1281453 九、發明說明： 【發明所屬之技術領域】 本發明係有關於一種物件傳送裝置，特別地係有關 一種傳送一物件至一沿著一軌道移動之軌道移動主體與 沿著該軌道設置的置物架。 【先前技術】 依照傳統方式，自動化倉庫往往係使用於一些工廠 倉庫內’其目的是要縮減該些工廠或倉庫的儲存空間或 是有效使用儲存空間。該自動倉庫已裝設有一用於裝載 卸載物件之高架存取車。 例如，第7圖所示之一高架存取車50具有一移動式 架53以及一車架55。該移動式車架53係於一地板上沿 一移動軌道51以及於一天花板上沿著一移動軌道5 2 前、後移動。該車架55係沿著一對由該移動式車架53 伸之桅桿5 4上、下移動。 該車架5 5包括一滑動叉車5 6，其係可以朝一置物 5 7移動或移離置物架5 7操作，如第8圖所示。該滑動叉 5 6係作爲一物件傳送裝置而且可以傳送一物件w至該置 架5 7與該車架5 5之間。 如第8圖所不，具多板設置之該些置物架67皆被設 於該高架存取車50之該些對應端面上以利容納一具預 尺寸之物件W於該些置物架上57。 用於容納該些物件W之該置物架5 7係藉由直立式支 柱5 8以及數對相互並列於該些支撐柱5 8之置物架部分 來施以分段處理。任何一對置物架部分5 9之間的間隙設 係用以防止上、下移動之滑動叉車5 6與該對置物架部分 於 或 者 及 車 著 向 延 架 車 物 置 定 撐 59 置 59 1281453 之間的千擾。 雖然在該軌道上移動的高架存取車56之目前位置 一編碼器監控及測定以及其他因素，但是該高架存取 有時候即於該位置之外稍微停住，於該位置停住是因 行至該高架存取車5 0與該些移動軌道5 1、5 2之間所 當該物件W被該滑動叉車56傳送至該置物架57或由 物架57傳送出去時，即需要確認該高架存取車50是 應該置物架5 7被制止於一適當位置處。 於第8圖之該先前技術中，一支撐柱感應器60係 置於該車架55，用以偵測一指定支撐柱58，又，面朝 架存取車50因此測定出對應該置物架57之高架存取 的位置。當該支撐柱58被該支撐柱感應器60偵測時 認爲該高架存取車5 0係位在該滑動叉車5 6可以操作 置。另一方面，當該支撐柱58無法被該支撐柱感應$ 偵測時，即認爲該高架存取車5 0係位於無法適當對應 物架57的位置，於該位置處之滑動叉車56係被禁止操 該技術係被揭露，例如，於編號第5 -97 207號之未審 曰本專利發表之第2頁及第3頁、以及第1圖。 然而，因爲支撐柱感應器60僅偵測上述該物件傳 置中的置物架57之支撐柱58的位置，因此在容納複 物件W對應該置物架5 7並行之情形下，當該些物件 該置物架57傳送出去時，就應避免該置物架57中之 物件W與該物件傳送裝置發生碰撞。 此外，因爲該習知物件傳送裝置無法直接確認是 該物件W存在於該置物架57，因此該置物架57之該 是被 車50 爲滑 致。 該置 否對 被設 該高 車50 ，即 之位 蓉60 該置 作。 查的 送裝 數個 W由 該些 否有 些支 1281453 撐柱58必須應有一恆定之間隔距離以及該置物架57 物件W必須應具有一特定結構，而使提供的該些物件 寸大小達到均等。因此，當該些物件係由其中容納複 物件之置物架傳送出去時，一物件傳送裝置就已經要 止置物架中之物件與該物件傳送裝置發生碰撞。 【發明內容】 依據本發明，一物件傳送裝置具有一物件保持裝 及一感應器，用以傳送一物件至一用於移動至一軌道 軌道移動主體與一沿該軌道所設置之置物架之間。該 保持裝置係針對該軌道移動主體而設置。該物件保持 可以移向該軌道及遠離該置物架，沿著該軌道容納複 物件。該感應器係針對該物件保持裝置而設置，用以 是否有該物件存在，該物件保持裝置沿著該路徑移向 物架。 以下將配合附圖之實例來詳細說明本發明之其他 及優點。 【實施方式】 以下將參閱第1圖至第4圖說明一依據本發明之 傳送裝置1 〇的第一較佳具體例。 依據該第一較佳具體例之物件傳送裝置丨〇係被弓丨 位在一高架存取車或一軌道移動主體丨5與一置物架 間的自動倉庫1 1內之移動物件W，以便容納該些物 於此處。第1圖及第2圖之該自動倉庫11包括該高架 車1 5 ’其係相互沿著一軌道移動，以及設置於該高架 車15之該些對應端面上的多板置物架12。該置物架 與該 W尺 數個 有防 置以 上之 物件 裝置 數個 確認 該置 要項 物件 導至 12之 件W 存取 存取 12包 1281453 括以預定間隔而設置之支撐柱1 3以及許多水平設置於兩 個相鄰支撐柱1 3之間的置物架部分1 4。該些置物架部分 1 4均由矩形板製成，分別容納物件於其上。此外，各置物 架部分1 4係沿著該高架存取車1 5之軌道縱向延伸，因此 複數個物件W線列係沿著該置物架部分14上之軌道而 走。 以下將說明該高架存取車或該軌道移動主體15。 該高架存取車15被導引裝載及卸載該置物架12,其可 以沿著設置於地板上之一移動軌1 6及天花板上之一移動 軌1 7之構成軌道相互移動。該高架存取車1 5之主要組件 包括一移動車架18、一對桅桿19、一車架20、以及一對夾 合臂21。 如第2圖所示，一對直立桅桿19皆被設置於該移動車 架1 8之前、後方對應端面上，而且該車架20係以可移動 式直立於該些桅桿1 9之間。該些桅桿1 9之頂端均被天花 板上之移動軌17所引導之一引導主體22連接在一起。 該移動車架1 8包括一對設置於其中之前、後端的車輪 23、一驅動馬達24、以及一控制單元25。該些車輪23沿 著該地板上之移動軌1 6滾動。該驅動馬達24驅動該移動 車架1 8沿著該移動軌1 6相互移動。該控制單元25係控制 一用以升降該車架20之升降馬達（圖略）以及該高架存取車 15之各種裝置。 另一方面，可沿著該些桅桿19上、下移動之車架20 包括一對可以移向該置物架12及移離該置物架12之夾合 臂或物件保持裝置2 1。 1281453 一對夾合臂2 1係可以操作以移向及移離該些置物架 1 2，該些置物架1 2皆設置於該高架存取車1 5之該些對應 端上。該對夾合臂2 1及感應器2 6將敘述於下文中，其形 成該物件傳送裝置10，該裝置1〇具有傳送物件w至該高 架存取車15與該置物架12之間之執行功能。該夾合臂21 可以藉由相互移動或移離來開啓以及關閉以利將一物件w 固定於其間。爲達到更具體說明，該些個別的夾合臂2 1之 外層內部表面係藉由關閉或相互移動使該物件W固定於其 間。再者，該些成對的夾合臂2 1之不同孔或不同間距即可 使一不同尺寸的物件W固定。該對夾合臂2 1可以使物件W 固定於該些置物架部分14上以利將其均傳送至該車架20 上，而且也可以使物件W固定於該車架20上以利將其均 傳送至該置物架部分14上。該些夾合臂21之開啓/關閉及 向前/向後移動均受到一驅動源（圖略）而影響，即一開啓/ 關閉移動機構以及一向前/向後移動機構。該些夾合臂2 1 之每一個具有該感應器26於其之頂端。 以下將說明該感應器26。 該感應器26可以在一物件W位於該感應器26之可偵 測區域S內時產生一指示信號。於該第一較佳具體例中， 其中該些夾合臂21可以移向或移離設在該高架存取車15 之該些對應端面上的該些置物架12，該些成對的夾合臂21 總共包括有四個感應器26。 於該第一較佳具體例中，一屬於非接觸型之漫射反射 (diffuse-reflection)式感應器被用來作爲該感應器26。設置 於該夾合臂2 1之各頂端處的感應器26可以將其之可偵測 1281453 區域S設定在該夾合臂21以第3圖之箭頭方向前進至該置 物架1 2的周圍路徑。 如第3圖所示，該感應器之可偵測區域s所具有之一 寬度相當於該夾合臂21之寬度，以及該區域S所具有之一 長度相當於該前進夾合臂21上述路徑內的感應器26之一 預定起始距離。該感側器26可以發射一光線並且藉由接收 物件W所反射之該光線來偵測是否有物件w位在該偵測器 26之可偵測區域S·內。此外，該感測器26之動作受到控 制以致於只有在可以於該置物架周圍沿路移動之該高架存 取車15停止時或者是該些夾合臂21於其之非夾合位置範 圍內伸展時，該感應器26才可以偵測到。因此，在該些夾 合臂2 1由一接近位於特定置物架部分1 4上的物件w位置 移至該置物架12內之前，即可以於該些夾合臂21延伸至 該置物架1 2沿路路徑偵測並確認是否有任何物件w存在 於該些感應器2 6之可偵測區域S內。 以下將參閱第3圖及第4圖說明第一較佳具體例之該 物件傳送裝置1 0的動作。 位置資訊或有關於從該置物架丨2取出之一物件W的資 訊係被傳送至該控制單元2 5。依據該物件W之位置資訊， 該高架存取車15係沿著該軌道移動，而該車架20係往上 或往下移動。當該車架20移至面朝一物件W之位置且該 物件W被固定於一特定置物架部分1 4上時，即停止該高 架存取車20之移動以及該車架20之往上或往下移動。此 時，該些夾合臂2 1皆係依據該物件W尺寸（平行於該軌道 之表面長度）而擴展。 -10- 1281453 隨後，面朝該置物架部分14之該些感應器26皆被 動以於該些夾合臂2 1之移動路徑偵測並確認是否有物件 存在於該些感應器2 6之可偵測區域s內。 當該些感應器未偵測到時，如第3圖所示，該些感 器2 6即確認沒有任何物件w存在於該些夾合臂2 1移至 置物架1 2沿路路徑的可偵測區域S內。也就是說，並沒 物件W存在於第3圖所示之該些感應器26所偵測的可 測區域S內。因此，該些夾合臂2 1皆向前移進該置物架 並藉由夾入該物件W，將該物件w固定於該物件部分 上。然後，固定該物件W之該些夾合臂21因此向後移動 將該物件W夾至該車架20上。 另一方面，當該些感應器26之至少其中之一針對是 有物件存在做出反應時，即確認出有一物件W係存在於 路徑，而使該些夾合臂21向前移進至該置物架12內。 就是說，該物件W係存在於該些感應器2 6所偵測的可 測區域S內。因此，該感應器2 6所產生之一信號被傳送 該控制單元2 5，其顯示出如該物件W存在於該置物架 係不正常情形以及該情形使該些夾合臂2 1移離該置物 1 2，因此防止了該些夾合臂2 1與物件W之間的碰撞。 依據該第一較佳具體例，即獲得下列有利的效果。 (1) 因爲用於感應物件w是否存在於該置物架12 之感應器2 6係針對各夾合臂2 1而設置，所以 可使該感應器26於該些夾合臂21實際移進該 物架1 2內之前，就可偵測並確認是否有一物件 存在於該些夾合臂21之移動路徑，即可靠防止 啓 W 應 該 有 偵 12 14 否 該 也 偵 至 12 架 內 就 置 W 該 -11 - 1281453 置物架1 2內之物件與該些夾合臂2 1碰撞。 (2) 因爲該可偵測區域S之寬度相當於各夾合臂2工 寬度且藉由該感應器26而設置於該置物架12, 此是否有一物件w存在於移向該置物架12之 些夾合臂的移動路徑是由可偵測該物件w之感 器2 6來做確認，如果有任何物件存在於該可偵 區域S內，則該感應器26即可確認出。當該可 測區域S內沒有物件W存在時，若該些夾合臂 向則移進該置物架1 2內，則不會與一物件w 生碰撞。 (3) 因爲該感應器26可以在該高架存取·車15停止 及該些夾合臂2 1於非夾合位置內擴展之情況 產生動作，因此在該些夾合臂21向前移至該置 架12之前就確認出是否有一物件W存在於該 移向該置物架12之夾合臂21的移動路徑。當 可偵測區域S內沒有任何物件W存在時，即能 即將該些夾合臂21向前移進該置物架12內， 此即降低不必要的時間耗損。 (4) 因爲該夾合臂21之感應器26係直接確認是否 一物件W存在於該置物架12內，因此不需以 恆定間隔距離設置支撐柱1 3而且不需將該些 件W尺寸達到標準化。所以，該物件W及該置 架1 2之結構上的限制皆大幅降低，因而使該物 W之自由度（degree of freedom)以及該置物架 之活動性大幅改善。 之 因 該 應 測 偵 21 發 以 下 物 些 該 因 有 物 物 件 -12- 12 1281453 是沿著該循環軌道31而設置的該些物件運送裝置36a、 36b、及 36c 〇 如同在該第一較佳具體例中，該對夾合臂3 8均係部分 配有感應器3 9之物件傳送裝置3 0，下文將做說明，其係傳 送物件W至該軌道車架35與該置物架32之間。該些夾合 臂3 8抓住一位於該置物架3 2內之物件w並且將該物件W 傳迭至該軌道車架35上’或者抓住一被裝載於該軌道車架 3 5上之物件W並且將該物件w夾至該空載的置物架部分 34。此外，於該第二較佳具體例中，該物件傳送裝置30可 做該些物件運送裝置36a、36b、及36c與該軌道車架35的 物件W裝載及卸載。該些夾合臂38之每一個具有該感應 器3 9於其之頂端。 以下將說明該感應器39。 該感應器3 9可以在該感應器3 9所設定之可偵測區域S 內產生一物件W存在之一指示信號。於該第二較佳具體例 中，各夾合臂38具有該感應器39於其之頂端，藉此產生 該感應器3 9之可偵測區域S於該夾合臂3 8之移動路徑。 於該第二較佳具體例中，該些夾合臂38不僅可移向及 移離沿著該軌道車架35之循環軌道而設置的置物架32,還 可以移向及移離該些物件運送裝置36a、36b、及36c。 該感測器3 9之可偵測區域S完全同等於該第一較佳具 體例’因此而省略該第一較佳具體例之可偵測區域S說 明。 另外，該感應器39只有在該軌道車架35停止於該循環 軌道3 1以及於該些夾合臂3 8伸展以增加其間距時才可運 -14- 1281453 作。因此’當該些夾合臂3 8面朝該置物架3 2時，於該些 夾合臂38實際向前移進該置物架32之前就確認是否有一 物件W存在於該路徑，使夾合臂3 8移進該置物架3 2。 依據該第二較佳具體例之物件傳送裝置30，即使複數個 物件W被放置於該置物架32之架子部分34，還是能於該 些夾合臂38向前移動之前確認出是否有一物件w存在於 該些移向置物架3 2之夾合臂3 8的移動路徑，因此即防止 該置物架3 2內之一物件W與該夾合臂3 8之間的碰撞發 生，當該些夾合臂38抓住該置物架32內之物件及由其中 將物件夾出時，即有可能發生碰撞。因此實現與該第一較 佳具體例一樣的有利效果。 本發明未受限於上述之該些具體例但是得修改爲下列 該些替代具體例。 於該第一及第二較佳具體例中，該夾合臂具有該感應器 於其之頂端，但是該感應器之位置未受限於該頂端。於一 替代具體例中，一感應器係針對一夾合臂而設置以致設定 一可偵測區域於該夾合臂移向及移進一置物架之沿路路 徑。 該第一及第二較佳具體例係使用一非接觸型之漫射反 射式感應器。於一替代具體例中，該感應器係一接觸型。 因此，該接觸型感應器係移進該置物架。在一非接觸型感 應器無法順利偵測置物架內物件時，該接觸型感應器之偵 測就能做有利使用。 因此，本發明之該些實例以及具體例皆被認定爲例證說 明而且不是限定例證’以及本發明未受限於此處之詳細說 > 15- 1281453 明但是得於申請專利範圍內做修改。 【圖示之簡單說明】 本發明之該些特性具新穎性，其將詳述於申請專利範 圍中。藉由本發明之該些較佳具體例及該些附圖的說明即 可完全淸楚了解本發明以及其之目的與優點，其中： 第1圖係一自動倉庫之一前端圖，一物件傳送裝置係 依據本發明之一第一較佳具體例應用於該自動倉庫； 第2圖係一依據本發明之一第一較佳具體例的物件傳 送裝置之平面圖； 第3圖係一物件依據本發明之該第一較佳具體例未於 一夾合臂移向一置物架的路徑狀態之平面示意圖； 第4圖係一物件依據本發明之該第一較佳具體例於一 夾合臂沿該路徑移向該置物架的狀態之平面示意圖； 第5圖係依據本發明之一第二較佳具體例的一物件傳 送裝置應用之一軌道車架及一循環軌道的平面圖； 第6圖係依據本發明之一第二較佳具體例的物件傳送 裝置之一側視圖； 第7圖係依據先前技術之一高架存取車或一軌道移動 主體的透視圖；以及 第8圖係依據先前技術之一物件傳送裝置的平面圖。 【主要元件符號說明】 10、30、36a、36b、36c…物件傳送裝置 11…自動倉庫 12、 57…置物架 13、 33、58…支撐柱 -16 - 1281453 14、34、59···置物架部分 15…軌道移動主體 16、17···移動軌 1 8…移動車架 1 9、5 4…桅桿 20、55…車架 21…夾合臂 22."弓[導主體</ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; frame. [Prior Art] Automated warehouses are often used in some factory warehouses in the traditional way. The purpose is to reduce the storage space of these factories or warehouses or to effectively use storage space. The automated warehouse has been equipped with an overhead access vehicle for loading unloading items. For example, one of the overhead access vehicles 50 shown in Fig. 7 has a mobile rack 53 and a frame 55. The mobile frame 53 is attached to a floor along a moving track 51 and on a ceiling to move forward and backward along a moving track 52. The frame 55 is moved up and down along a pair of masts 5 4 extending from the movable frame 53. The frame 5 5 includes a sliding forklift 5 6 that can be moved toward or away from the shelf 57, as shown in FIG. The sliding fork 56 is used as an object conveying device and can transport an object w between the frame 57 and the frame 55. As shown in FIG. 8, the plurality of racks 67 are disposed on the corresponding end faces of the overhead access vehicle 50 to accommodate a pre-sized object W on the racks 57. . The rack 57 for accommodating the articles W is subjected to a segmentation process by the upright posts 58 and a plurality of pairs of rack portions juxtaposed to each of the support columns 58. The gap between any pair of rack portions 59 is arranged to prevent the upper and lower moving slip forklifts 56 and the pair of racks from being positioned or between the vehicles and the vehicle to be placed between the racks 59 1281453 The interference. Although the current position of the overhead access vehicle 56 moving on the track is an encoder monitoring and measurement and other factors, the elevated access sometimes stops slightly outside the location, and stops at that location. To the elevated access vehicle 50 and the moving rails 5 1 , 5 2 , when the object W is transported by the sliding forklift 56 to the rack 57 or transmitted by the rack 57, the overhead needs to be confirmed. The access vehicle 50 is such that the rack 57 is restrained at an appropriate position. In the prior art of FIG. 8, a support column sensor 60 is placed on the frame 55 for detecting a designated support column 58 and, in turn, facing the frame access vehicle 50, thereby determining the corresponding shelf. 57 elevated access location. When the support post 58 is detected by the support post sensor 60, the overhead access vehicle 50 is considered to be operable in the slip forklift 56. On the other hand, when the support column 58 cannot be detected by the support column, it is considered that the overhead access vehicle 50 is located at a position that cannot properly correspond to the rack 57, and the sliding forklift 56 is at the position. This technique is forbidden to be disclosed, for example, on pages 2 and 3 and 1 of the unpublished patent publication No. 5-97 207. However, since the support column sensor 60 detects only the position of the support post 58 of the rack 57 in the object transfer, the object W should be placed in parallel with the rack 57. When the rack 57 is transported out, the object W in the rack 57 should be prevented from colliding with the object transport device. Further, since the conventional article transporting apparatus cannot directly confirm that the article W exists in the rack 57, the rack 57 should be slipped by the vehicle 50. This is set to the setting of the car 50, that is, the position of the 60. Check the number of pieces sent by W. There are some branches. The 1281453 struts 58 must have a constant separation distance and the rack 57 objects W must have a specific structure to make the size of the items provided equal. Therefore, when the articles are transported out by the rack in which the plurality of articles are accommodated, an article transporting device has caused the articles in the rack to collide with the article transporting device. SUMMARY OF THE INVENTION According to the present invention, an object transport device has an object holding device and an inductor for transporting an object to a movable body for moving to a track and a shelf disposed along the track. . The holding device is provided for moving the main body of the rail. The article remains movable toward and away from the track along which the object is received. The sensor is provided for the object holding device for the presence or absence of the object, and the object holding device moves toward the rack along the path. Other advantages and advantages of the present invention will be described in detail below with reference to the accompanying drawings. [Embodiment] A first preferred embodiment of a transport apparatus 1 according to the present invention will be described below with reference to Figs. 1 to 4 . The article transporting device according to the first preferred embodiment is shackled into a moving object W in an automated warehouse 11 between an overhead access vehicle or a track moving body 丨5 and a shelf to accommodate These are here. The automatic warehouse 11 of Figs. 1 and 2 includes the overhead carriages 15 5' which are moved along each other along a track, and the multi-plate racks 12 disposed on the corresponding end faces of the overhead car 15. The rack and the W-number of objects having the above-mentioned objects are confirmed to be a plurality of items to confirm that the item is led to 12 W access access 12 packs 1281453 including support columns 13 and a plurality of levels arranged at predetermined intervals A shelf portion 14 is disposed between two adjacent support columns 13 . The shelf portions 14 are each formed of a rectangular plate that houses the articles thereon. In addition, each of the rack portions 14 extends longitudinally along the track of the overhead access vehicle 15, so that a plurality of object W lines follow the track on the rack portion 14. The overhead access vehicle or the rail moving body 15 will be described below. The overhead access vehicle 15 is guided to load and unload the rack 12, which is movable relative to each other along a moving rail provided on one of the moving rails 16 on the floor and one of the moving rails 7 on the ceiling. The main components of the overhead access vehicle 15 include a moving frame 18, a pair of masts 19, a frame 20, and a pair of clamping arms 21. As shown in Fig. 2, a pair of upright masts 19 are disposed on the front end face of the moving frame 18, and the frame 20 is movably mounted between the masts 19. The tips of the masts 19 are each connected by a guiding body 22 guided by the moving rail 17 on the ceiling. The moving frame 18 includes a pair of wheels 23 disposed in front of and behind the rear end, a drive motor 24, and a control unit 25. The wheels 23 roll along the moving rails 16 on the floor. The drive motor 24 drives the moving frame 18 to move relative to each other along the moving rail 16. The control unit 25 controls a variety of devices for raising and lowering the hoisting motor (not shown) of the frame 20 and the overhead access vehicle 15. On the other hand, the frame 20 movable up and down along the masts 19 includes a pair of clamping arms or article holding devices 21 that can be moved toward and away from the shelves 12. 1281453 A pair of clamping arms 2 1 are operable to move toward and away from the shelves 1 2 , and the shelves 1 2 are disposed on the corresponding ends of the overhead access vehicle 15 . The pair of clamping arms 2 1 and the inductors 26 will be described hereinafter, which form the article transporting device 10, which has the function of transferring the object w to the elevated access vehicle 15 and the rack 12 Features. The clamping arms 21 can be opened and closed by moving or moving away from each other to secure an object w therebetween. For a more specific description, the inner surface of the outer layers of the individual clamping arms 2 1 is secured between them by closing or moving each other. Moreover, the different holes or different pitches of the pair of clamping arms 2 1 can fix an object W of a different size. The pair of clamping arms 2 1 can fix the object W to the shelf portions 14 to facilitate transporting them to the frame 20, and can also fix the article W to the frame 20 to facilitate Both are delivered to the shelf portion 14. The opening/closing and forward/backward movement of the clamping arms 21 are all affected by a driving source (not shown), that is, an opening/closing moving mechanism and a forward/backward moving mechanism. Each of the clamping arms 2 1 has the inductor 26 at its top end. The inductor 26 will be described below. The sensor 26 can generate an indication signal when an object W is located within the detectable region S of the inductor 26. In the first preferred embodiment, the clamping arms 21 can be moved toward or away from the racks 12 disposed on the corresponding end faces of the overhead access vehicle 15, and the pair of clips The boom 21 includes a total of four inductors 26. In the first preferred embodiment, a non-contact type diffuse-reflection type sensor is used as the inductor 26. The sensor 26 disposed at each of the tips of the clamping arms 21 can set its detectable 1281453 area S to the clamping arm 21 to advance to the path of the rack 1 2 in the direction of the arrow of FIG. . As shown in FIG. 3, the detectable region s of the sensor has a width corresponding to the width of the clamping arm 21, and the region S has a length corresponding to the path of the advancing clamping arm 21. One of the sensors 26 within the predetermined starting distance. The sensor side 26 can emit a light and detect whether the object w is located in the detectable area S· of the detector 26 by receiving the light reflected by the object W. In addition, the action of the sensor 26 is controlled such that only when the overhead access vehicle 15 that can move along the path around the shelf is stopped or the clamping arms 21 are extended within the non-clamping position thereof The sensor 26 can be detected. Therefore, before the clamping arms 2 1 are moved into the rack 12 from a position close to the object w located on the specific rack portion 14 , the clamping arms 21 can be extended to the rack 1 2 . The path along the path is detected and confirmed whether any object w exists in the detectable area S of the sensors 26. The operation of the object transporting device 10 of the first preferred embodiment will be described below with reference to Figs. 3 and 4. The location information or the information about the removal of an object W from the shelf 2 is transmitted to the control unit 25. Based on the position information of the object W, the overhead access vehicle 15 moves along the track, and the frame 20 moves up or down. When the frame 20 is moved to a position facing an object W and the object W is fixed to a specific rack portion 14 4, the movement of the overhead access vehicle 20 and the upward movement of the frame 20 or Move down. At this time, the clamping arms 2 1 are expanded according to the size of the object W (parallel to the surface length of the track). -10- 1281453 Subsequently, the sensors 26 facing the shelf portion 14 are passive to detect the moving paths of the clamping arms 21 and confirm whether objects are present in the sensors 26 Detection area s. When the sensors are not detected, as shown in FIG. 3, the sensors 26 confirm that no object w exists in the path of the clamping arms 2 1 to move along the path of the rack 1 2 Within the measurement area S. That is, no object W exists in the measurable area S detected by the sensors 26 shown in Fig. 3. Therefore, the clip arms 21 are moved forward into the rack and the article w is fixed to the article portion by sandwiching the article W. Then, the clamping arms 21 that fix the object W are thus moved backward to clamp the article W to the frame 20. On the other hand, when at least one of the inductors 26 reacts to the presence of an object, it is confirmed that an object W is present in the path, and the clamping arms 21 are moved forward to the Inside the rack 12. That is, the object W is present in the measurable area S detected by the inductors 26. Therefore, one of the signals generated by the sensor 26 is transmitted to the control unit 25, which indicates that the object W is present in the shelf system and the situation causes the clamping arms 2 to move away from the The housing 1 2 thus prevents collision between the clamping arms 21 and the object W. According to the first preferred embodiment, the following advantageous effects are obtained. (1) Since the sensor 26 for sensing whether the object w is present in the rack 12 is provided for each of the clamping arms 21, the inductor 26 can be actually moved into the clamping arm 21 Before the object rack 1 2, it can detect and confirm whether there is an object in the moving path of the clamping arms 21, that is, to reliably prevent the opening W from being detected 12 14 or not to detect in the 12 frames. -11 - 1281453 The objects in the rack 1 2 collide with the clamping arms 2 1 . (2) Since the width of the detectable area S is equivalent to the width of each of the clamping arms and is disposed on the rack 12 by the inductor 26, whether or not an object w exists in the moving to the rack 12 The moving path of the clamping arms is confirmed by the sensor 62 that can detect the object w. If any object exists in the detectable area S, the sensor 26 can confirm. When there is no object W in the measurable area S, if the clamping arms are moved into the rack 12, they will not collide with an object w. (3) Since the inductor 26 can be actuated when the overhead access vehicle 15 is stopped and the clamping arms 21 are expanded in the non-clamping position, the clamping arms 21 are moved forward to The rack 12 is previously confirmed whether or not an object W exists in the moving path of the clamping arm 21 moving toward the rack 12. When there is no object W in the detectable area S, the clamping arms 21 can be moved forward into the rack 12, which reduces unnecessary time consumption. (4) Since the inductor 26 of the clamping arm 21 directly confirms whether an object W exists in the rack 12, it is not necessary to set the support column 13 at a constant spacing distance and it is not necessary to achieve the size of the pieces W. standardization. Therefore, the structural limitations of the article W and the shelf 12 are greatly reduced, thereby greatly improving the degree of freedom of the object W and the mobility of the shelf. The object transporting devices 36a, 36b, and 36c disposed along the circulating track 31 are as in the first preferred embodiment. In the example, the pair of clamping arms 38 are partially provided with an object transporting device 30 of the sensor 39, which will be described hereinafter, which transports the object W between the rail frame 35 and the rack 32. The clamping arms 38 grasp an object w located in the rack 32 and transmit the object W to the rail frame 35 or grasp a load on the rail frame 35. The object W and the object w are clamped to the empty rack portion 34. Further, in the second preferred embodiment, the article transporting device 30 can perform loading and unloading of the article transporting devices 36a, 36b, and 36c with the article W of the rail frame 35. Each of the clamping arms 38 has a top end of the inductor 39. The inductor 39 will be described below. The sensor 39 can generate an indication signal of an object W in the detectable area S set by the sensor 39. In the second preferred embodiment, each of the clamping arms 38 has the sensor 39 at its top end, thereby generating a path of movement of the detectable region S of the sensor 39 to the clamping arm 38. In the second preferred embodiment, the clamping arms 38 can move not only to and from the rack 32 disposed along the circulating track of the rail frame 35, but also to move and remove the objects. Transport devices 36a, 36b, and 36c. The detectable area S of the sensor 39 is exactly the same as the first preferred embodiment. Therefore, the detectable area S of the first preferred embodiment is omitted. In addition, the sensor 39 can only be operated when the rail frame 35 is stopped at the endless track 31 and the clip arms 38 are extended to increase the spacing thereof. Therefore, when the clamping arms 38 face the shelf 32, it is confirmed whether an object W exists in the path before the clamping arms 38 actually move forward into the shelf 32, so that the clamping is performed. The arm 3 8 is moved into the rack 3 2 . According to the object transporting device 30 of the second preferred embodiment, even if a plurality of articles W are placed on the shelf portion 34 of the rack 32, it is possible to confirm whether there is an object w before the gripping arms 38 move forward. There is a moving path of the clamping arm 38 which is moved to the shelf 3 2, so that collision between one of the objects W in the rack 32 and the clamping arm 38 is prevented, when the clips are When the engaging arm 38 grasps the object in the rack 32 and pinches the object therein, collision may occur. Therefore, the same advantageous effects as the first preferred embodiment are achieved. The present invention is not limited to the specific examples described above but may be modified to the following alternative examples. In the first and second preferred embodiments, the clamping arm has the sensor at its top end, but the position of the sensor is not limited to the top end. In an alternative embodiment, an inductor is provided for a clamping arm to set a path along which the detectable region moves toward and into the shelf. The first and second preferred embodiments use a non-contact type diffuse reflective inductor. In an alternative embodiment, the inductor is a contact type. Therefore, the contact type sensor is moved into the rack. The detection of the contact sensor can be advantageously used when a non-contact type sensor cannot detect the object in the rack smoothly. Therefore, the examples and specific examples of the present invention are to be considered as illustrative and not restrictive, and the invention is not limited by the details of the invention. BRIEF DESCRIPTION OF THE DRAWINGS These features of the present invention are novel and will be described in detail in the patent application. The invention and its objects and advantages are fully understood by the description of the preferred embodiments of the invention and the accompanying drawings in which: FIG. 1 is a front view of an automatic warehouse, an object conveying device A first preferred embodiment of the present invention is applied to the automatic warehouse; FIG. 2 is a plan view of an object conveying device according to a first preferred embodiment of the present invention; and FIG. 3 is an object according to the present invention. The first preferred embodiment is not a schematic plan view of a path of a clamping arm moving toward a shelf; FIG. 4 is an object according to the first preferred embodiment of the present invention. FIG. 5 is a plan view showing a state in which a path is moved toward the rack; FIG. 5 is a plan view showing a rail frame and a circulating track of an object conveying device according to a second preferred embodiment of the present invention; A side view of one of the object transporting devices of a second preferred embodiment of the present invention; FIG. 7 is a perspective view of an overhead access vehicle or a track moving body according to one of the prior art; and FIG. 8 is based on the prior art One Transfer plan view of an element. [Description of main component symbols] 10, 30, 36a, 36b, 36c... Object transfer device 11... Automatic warehouse 12, 57... Shelves 13, 33, 58... Support column-16 - 1281453 14, 34, 59··· Rack portion 15...rail moving body 16,17···moving rail 1 8...moving frame 1 9 , 5 4... mast 20, 55... frame 21... clamping arm 22."bow [guide body
23…車輪 24…驅動馬達 25…控制單元 26、39···感應器 3 1…循環軌道 32…多板置物架 3 5…軌道車架 37…車架主體23...wheel 24...drive motor 25...control unit 26,39···inductor 3 1...circular track 32...multi-plate rack 3 5...rail frame 37...frame body
38…夾合臂 50…高架存取車 51、52···移動軌道 5 3…移動式車架 56…滑動叉車 60…支撐柱感應器 W…物件 -17-38...Clamping arm 50...Elevated access vehicle 51,52···Moving track 5 3...Mobile frame 56...Sliding forklift 60...Support column sensor W...Object -17-