JP2011148575A - Transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transfer device capable of improving positioning accuracy of a fork in transfer, and capable of reducing the size and weight in the whole device. <P>SOLUTION: The fork 13 for placing a work W is longitudinally moved by expansion operation of first and second arms 10A, 10B, 11A and 11B. A connecting base 12 is installed in a tip part of the second arms 11A and 11B, and an angle correcting mechanism 14 is arranged between the connecting base 12 and the fork 13 for correcting a connecting angle in response to deflection of the first and second arms 10A, 10B, 11A and 11B. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a transfer device that transfers a workpiece from one position to a predetermined position using a fork that can be moved forward and backward.

  As a workpiece transfer device, there is known a device in which a fork on which a workpiece is placed is attached to a base table via an arm that can be moved back and forth, and the base table is moved up and down by a lifting actuator. This type of transfer device operates the fork by raising and lowering the base and moving the arm back and forth. However, when the work is placed on the fork and the arm is extended, the arm is moved by the weight of the work or the fork itself. There is a concern that the posture of the fork on which the work is placed is inclined forward.

For this reason, as a transfer device for coping with this, an apparatus having an inclination correction mechanism for correcting the inclination of the fork due to the weight of the work has been devised (for example, see Patent Documents 1 to 3).
This transfer device is provided with an actuator for adjusting the inclination of the base table so that the inclination of the fork due to the weight of the workpiece is offset by adjusting the inclination of the base table.

JP 2008-189399 A JP 2009-249102 A JP 2006-219233 A

However, in this conventional transfer device, since the attitude of the fork is corrected by adjusting the tilt angle of the base table, the extension direction on the front end side of the fork and the vertical direction when the tilt angle of the base table is adjusted. The fluctuation range of the direction became large, and it was difficult to improve the position accuracy of the fork.
Further, in the above conventional transfer device, the attitude of the fork is corrected by adjusting the inclination angle of the base table, so that the position of the fork is corrected more than the base table including the arm and the fork. The entire upper weight must be lifted and operated, and the size and weight of the correction actuator could not be avoided.

  Therefore, the present invention is intended to provide a transfer device capable of improving the position accuracy of the fork during transfer and reducing the overall size and weight of the device.

The transfer device according to the present invention employs the following means in order to solve the above problems.
According to a first aspect of the present invention, there is provided a transfer device including a fork on which a work is placed and an arm connected to the fork to move the fork forward and backward. Accordingly, an angle correction mechanism for correcting the connecting angle of the forks is provided.
As a result, the inclination angle of the fork is corrected at the connecting portion with the arm.

According to a second aspect of the present invention, in the transfer apparatus according to the first aspect, the angle correction mechanism is capable of swinging the connection base and the fork up and down, and a connection base attached to a front end portion of the arm. A pivot shaft connected to the fork, and a lift actuator provided between the connection base and the fork to move up and down a portion of the fork that is spaced forward and backward from the pivot shaft. And
As a result, when the lifting actuator is moved up and down, the fork rotates up and down around the pivot shaft, and the inclination angle is adjusted with respect to the connecting base at the front end of the arm.

According to a third aspect of the present invention, in the transfer device according to the second aspect, the elevating actuator is provided on one of the connection base and the fork, and is a cam ring that rotates eccentrically in the vertical direction by the power of the motor; A load receiving rail provided on one of the connection base and the fork and abutting the cam ring, and spaced apart from the pivot shaft on the fork by a relative position between the cam ring and the load receiving rail. The site | part which carried out is displaced up and down, It is characterized by the above-mentioned.
As a result, when the motor is driven to rotate, the cam ring is eccentrically rotated up and down, and the part of the fork spaced apart from the front and rear is displaced up and down, with the result that the inclination angle of the fork is adjusted. .

According to a fourth aspect of the present invention, in the transfer device according to the third aspect, the fork includes a pair of fork claws extending along the advancing / retreating direction, and the elevating actuator corresponds to the fork claws. Displacement restricting portions for restricting relative displacement in the fork width direction between the cam ring support portions of the lift actuators and the load receiving rails corresponding to the cam rings are provided separately. It is characterized by that.
As a result, the relative displacement in the fork width direction of each cam ring of the elevating actuator and the corresponding load receiving rail is regulated by the displacement regulating part, and both fork claws are supported by the connection base via the displacement regulating part, respectively. become.

According to a fifth aspect of the present invention, in the transfer device according to any one of the first to fourth aspects, the angle correction mechanism acquires identification information of a workpiece placed on the fork, and the identification information is included in the identification information. The connecting angle of the fork is corrected based on the above.
Thereby, the connection angle of a fork is correct | amended correctly, without measuring the weight of a workpiece | work etc. for every work.

The invention according to claim 6 is the transfer device according to any one of claims 1 to 5, wherein the angle correction mechanism is synchronized with the operation of the fork during the forward / backward operation of the fork by the arm. The connecting angle of the fork is corrected.
As a result, the correction of the connecting angle of the forks is completed at almost the same timing as the end of the fork advance / retreat operation.

  According to the first aspect of the present invention, the angle correction mechanism for correcting the connection angle of the fork according to the bending of the arm is provided in the connection part of the fork and the arm, and the inclination of the fork caused by the bending of the arm is connected to the fork. Therefore, the position accuracy can be improved by suppressing the forward / backward direction of the fork and the vertical swing width associated with the inclination correction as much as possible, and the movable part for correction becomes smaller. The overall size and weight can be reduced.

  According to the second aspect of the present invention, the fork is pivotally supported by the connecting base at the front end portion of the arm so as to be swingable up and down, and the portion separated from the pivot shaft of the fork is operated up and down by the lifting actuator. The connecting angle of the fork can be easily operated with small power.

  According to the third aspect of the present invention, the cam ring is eccentrically rotated by the motor, and the part separated from the pivot shaft on the fork in the front-rear direction is moved up and down via the contact portion between the cam ring and the load receiving rail. Although the structure is simple, the inclination angle of the fork can be reliably adjusted by the power of the motor.

  According to the fourth aspect of the present invention, the lifting actuator is individually provided corresponding to each fork claw, and the relative displacement in the fork width direction of each cam ring of the lifting actuator and the corresponding load receiving rail is controlled by the displacement restricting portion. In addition to being regulated, both fork claws are supported on the coupling base via the displacement regulating portions, respectively, so that the entire fork can be prevented from being loose and the rigidity can be improved.

  According to the fifth aspect of the present invention, since the angle correction mechanism acquires the workpiece identification information and corrects the fork connection angle, the weight of the work is detected and the fork connection angle is corrected at each operation. Compared to the case, the inclination angle can be corrected quickly.

  According to the invention described in claim 6, since the angle correction mechanism corrects the connecting angle of the fork during the forward / backward movement of the fork, the operation of the fork including the correction of the connecting angle is quickly performed. It can be carried out.

It is a typical side view of the transfer apparatus of one Embodiment of this invention. It is a typical side view of the transfer apparatus of one Embodiment of this invention. It is a perspective view of the transfer equipment of one embodiment of this invention. It is a perspective view of the transfer equipment of one embodiment of this invention. It is sectional drawing corresponding to the AA cross section of FIG. 4 of the transfer apparatus of one Embodiment of this invention. It is an enlarged view of the B section of Drawing 5 of a transfer device of one embodiment of this invention. It is sectional drawing corresponding to CC cross section of FIG. 5 of the transfer apparatus of one Embodiment of this invention. It is an enlarged view of the D section of Drawing 7 of a transfer device of one embodiment of this invention. It is the side view to which the E section of FIG. 2 of the transfer apparatus of one Embodiment of this invention was expanded. It is a perspective view which shows an example of the stacker crane carrying the transfer apparatus of one Embodiment of this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
1 and 2 show the overall schematic configuration of the transfer apparatus 1 of this embodiment. The transfer device of this embodiment is used to transfer a workpiece W such as a liquid crystal cassette from one position to a predetermined position on a rack.
The transfer apparatus 1 includes a base 2 fixed on the floor, a lifting base 4 supported on the base 2 via a lifting actuator 3, and a rotary actuator 5 supported on the lifting base 4. The rotary table 6 and a fork unit 8 supported by the rotary table 6 via an advance / retreat actuator 7 are provided. The actuators 3, 5, 7 are controlled by a controller 9.

3 and 4 show the fork unit 8.
The fork unit 8 includes a pair of first arms 10A and 10B that are rotatably supported on the rotary table 6, and a second arm 11A that is rotatably connected to the distal ends of the first arms 10A and 10B. , 11B, a connection base 12 rotatably connected to the tip of each of the second arms 11A, 11B, and a fork 13 mounted on the connection base 12 and placing a workpiece W on the upper surface thereof. The first arms 10A and 10B and the second arms 11A and 11B are both rotatable in the horizontal direction. In FIG. 3, reference numeral 20 denotes a load receiving frame on a rack on which the work W is transferred by the fork 13.

The root portions of the first arms 10A and 10B are pivotally supported in parallel on the upper surface side of the rotary table 6, and each shaft portion is rotated by a motor which is an advance / retreat actuator 7 (see FIGS. 1 and 2). It has become so. The first arm 10A, 10B and the second arm 11A, 11B constitute a so-called frog-leg arm, and the fork 13 is advanced and retracted by extending and retracting the whole by rotating the root portion of the first arm 10A, 10B by the advance / retreat actuator 7. Move. In the following description, unless otherwise specified, the direction in which the fork 13 moves forward by the advance / retreat actuator 7 is referred to as “front”, and the direction in which the fork 13 moves backward is referred to as “rear”.
The fork 13 includes a pair of parallel fork claws 13a, 13a extending in the forward / backward direction of the fork unit 8, and the rear ends of the fork claws 13a, 13a are coupled to each other by a connecting beam 15 (see FIG. 6). Has been. 3 and 4, the connecting beam 15 is omitted for convenience of illustration. Each fork claw 13a is formed in an I-shaped cross-sectional shape, and a flat upper surface of the cross-section is a mounting surface for the workpiece W.

  By the way, as shown in FIG. 2, the first arm 10 </ b> A, 10 </ b> B and the second arm 11 </ b> A, 11 </ b> B are bent to the front side due to the weight of the workpiece W, the fork 13, etc. Arise. For this reason, angle correction mechanisms 14 and 14 are provided between the second arms 11A and 11B and the fork 13 to correct the connecting angle in the vertical direction between the two arms 11A and 11B.

5 to 9 show details of the angle correction mechanism 14.
As shown in FIG. 5, the angle correction mechanism 14 includes the connection base 12 having a substantially rectangular parallelepiped shape that is rotatably connected to the distal ends of the second arms 11 </ b> A and 11 </ b> B, and the front side of the connection base 12. Projecting on both sides, the pivot shaft 16 pivotally supports the left and right fork claws 13a of the fork 13 so as to be swingable in the vertical direction, and is provided between the coupling base 12 and the left and right fork claws 13a. And a lifting actuator 17 that moves up and down a portion of the claw 13a that is spaced rearward from the pivot shaft 16 with respect to the connection base 12.

  As shown in FIGS. 5 to 7, the elevating actuator 17 has a pair of upper and lower load receiving rails 22 a and 22 b (FIG. 7) provided on both sides of the rear side of the connection base 12 (the rear side of the pivot shaft 16). Reference), a cam ring 23 that abuts against these load receiving rails 22a and 22b in a rollable manner, and a drive unit 24 that rotates the cam ring 23 eccentrically, and this drive unit 24 is provided on the rear side of each fork claw 13a. Attached to the outer side.

  As shown in FIG. 7, the load receiving rails 22a and 22b are fixed to a holding block 25 having a substantially U-shaped cross section projecting from the connection base 12, and the contact surfaces with the cam ring 23 face each other in the vertical direction. ing. A cam ring 23 is inserted from the outward opening of the holding block 25 between the load receiving rails 22a and 22b. The vertical wall at the rear edge of the fork claw 13a is provided with a notch 26 that allows the holding block 25 to be inserted on the connection base 12 side, so that the load receiving rails 22a and 22b and the cam ring 23 come into contact with each other. It is performed on the same plane as the vertical wall of the fork claw 13a. However, when the cam ring 23 rotates eccentrically in the vertical direction and presses the load receiving rail 22a or 22b, the rear portion of the fork claw 13a that supports the drive unit 24 is displaced vertically opposite to the cam ring 23 (see FIG. 9). Therefore, the notch 26 is cut out to a sufficient size so as not to interfere with the holding block 25 when the cam ring 23 is operated.

  The drive unit 24 includes a motor 27 that is driven and controlled by the controller 9, a well-known gear-type first reducer 28 that is integrally provided at the front end of the motor 27 and decelerates the rotation of the motor 27, and the first reduction gear. And a wave gear-type second reduction gear 29 that is connected to the gear 28 and further reduces the rotation of the output shaft 28a of the first reduction gear 28 to a greater extent.

In the wave gear type second reduction gear 29, a substantially cylindrical housing 30 is bolted to a vertical wall of the fork pawl 13a, and an outer cylinder as an output portion is provided in the housing 30 as shown in FIGS. 31 is rotatably supported via the cross roller ring 32, and an inner cylinder 33 as an input portion is coaxially disposed inside the outer cylinder 31. The inner cylinder 33 is integrally coupled to the output shaft 28a of the first transmission 28 so that the output rotation of the first transmission 28 is input.
As shown in an enlarged view in FIG. 8, an annular internal gear 34 is integrally provided on the outer cylinder 31, and a cam having an elliptical profile is provided at a position facing the internal gear 34 on the inner cylinder 33. A portion 35 is provided. A thin cylindrical member 36 (hereinafter referred to as “intermediate cylinder 36”) that can be bent and deformed in the radial direction is attached to the outer periphery of the cam portion 35 via a bearing 37. The intermediate cylinder 36 is provided with an outer ring of a bearing 37 fitted to the inner periphery on one end side, and a fixing flange 38 projecting radially outward on the other end side. In the bearing 37, the outer ring fitted into the intermediate cylinder 36 can be bent and deformed in the radial direction in the same manner as the intermediate cylinder 36, and the fixing flange 38 at the other end of the intermediate cylinder 36 is integrally fixed to the housing 30. . Therefore, when the cam part 35 is rotated by the rotation of the inner cylinder 33, the edge part on one end side follows the shape change of the cam part 35 in a state where the rotation of the intermediate cylinder 36 is restricted (non-rotating state).
On the other hand, an outer tooth 36 a is provided at an edge portion on one end side of the intermediate cylinder 36. The outer teeth 36a are formed by the inner teeth of the outer cylinder 31 only in the vicinity of both ends in the major axis direction of the elliptical shape when the edge on one end side of the intermediate cylinder 36 follows the cam portion 35 and is bent and deformed in an elliptical shape. It meshes with the gear 34. However, the number of teeth of the external teeth 36 a of the intermediate cylinder 36 is set slightly smaller than the number of teeth of the internal gear 34.

  In the second speed reducer 29, when rotation is input from the first speed reducer 28 to the inner cylinder 33, the outer cylinder 36 follows the rotational change of the ellipse of the cam portion 35 in a state where the rotation of the intermediate cylinder 36 is restricted. The oval shape of the tooth 36a moves in the circumferential direction. Thereby, due to the difference in the number of teeth of the external teeth 36 a and the internal gear 34, a slight shift in the circumferential direction occurs between them, and as a result, the rotation of the internal cylinder 33 is greatly decelerated and transmitted to the external cylinder 31. Is done.

  Further, as shown in FIGS. 5 to 7, an output rotor 40 supported in the housing 30 via a cross roller ring 39 is coupled to the outer cylinder 31 of the second reduction gear 29. As shown in FIG. 7, the output rotor 40 is provided with a support shaft 41 protruding from the position of the axis o of the rotor 40 by decentering the axis o ′ by a predetermined amount. The cam ring 23 is supported on the support shaft 41. Therefore, the cam ring 23 rotates eccentrically around the axis o according to the rotation of the output rotor 40.

  Further, an eccentric boss portion 42 concentric with the support shaft 41 (axial center o ′) protrudes from the front end portion of the output rotor 40, and a displacement restriction ring 43 (displacement restriction portion) is attached to the eccentric boss portion 42. ing. The outer circumferential edge of the displacement regulating ring 43 is in contact with the outer tapered surface 44 of the load receiving rails 22a and 22b on the coupling base 12 side, thereby causing the drive unit 24 and the fork pawl 13a to move inward in the width direction (direction of the coupling base 12). ), A tapered regulating surface 43a is formed.

Incidentally, the motor 27 (elevating actuator 17) of the drive unit 24 is controlled by the controller 9 in the same manner as the other actuators 3, 5, and 7 described above. The controller 9 acquires an identification information ID for each workpiece W based on information such as an identification tag attached to the workpiece W during the transfer operation of the workpiece W, and the fork 13 moves forward and backward based on the identification information ID. Sometimes the motor 27 is driven and controlled. The control of the motor 27 by the controller 9 is for canceling the downward inclination on the tip side due to the bending of the first and second arms 10A, 10B, 11A, and 11B by correcting the connecting angle of the fork 13. The motor 27 is driven in consideration of the weight of W and the extension amounts of the first and second arms 10A, 10B, 11A, and 11B.
Specifically, for example, the final connection angle of the fork 13 is determined according to the weight of the workpiece W, and the correction of the connection angle of the fork 13 is performed by the first and second arms 10A, 10B, 11A, and 11B. The motor 27 is driven so as to be synchronized with the (extension / contraction operation).

In the above configuration, when the work W is placed on the fork 13 and the work W is transferred to the load receiving frame 20 on the rack, the lift base 4 is moved by the lift actuator 3 from the state shown in FIG. The first and second arms 10A, 10B, 11A, and 11B are extended by the advance / retreat actuator 7 in that state, and at the same time, the motor 27 that constitutes the angle correction mechanism 14 is driven and controlled to control the fork 13. The connection angle is corrected (see FIG. 2).
The drive control of the motor 27 at this time cancels out the deflection of the first and second arms 10A, 10B, 11A, and 11B due to the weight of the workpiece W based on the identification information ID for each workpiece W as described above. Thus, the upper surface of the fork 13 is always kept substantially horizontal.

  Then, when the fork 13 advances to a predetermined position in this way, the lifting base 4 is lowered by the lifting actuator 3 to transfer the workpiece W on the fork 13 onto the load receiving frame 20 of the rack. Thereby, the workpiece | work W will be mounted on the receiving frame 20 with the horizontal state maintained.

  Further, when the fork 13 is moved backward thereafter, the first and second arms 10A, 10B, 11A, and 11B are contracted by the forward / backward actuator 7, and at the same time as the fork 13 is moved backward, the connection angle of the fork 13 is set. The motor 27 of the angle correction mechanism 14 is driven and controlled so as to return to the initial state.

  As described above, in the transfer device 1, the angle correction mechanism 14 that corrects the connection angle of the fork 13 according to the bending of the first and second arms 10A, 10B, 11A, and 11B is provided. In addition to preventing the tilt of the fork 13 during the transfer operation, it is possible to increase the positional accuracy of the fork 13 by reducing the forward / backward direction and vertical swing width of the fork 13 due to the tilt correction, and the angle. Since the portion lifted by the correction mechanism 14 is only the fork 13 portion, the angle correction mechanism 14 and thus the entire apparatus can be reduced in size and weight.

  Further, in this transfer device 1, the angle correction mechanism 14 moves up and down a pivot shaft 16 that pivotably connects the fork 13 to the coupling base 12, and a portion that is spaced rearward from the pivot shaft 16 on the fork 13. Since the displacement actuator 17 is arranged to be displaced, the connecting angle of the fork 13 can be easily operated by the motor 27 having a small output.

  In the case of this transfer device 1, the lifting actuator 17 is supported by the fork 13 and eccentrically rotates in the vertical direction by the power of the motor 27, and protrudes from the connection base 12 and abuts the cam ring 23 in the vertical direction. Since the load receiving rails 22a and 22b are provided, the fork 13 can be reliably rotated around the pivot shaft 16 with a simple configuration.

  Further, in this transfer device 1, the lifting actuators 17 are individually provided corresponding to the fork claws 13 a on both sides of the fork 13, and are provided on the output rotor 40 (supporting portion of the cam ring 23) of each lifting actuator 17. Since the restricting surface 43a of the displacement restricting ring 43 is configured to come into contact with the outer tapered surface 44 of the load receiving rails 22a and 22b, the fork width direction between the rear edge of each fork claw 13a and the connecting base 12 is increased. The relative displacement is restricted, and the rear edge portions of both fork claws 13a are supported by the connection base 12 via the load receiving rails 22a and 22b. Therefore, in the case of the transfer device 1, it is possible to prevent the back edge of the rear edge of the fork 13 with respect to the connection base 12 and to prevent the back of the fork claws 13a from becoming loose in the shear direction. The rigidity of can be increased.

Further, as in this embodiment, when the transfer device 1 is controlled by the controller 9, the identification information ID of the workpiece W is acquired, and the connecting angle of the fork 13 is corrected by the motor 27 based on the identification information ID. In this case, it is not necessary to detect the weight of the workpiece W every time the transfer operation is performed, so that the connection angle of the fork 13 can be corrected quickly.
However, instead of acquiring the identification information of the workpiece W, a weight detection sensor or a tilt sensor such as a gyroscope is provided at the tip of the fork 13, and the connection angle of the fork 13 is corrected based on the detection values of these sensors. Anyway.

  Furthermore, in the transfer apparatus 1 of this embodiment, the angle correction mechanism 14 corrects the connection angle of the fork 13 in synchronization with the advance / retreat operation of the fork 13 during the advance / retreat operation. A series of operations of the fork 13 including the above correction can be performed quickly.

  In addition, this invention is not limited to said embodiment, A various design change is possible in the range which does not deviate from the summary. For example, the transfer device according to the present invention is not limited to the base table fixedly installed on a floor or the like, but can be applied to a lifter in which the base table moves up and down along an upright guide frame. Furthermore, the present invention can also be applied to a cart such as a stacker crane or RGV (Rail Guided Vehicle) that has the lifter and travels on a rail, or an automated guided vehicle that travels on a floor surface that does not have a rail having the lifter. .

FIG. 10 shows an example of a stacker crane 50 to which the transfer device 1 according to the present invention is applied.
In this stacker crane, a base stand 54 is supported by a lifter frame 53 having rollers 52 and 52 that roll on rails 51 and 51 so that the base stand 54 can be raised and lowered, and a fork unit of the transfer device 1 is mounted on the upper surface of the base stand 54. It is attached. In the figure, reference numeral 55 denotes a winding device for operating a wire for moving the base table 54 up and down.

For example, in an automated warehouse where improvement in storage efficiency is essential, it is desirable to make the pitch between the upper and lower shelves as narrow as possible. In this case, in order to avoid interference with the work on the lower shelf, the fork of the transfer device It is important to reduce the inclination of the as much as possible.
The transfer device according to the present invention can be applied to a stacker crane as shown in FIG. 10 because it can accurately correct the inclination of the fork accompanying the bending of the arm along with the forward / backward movement of the fork. When used in an automatic warehouse, it is extremely effective in narrowing the pitch between the upper and lower shelves.

DESCRIPTION OF SYMBOLS 1 ... Transfer equipment 10 ... 1st arm (arm)
11 ... Second arm (arm)
12 ... Connection base (connection part)
DESCRIPTION OF SYMBOLS 13 ... Fork 13a ... Fork claw 14 ... Angle correction mechanism 16 ... Pivot shaft 17 ... Lifting actuator 27 ... Motor 43 ... Displacement control ring (displacement control part)
W ... Work

Claims (6)

In a transfer device having a fork for placing a work and an arm connected to the fork to move the fork back and forth,
The transfer device according to claim 1, wherein an angle correction mechanism that corrects a connection angle of the fork according to a bending of the arm is provided at a connection portion between the fork and the arm. The angle correction mechanism is
A connecting base attached to the front end of the arm;
A pivot shaft for connecting the connection base and the fork so as to swing up and down;
An elevating actuator that is provided between the connection base and the fork, and moves up and down a portion spaced forward and backward from the pivot shaft on the fork;
The transfer apparatus according to claim 1, further comprising: The lifting actuator is
A cam ring provided on one of the connection base and the fork, and eccentrically rotated in the vertical direction by the power of the motor;
A load receiving rail provided on one of the connection base and the fork and contacting the cam ring;
The transfer device according to claim 2, wherein a portion of the fork that is spaced forward and backward from the pivot shaft is displaced up and down by a relative position between the cam ring and the load receiving rail. The fork includes a pair of fork claws extending along the advancing and retracting direction,
The lift actuator is individually provided corresponding to each fork claw,
Displacement restricting portions for restricting relative displacement in the fork width direction between the cam ring support portions of the lift actuators and the load receiving rails corresponding to the cam rings are provided. The transfer device according to claim 3.   The said angle correction mechanism acquires the identification information of the workpiece | work mounted in the said fork, and correct | amends the connection angle of the said fork based on the identification information. The transfer apparatus described.   6. The shift according to claim 1, wherein the angle correction mechanism corrects a connection angle of the fork in synchronization with the operation of the fork that is advanced or retracted by the arm. Mounting device.

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