm 51b rotates in conjunction. Thereby, the articulated robot arm 51 can assume a posture that is bent into a V shape and a posture that extends straight to the carrier side. The transfer table driving device 82 advances and retreats the transfer table 57 with respect to the upper arm 51b. In addition, the transfer table 57 is capable of turning around the upper arm 51b. In addition, the transfer table 57 and the upper arm 51b are connected by a chain (not shown), and they rotate in conjunction with each other. Thereby, even if the articulated robot arm 51 turns, the transfer table 57 can be directed straight forward. The suction device 83 performs suction and release of the suction pad 59. The suction pad driving device 84 moves the suction pad 59 in the vertical direction and the second direction with respect to the transfer table 57.

於控制器71，雖未圖示，連接有檢測出棧板3或箱體5的大小、形狀及位置之感測器，檢測出各裝置的狀態之感測器及開關，以及資訊輸入裝置。Although not shown in the figure, the controller 71 is connected with a sensor for detecting the size, shape and position of the pallet 3 or box 5, sensors and switches for detecting the state of each device, and an information input device.

(5)揀選･移出控制動作說明控制器71所進行之揀選･移出控制動作。 (5-1)揀選動作使用圖3、圖5～圖16，說明揀選裝置41之箱體揀選動作的流程。又，於示意性正視圖中，為了使圖式簡略化，係省略基部61、第1墊支承構件62。(5) Pick and remove control action Explain the selection and removal control actions performed by the controller 71. (5-1) Picking action Using Fig. 3, Fig. 5-16, the flow of the box picking action of the picking device 41 will be explained. In the schematic front view, in order to simplify the drawing, the base 61 and the first pad supporting member 62 are omitted.

首先，揀選裝置41移動至控制器71所指定的小箱體5A的揀選位置。該實施形態的小箱體5A，係最小高度的貨物。小箱體5A，係堆疊於1個棧板(未圖示)之上。如圖3所示，移載台57及吸附墊59往小箱體5A前進。具體而言，移載台57係藉由移載台驅動裝置82前進驅動，吸附墊59係追隨移載台57前進。在此情形，係於上臂51b的下部安裝移載台57，並具備與高度與上臂51b重疊的吸附墊59，故能夠減少取出箱體5之際***至第1載架11或第2載架13內的部分(例如上臂51b、移載台57、吸附墊59)的厚度。因此，如圖3所示，能夠將最上層的小箱體5A與棚架15的頂板15a的間隙B維持得較小。如圖5所示，吸附墊59被往小箱體5A側按壓。具體而言，吸附墊59藉由吸附墊驅動裝置84對於移載台57前進驅動。並且，接下來進行吸引，藉此吸附墊59會吸附小箱體5A。First, the picking device 41 moves to the picking position of the small box 5A designated by the controller 71. The small box 5A of this embodiment is a cargo of the smallest height. The small box 5A is stacked on a pallet (not shown). As shown in FIG. 3, the transfer table 57 and the suction pad 59 advance to the small box 5A. Specifically, the transfer table 57 is driven forward by the transfer table driving device 82, and the suction pad 59 follows the transfer table 57 to move forward. In this case, the transfer table 57 is attached to the lower part of the upper arm 51b, and is equipped with a suction pad 59 that overlaps the upper arm 51b in height, so that it is possible to reduce the insertion into the first carrier 11 or the second carrier when taking out the box 5 The thickness of the part inside 13 (for example, upper arm 51b, transfer table 57, suction pad 59). Therefore, as shown in FIG. 3, the gap B between the uppermost small box 5A and the top plate 15a of the shelf 15 can be kept small. As shown in FIG. 5, the suction pad 59 is pressed toward the small box 5A side. Specifically, the suction pad 59 is driven forward to the transfer table 57 by the suction pad driving device 84. Then, suction is performed next, whereby the suction pad 59 suctions the small box 5A.

如圖6所示，吸附墊59上昇，藉此舉起小箱體5A。具體而言，吸附墊59藉由吸附墊驅動裝置84對於移載台57上昇驅動。又，小箱體5A係成為前表面被吸附墊59舉起而傾斜的狀態。如圖6所示，使移載台57前進而藉此***小箱體5A之下的間隙，並使移載台57進一步前進而將小箱體5A載置於移載台57之上。此時，滾輪58抵接於如前述般的傾斜狀態之小箱體5A的下表面，藉此小箱體5A會於移載台57之上順暢地移動。As shown in FIG. 6, the suction pad 59 rises, thereby lifting the small box 5A. Specifically, the suction pad 59 is driven to lift the transfer table 57 by the suction pad driving device 84. In addition, the small box 5A is in a state where the front surface is lifted by the suction pad 59 and inclined. As shown in FIG. 6, the transfer table 57 is advanced to insert the gap under the small box 5A, and the transfer table 57 is further advanced to place the small box 5A on the transfer table 57. At this time, the roller 58 abuts on the lower surface of the small box 5A in the inclined state as described above, whereby the small box 5A moves smoothly on the transfer table 57.

此時進入棚架15的僅止於上臂51b，下臂51a未進入棚架15內。作為將箱體5載置於移載台57的方法，因如前述般將移載台57***至箱體5的下方，故不須於移載台57設置皮帶輸送機等之驅動機構，因此能夠達成薄型化。並且，有作為揀選對象的箱體5不致對於其下之箱體5大力滑動之優點。又，取代將移載台57***箱體5之下，使吸附墊59對於移載台57移動至當前側而藉此將箱體5載置於移載台57亦可。At this time, only the upper arm 51b enters the scaffold 15 and the lower arm 51a does not enter the scaffold 15. As a method of placing the box 5 on the transfer table 57, since the transfer table 57 is inserted below the box 5 as described above, it is not necessary to provide a driving mechanism such as a belt conveyor on the transfer table 57. Able to be thinner. In addition, there is an advantage that the box 5 as the selected object does not vigorously slide against the box 5 below it. Moreover, instead of inserting the transfer table 57 under the box body 5, the suction pad 59 may be moved to the front side with respect to the transfer table 57 to thereby place the box body 5 on the transfer table 57.

如圖7所示，將移載台57收回至關節型機械手臂51側，並且使吸附墊59對於移載台57往關節型機械手臂51側移動。如圖8及圖9所示，使關節型機械手臂51摺疊，藉此將小箱體5A收回至昇降台37a側。此時，藉由間隔件60，能夠防止下臂51a與移載台57互相干擾。As shown in FIG. 7, the transfer table 57 is retracted to the articulated robot 51 side, and the suction pad 59 is moved to the articulated robot 51 side with respect to the transfer table 57. As shown in FIGS. 8 and 9, the articulated robot arm 51 is folded to retract the small box 5A to the side of the lifting platform 37a. At this time, the spacer 60 can prevent the lower arm 51 a and the transfer table 57 from interfering with each other.

(5-2)移出動作接著，使昇降台37a昇降至對應於出庫輸送機17的位置。如圖10所示，使移載台57移動至第1載架11側。如圖11及圖12所示，使迴旋裝置53迴旋，藉此使移載台57的前端朝向第2載架13側。如圖13所示，能夠在保持著小箱體5A的狀態下使移載台57移動至第2載架13側。(5-2) Move out Next, the lifting platform 37a is raised and lowered to a position corresponding to the outgoing conveyor 17. As shown in FIG. 10, the transfer table 57 is moved to the first carrier 11 side. As shown in FIG. 11 and FIG. 12, the turning device 53 is turned so that the front end of the transfer table 57 faces the second carriage 13 side. As shown in FIG. 13, the transfer table 57 can be moved to the second carrier 13 side while holding the small box 5A.

如圖14及圖15所示，使吸附墊59及移載台57移動至第2載架13側。如圖16所示，接著使吸附墊59對於移載台57移動，再接著使吸附解除，藉此將小箱體5A移出至出庫輸送機17之上。As shown in FIGS. 14 and 15, the suction pad 59 and the transfer table 57 are moved to the second carrier 13 side. As shown in FIG. 16, the suction pad 59 is then moved to the transfer table 57, and then the suction is released, whereby the small box 5A is moved out onto the outgoing conveyor 17.

2.實施形態的特徵前述實施形態中，係能夠如以下般說明。揀選裝置41(移載裝置之一例)，係用以移載堆疊於棚架15(棚架之一例)的箱體5(貨物之一例)的裝置，其具備：昇降台37a(基部之一例)、下臂51a(下臂之一例)、上臂51b(上臂之一例)、移載台57(移載台之一例)、吸附墊59(吸附墊之一例)。下臂51a，係以能夠對於昇降台37a以垂直軸為中心迴旋的方式安裝。上臂51b，係以能夠對於下臂51a以垂直軸為中心迴旋的方式安裝。移載台57，係於上臂51b的前端側下部，以能夠往水平方向進退且能夠以垂直軸為中心迴旋的方式安裝。吸附墊59，係於移載台57的前端側，在側視下與上臂51b重疊的高度位置，以能夠進退且能夠上下移動的方式安裝。2. Features of the implementation form In the foregoing embodiment, the description can be made as follows. The picking device 41 (an example of the transfer device) is a device for transferring the box 5 (an example of the goods) stacked on the scaffold 15 (an example of the scaffold), and includes: a lifting platform 37a (an example of a base) , Lower arm 51a (an example of lower arm), upper arm 51b (an example of upper arm), transfer table 57 (an example of transfer table), and adsorption pad 59 (an example of adsorption pad). The lower arm 51a is installed so as to be able to swing around the vertical axis with respect to the lifting platform 37a. The upper arm 51b is attached so as to be able to swing around the vertical axis with respect to the lower arm 51a. The transfer table 57 is attached to the lower part of the front end side of the upper arm 51b, and is mounted so as to be able to advance and retreat in the horizontal direction and to be able to rotate around the vertical axis. The suction pad 59 is attached to the front end side of the transfer table 57 at a height position overlapping the upper arm 51b in a side view, and is attached so as to be able to advance and retreat and move up and down.

該裝置，係於上臂51b的下部安裝移載台57，並具備高度與上臂51b重疊的吸附墊59，藉此能夠減少取出箱體5之際***至第1載架11內的部分的厚度。In this device, the transfer table 57 is attached to the lower part of the upper arm 51b, and the suction pad 59 is provided with a height overlapping the upper arm 51b. This reduces the thickness of the portion inserted into the first carrier 11 when the box 5 is taken out.

3.其他實施形態以上，雖針對本發明的複數個實施形態進行了說明，然本發明不限於前述實施形態，在不脫離本發明的主旨的範圍可進行各種變更。特別是，本說明書所記載之複數個實施形態及變形例能夠視需要任意組合。於前述實施形態中，移載裝置係設於自動倉庫的堆高式起重機，然而設於其他種類的搬運車或固定位置亦可。3. Other implementation forms In the above, although a plurality of embodiments of the present invention have been described, the present invention is not limited to the foregoing embodiments, and various modifications can be made without departing from the spirit of the present invention. In particular, the plural embodiments and modifications described in this specification can be combined arbitrarily as needed. In the foregoing embodiment, the transfer device is installed in the stacker crane of the automatic warehouse, but it may be installed in other types of transport vehicles or fixed positions.

堆高式起重機的種類並未特別限定。設有1台昇降台的堆高式起重機亦能夠運用本發明。於前述實施形態中，雖揀選動作及移出動作的對象係1個箱體，然而前述2個動作的對象係複數個箱體亦可。於前述實施形態中，雖出庫輸送機為1層，然而為複數層亦可。The type of stacker crane is not particularly limited. A stacker crane equipped with a lifting platform can also use the present invention. In the foregoing embodiment, although the object of the picking operation and the removal operation is one box, the objects of the two operations may be multiple boxes. In the foregoing embodiment, although the outbound conveyor has one layer, it may have multiple layers.

於前述實施形態中，移載台於第2方向具有充足的長度，故即便在揀選位於最裡側的箱體時，關節型機械手臂的下臂亦不須進入載架內。作為變形例，使移載台比前述實施形態在第2方向更短亦可。在此情形，例如，雖在取出當前側的貨物時不使下臂進入載架內亦可，然而在取出裡側的貨物時會使下臂進入載架內。於前述實施形態中，關節型機械手臂係於下臂與上臂之間設有間隔件。作為變形例，不設置間隔件亦可。 [產業上之利用可能性]In the foregoing embodiment, the transfer table has a sufficient length in the second direction, so even when picking the innermost box, the lower arm of the articulated robot does not need to enter the carrier. As a modified example, the transfer table may be shorter in the second direction than in the foregoing embodiment. In this case, for example, the lower arm may not enter the carrier when the front-side cargo is taken out, but the lower arm may enter the carrier when the inner-side cargo is taken out. In the foregoing embodiment, the articulated robot arm is connected with a spacer between the lower arm and the upper arm. As a modification, the spacer may not be provided. [Possibility of industrial use]

本發明，係能夠廣泛運用於移載被堆疊的貨物的移載裝置。The present invention is a transfer device that can be widely used for transferring stacked goods.

1:自動倉庫系統 3:棧板 5:箱體 5A:小箱體 11:第1載架 13:第2載架 15:棚架 15a:頂板 16:棧板站 17:出庫輸送機 19:行走通道 21:棧板起重機 23:箱體起重機 25:行走裝置 27:昇降裝置 29:移載裝置 35:行走裝置 37:昇降裝置 37a:昇降台 41:揀選裝置 51:關節型機械手臂 51a:下臂 51b:上臂 53:迴旋裝置 57:移載台 58:滾輪 59:吸附墊 60:間隔件 61:基部 62:第1墊支承構件 63:第2墊支承構件 71:控制器 81:機械手臂驅動裝置 82:移載台驅動裝置 83:吸引裝置 84:吸附墊驅動裝置 A:高度區域 B:間隙1: Automatic warehouse system 3: Pallet 5: Cabinet 5A: Small box 11: The first carrier 13: 2nd carrier 15: Scaffolding 15a: top plate 16: Pallet Station 17: Outbound conveyor 19: Walking passage 21: Pallet crane 23: Box crane 25: walking device 27: Lifting device 29: Transfer device 35: walking device 37: Lifting device 37a: Lifting table 41: Picking device 51: articulated robotic arm 51a: lower arm 51b: upper arm 53: Swivel device 57: transfer table 58: Wheel 59: Adsorption pad 60: spacer 61: Base 62: The first pad support member 63: The second pad support member 71: Controller 81: Robotic arm drive device 82: Transfer table drive device 83: suction device 84: Adsorption pad drive device A: Height area B: gap

[圖1] 自動倉庫系統的示意性俯視圖。 [圖2] 自動倉庫系統的示意性側視圖。 [圖3] 揀選裝置的示意性局部正視圖。 [圖4] 表示自動倉庫系統的控制構成的方塊圖。 [圖5] 表示揀選･移出動作的其中一個狀態的示意性局部正視圖。 [圖6] 表示揀選･移出動作的其中一個狀態的示意性局部正視圖。 [圖7] 表示揀選･移出動作的其中一個狀態的示意性局部正視圖。 [圖8] 表示揀選･移出動作的其中一個狀態的示意性局部正視圖。 [圖9] 表示揀選･移出動作的其中一個狀態的示意性局部俯視圖。 [圖10] 表示揀選･移出動作的其中一個狀態的示意性局部正視圖。 [圖11] 表示揀選･移出動作的其中一個狀態的示意性局部俯視圖。 [圖12] 表示揀選･移出動作的其中一個狀態的示意性局部俯視圖。 [圖13] 表示揀選･移出動作的其中一個狀態的示意性局部正視圖。 [圖14] 表示揀選･移出動作的其中一個狀態的示意性局部正視圖。 [圖15] 表示揀選･移出動作的其中一個狀態的示意性局部俯視圖。 [圖16] 表示揀選･移出動作的其中一個狀態的示意性局部正視圖。[Figure 1] A schematic top view of the automated warehouse system. [Figure 2] A schematic side view of the automated warehouse system. [Figure 3] A schematic partial front view of the picking device. [Figure 4] A block diagram showing the control structure of an automated warehouse system. [Figure 5] A schematic partial front view showing one of the picking and removing actions. [Figure 6] A schematic partial front view showing one of the states of picking and removing. [Figure 7] A schematic partial front view showing one of the states of picking and removing. [Figure 8] A schematic partial front view showing one of the states of picking and removing. [Figure 9] A schematic partial plan view showing one of the picking and removing operations. [Figure 10] A schematic partial front view showing one of the states of picking and removing. [Figure 11] A schematic partial plan view showing one of the picking and removing operations. [Figure 12] A schematic partial plan view showing one of the states of the picking and removing operations. [Figure 13] A schematic partial front view showing one of the states of picking and removing. [Figure 14] A schematic partial front view showing one of the picking and removing actions. [Figure 15] A schematic partial plan view showing one of the picking and removing actions. [Figure 16] A schematic partial front view showing one of the states of picking and removing.

5:箱體 5: Cabinet

5A:小箱體 5A: Small box

11:第1載架 11: The first carrier

13:第2載架 13: 2nd carrier

15:棚架 15: Scaffolding

15a:頂板 15a: top plate

37a:昇降台 37a: Lifting table

51:關節型機械手臂 51: articulated robotic arm

51a:下臂 51a: lower arm

51b:上臂 51b: upper arm

53:迴旋裝置 53: Swivel device

57:移載台 57: transfer table

58:滾輪 58: Wheel

59:吸附墊 59: Adsorption pad

60:間隔件 60: spacer

61:基部 61: Base

62:第1墊支承構件 62: The first pad support member

63:第2墊支承構件 63: The second pad support member

A:高度區域 A: Height area

B:間隙 B: gap

Claims

一種移載裝置，係用以移載堆疊於棚架的貨物的裝置；其特徵為：具備：基部；下臂，係以能夠對於前述基部以垂直軸為中心迴旋的方式安裝；上臂，係以能夠對於前述下臂以垂直軸為中心迴旋的方式安裝；移載台，係於前述上臂的前端側下部，以能夠往水平方向進退且能夠以垂直軸為中心迴旋的方式安裝；以及吸附墊，係於前述移載台的前端側，在側視下與前述上臂重疊的高度位置，以能夠進退且能夠上下移動的方式安裝。A transfer device is a device used to transfer goods stacked on a scaffold; it is characterized by: having: Base The lower arm is installed in such a way that it can rotate around the vertical axis with respect to the aforementioned base; The upper arm is installed in such a way that it can rotate around the vertical axis with respect to the aforementioned lower arm; The transfer table is attached to the lower part of the front end side of the upper arm, and is installed in a manner that can advance and retreat in the horizontal direction and can rotate around the vertical axis; and The suction pad is attached to the front end side of the transfer table, and is installed at a height position overlapping with the upper arm in a side view so as to be able to advance and retreat and move up and down.

如請求項1所述之移載裝置，其中，進一步具備：控制器，係控制前述下臂、前述上臂、前述移載台及前述吸附墊；前述控制器，係進行以下動作：使前述吸附墊前進，吸附於貨物，並舉起該貨物，使前述移載台前進而藉此***該貨物之下的間隙，並使前述移載台更加前進而將前述貨物載置於前述移載台之上。The transfer device according to claim 1, which further comprises: The controller controls the lower arm, the upper arm, the transfer table and the adsorption pad; The aforementioned controller performs the following actions: Advance the aforementioned adsorption pad, adsorb to the cargo, and lift the cargo, The transfer platform is advanced to insert the gap under the cargo, and the transfer platform is advanced further to place the cargo on the transfer platform.

如請求項1所述之移載裝置，其中，進一步具備：間隔件，係設於前述下臂與前述上臂之間，並具有比前述移載台的上下方向尺寸更長的上下方向尺寸。The transfer device according to claim 1, which further comprises: The spacer is provided between the lower arm and the upper arm, and has a vertical dimension that is longer than the vertical dimension of the transfer table.

如請求項2所述之移載裝置，其中，進一步具備：間隔件，係設於前述下臂與前述上臂之間，並具有比前述移載台的上下方向尺寸更長的上下方向尺寸。The transfer device according to claim 2, which further comprises: The spacer is provided between the lower arm and the upper arm, and has a vertical dimension that is longer than the vertical dimension of the transfer table.

如請求項1所述之移載裝置，其中，進一步具備：第1墊支承構件，係以能夠於前述移載台之上往移載方向移動的方式被支承；以及第2墊支承構件，係能夠對於前述第1墊支承構件於上下方向移動，並支承前述吸附墊。The transfer device according to claim 1, which further comprises: The first pad support member is supported in a manner capable of moving in the transfer direction on the transfer table; and The second pad support member is capable of moving in the vertical direction with respect to the first pad support member, and supports the suction pad.

如請求項2所述之移載裝置，其中，進一步具備：第1墊支承構件，係以能夠於前述移載台之上往移載方向移動的方式被支承；以及第2墊支承構件，係能夠對於前述第1墊支承構件於上下方向移動，並支承前述吸附墊。The transfer device according to claim 2, which further comprises: The first pad support member is supported in a manner capable of moving in the transfer direction on the transfer table; and The second pad support member is capable of moving in the vertical direction with respect to the first pad support member, and supports the suction pad.

如請求項3所述之移載裝置，其中，進一步具備：第1墊支承構件，係以能夠於前述移載台之上往移載方向移動的方式被支承；以及第2墊支承構件，係能夠對於前述第1墊支承構件於上下方向移動，並支承前述吸附墊。The transfer device according to claim 3, further comprising: The first pad support member is supported in a manner capable of moving in the transfer direction on the transfer table; and The second pad support member is capable of moving in the vertical direction with respect to the first pad support member, and supports the suction pad.

如請求項4所述之移載裝置，其中，進一步具備：第1墊支承構件，係以能夠於前述移載台之上往移載方向移動的方式被支承；以及第2墊支承構件，係能夠對於前述第1墊支承構件於上下方向移動，並支承前述吸附墊。The transfer device according to claim 4, which further comprises: The first pad support member is supported in a manner capable of moving in the transfer direction on the transfer table; and The second pad support member is capable of moving in the vertical direction with respect to the first pad support member, and supports the suction pad.