200823128 九、發明說明 【發明所屬之技術領域】 本發明係關於由移載裝置（堆高式起重機、高架行走 車、有軌道台車、無人搬運車等等）和棚架等的物品台所 組合成之系統。本發明特別是關於用來修正移載裝置的傾 斜之系統。 【先前技術】 在用滑動式叉架等進行物品之移載時，已知會因滑動 式叉架本身重量或物品荷重而產生變形。於是在專利文獻 1揭示出，使搭載著滑動式叉架之昇降台傾斜，以修正滑 動式叉架之變形。爲了正確地進行修正，必須正確檢測滑 動式叉架之變形。然而使用應變計等的檢測器時，滑動式 叉架之退出及振動所產生之加速度會導致誤差，因此難以 正確地檢測出變形。 〔專利文獻1〕日本實開平7-981 1 【發明內容】 本發明之課題，係爲了謀求以高速、省空間、低衝擊 的方式進行物品之移載。申請專利範圍第2項的發明之追 加課題在於，並不等待移載裝置之退出完成，即可進行傾 斜之檢測。申請專利範圍第3項的發明之追加課題在於， 爲了能更正確地檢測出移載裝置的傾斜。 本發明之移載系統，係具備：具有能退出自如的臂部 -4- 200823128 之移載裝置、藉由該移載裝置進行物品的收授之物品台而 構成之移載系統；其特徵在於：在前述物品台之至少二部 位’設置與物品台載置面的高度相同之標記；在前述移載 裝置之臂部，設置用來檢測前述至少二部分的標記之高度 差的檢測手段；爲了消彌該檢測手段所求出之高度位置的 差距’係設有用來使前述移載裝置沿前述臂部的退出方向 傾斜（tilt)之傾斜手段。 較佳爲，前述標記係由和前述物品載置面平行的連續 線所構成。較佳爲，前述檢測手段，係由沿前述臂部的退 出方向隔著間隔配置之至少一對光學感測器所構成。 本發明，係使臂部朝物品台側前進，並檢測出至少二 部位的標記之高度差。當臂部和物品載置面呈平行時，從 檢測側觀察不會產生標記間的高度差；但當不是呈平行 時，則標記間會產生高度差。於是，爲了消彌該差距而使 移載裝置傾斜，即可使臂部和物品載置面形成平行。當臂 部和物品載置面形成平行時，在物品台和臂部間進行物品 的收授時之衝擊變小。又臂部進行微速昇降的行程變短， 因此可縮短移載時間，而減少物品台側之空間。藉此，能 謀求低衝擊、高速且省空間之移載。 此外’當標記是由和物品載置面平行之連續線所構成 時’能在臂部退出之廣範圍間進行標記之檢測。又先檢測 出至少一部位之標記並儲存其高度，隨後只要檢測標記的 高度變化即可檢測出臂部是否傾斜。因此即使臂部未進出 至既定位置，仍能檢測出傾斜。在利用標記高度差來檢測 -5- 200823128 傾斜時，標記檢測位置之間隔越廣其精度越高。 沿臂部之退出方向隔著間隔配置檢測手段，即瓦 地檢測出臂部的傾斜。 【實施方式】 以下說明用來實施本發明之最佳實施例。 〔實施例〕 第1圖〜第8圖係顯示實施例的移載系統之 重機。在各圖中，2代表昇降台，例如沿著一對 降，在其下部設有堆高式起重機之未圖示的台_ 於未圖示之行走軌道上。在台車設有：行走用周 台2之昇降用馬達。昇降台2例如是由左右的 6,6及線性移動導件（LM導件）7所構成，能沿 降。8代表昇降台2之上部框架，藉由插銷10、 銷1 〇爲搖動中心而傾斜自如地裝設在引導單元< 傾斜機構14如第2圖所示，插銷12係安裝 元6，並貫穿設於上部框架8及傾斜機構14之 且固定在螺帽20和線性移動導件24 ;螺帽20傍 用馬達22沿著滾珠螺桿21進行左右移動。26 H 導線性移動導件24之引導單元。當傾斜用馬達 時，上部框架8和傾斜機構1 4會相對於插銷12 移動’但由於上部框架8無法相對插銷丨〇進 動，故昇降台2會以插銷1 〇爲支點進行左右 於是，若 更加正確 :堆高式起 塔4，4昇 =，其行走 r達、昇降 f引導單元 著塔4昇 1 2，以插 5 ° E於引導單 長孔1 8， 〖藉由傾斜 :表用來引 [22作動 進行左右 行左右移 移動。結 -6 - 200823128 果，昇降台2會沿滑動式叉架1 6的退出方向傾斜。 第3圖、第4圖之3 0代表棚架支承件，係沿著供堆 高式起重機行走之自動倉庫的棚架設置，其中省略棚架支 承件3 0的支柱等。以和棚架支承件3 0的長邊方向平行、 換言之和棚架支承件3 0的物品載置面平行的方式，設置 上下2條的線狀標記3 1、32。標記3 1、32例如是使用色 帶（color tape)等的光學標記。滑動式叉架16係以其底 部單元係固定於昇降台2，且具有中間單元34及頂部單元 3 5，在前端之頂部單元3 5的左右兩端附近具備影像感測 器3 6、3 7。影像感測器3 6、3 7例如使用：視野方向爲上 下方向之1維光學感測器，但也能使用具有面狀視野之 CCD攝影機等。 如第4圖所示，在檢測頂部單元3 5對棚架支承件3 0 之傾斜時，40、4 1代表第3圖之影像感測器3 6、3 7的視 野，例如可辨識上下2條標記3 1、3 2時，係求取其平均 高度與視野中心之距離d 1、d2。此外，在僅能檢測出標記 31、3 2中一方時，求取檢測出的標記和視野中心的高度距 離亦可。當頂部單元3 5呈水平時，視野中心與標記3 1、 32的高度差距dl、d2兩者共通。dl、d2間的差距代表頂 部單元3 5的傾斜情形，藉由第2圖的傾斜機構14使昇降 台2傾斜，即可消彌滑動式叉架的頂部單元3 5之傾斜 (修正成0 )。 第5圖係顯示昇降台控制部5 0和其週邊。5 1代表用 來使昇降台昇降之昇降用馬達；52代表用驅動滑動式叉架 200823128 之滑動式叉架用驅動馬達。2 2爲前述之傾斜用馬達 感測器3 6、3 7之訊號係輸入傾斜檢測部5 4，根據 中d 1、d2的差距來檢測出滑動式叉架之頂部單元： 斜情形。根據d 1、d2的差距，也能求出到達和棚 件3 0之間進行物品收授程度之剩餘昇降距離。使 感測器3 6、3 7進行傾斜的檢測時，必須在至少一 像感測器檢測到標記3 1、3 2後才能檢測出傾斜。 在頂部單元3 5開始從昇降台2上退出或是返回昇 上時，將此時的傾斜修正模式圖儲存於修正模式圖 5 6。修正模式圖儲存部5 6之資料係包括：滑動式 退出位置、用來區別裝貨或未裝貨時之昇降台的目 角。在影像感測器無法檢測到標記3 1、3 2的區域 用修正模式圖儲存部5 6之資料來使昇降台傾斜。 第6圖係顯示實施例之移載計算步驟。直到影 器36、37前進至棚架支承件30內爲止，並無法檢 動式叉架的傾斜。在裝貨和未裝貨的情形，預先測 於滑動式叉架1 6的退出量之傾斜，並儲存其修 圖。當滑動式叉架1 6開始前進時，根據修正模式 部56之資料使昇降台2傾斜，以在滑動式叉架的 元3 5的上面呈保持水平的狀態使其前進。一對影 器3 6、3 7中至少一方的檢測器檢測到標記3 1或| 時，將標記高度予以儲存。當頂部單元3 5的上面 時，即使滑動式叉架前進該高度應該不會產生變 是，以相對於儲存値抑制高度變動之方式使昇降台 。影像 第4圖 5 5的傾 架支承 用影像 方的影 於是， 降台2 儲存部 叉架之 標傾斜 ，係利 像感測 測出滑 定相對 正模式 圖儲存 頂部單 像感測 I記32 呈水平 化。於 傾斜， -8 - 200823128 而讓滑動式叉架的上面保持水平。若左右的影像感測器 3 6、3 7都檢測出標記3 1、3 2，則可正確地測定頂部單元 3 5的上面之傾斜，而以消彌傾斜的方式進行昇降台之傾 斜。 當滑動式叉架之前進結束時，藉由影像感測器3 6、3 7 檢測滑動式叉架之傾斜，並藉由傾斜用馬達使昇降台2傾 斜以進行傾斜之修正，同時將昇降台2從低速昇降切換成 微速昇降，在這期間進行與棚架支承件3 0間之物品收 授，接著再度將昇降台2切換成低速昇降，而結束移載。 在這期間，由於施加於滑動式叉架之荷重會依物品重量而 改變，故滑動式叉架之傾斜也會改變，而以修正該傾斜的 方式進行昇降台2之傾斜。當物品之收授結束後，一邊修 正滑動式叉架之傾斜一邊使其後退。 第7圖係顯示實施例和習知例之昇降台的速度模式 圖，在此雖顯示昇降台上昇的情形，但下降的情形也是同 樣的。在昇降台微速上昇的期間進行物品之收授。在習知 例，由於滑動式叉架會產生變形等，故無法正確地界定滑 動式叉架的高度。於是必須預先估計變形等所導致之滑動 式叉架前端的高度變化，因此須擴大其微速上昇區域。如 此會延長移載時間，且移載時滑動式叉架之昇降行程增 加，而導致棚架側之物品的收容效率變差。在實施例，由 於滑動式叉架前端可保持水平，故物品底面和滑動式叉架 上面一開始就是形成面接觸，因此衝擊小，收授後之滑動 式叉架的振動變小。 -9- 200823128 第8圖係示意顯示從滑動式叉架1 6上昇到載置物品 1 7的過程。實施例是使昇降台2傾斜，在此則是使用可相 對昇降台2獨立調整高度之2個支承部，來使滑動式叉架 1 6全體進行傾斜。在昇降台2側將變形予以修正，而在滑 動式叉架保持水平的狀態和物品7進行接觸，因此滑動式 叉架和物品係進行面接觸。又從滑動式叉架1 6卸貨至棚 架支承件3 0時，物品從一開始就會和棚架支承件3 0形成 面接觸，因此物品之收授所產生之衝擊變小。又在物品收 授時，雖然施加於滑動式叉架之荷重會產生變化而發生變 形，由於以能消彌該變形的方式使昇降台傾斜，故能抑制 變形所產生之振動。藉此能以極小的衝擊進行物品之收 授，可縮短微速昇降時間而以短時間進行物品之移載，且 能使滑動式叉架的頂部單元以保持水平的狀態進行退出， 因此可提昇棚架側之收容效率。 在實施例之移載裝置係使用堆高式起重機，但使用高 架行走車、有軌道台車、無人搬運車等等的情形也是同樣 的。又在由昇降台和滑動式叉架所組合成之固定於地面的 移載系統的情形，在滑動式叉架等的移載裝置設置傾斜機 構之實施例同樣的適用。在實施例，作爲移載裝置雖是使 用滑動式叉架，但也能使用多關節機械手臂（SCARA arm )。另外，也能取代左右一對之影像感測器，而使用 水平方向視野寬廣之1台C CD攝影機，但這時傾斜之檢 測精度會變差。 -10- 200823128 【圖式簡單說明】 第1圖係顯示實施例的堆高式起重機的昇降台。 第2圖係顯示實施例的昇降台之傾斜機構。 第3圖係顯示實施例之設於棚架支承件之上下標記、 設於滑動式叉架之頂部單元之影像感測器。 第4圖係顯示實施例之滑動式叉架之傾斜檢測方法。 第5圖係顯示：實施例之昇降台控制部和其週邊的昇 降用馬達、滑動式叉架驅動馬達、傾斜用馬達、傾斜檢測 部、傾斜修正模式圖之儲存部等之方塊圖。 第6圖係顯示實施例的移載方法之流程圖。 第7圖係顯示實施例（上段）和習知例（下段）的昇 降台之速度模式圖。 第8圖係示意顯示實施例之從滑動式叉架和％ & ί妾^ 直到從棚架支承件舉起物品的過程。 【主要元件符號說明】 2 :昇降台 4 :塔 6 :引導單元 7 :線性移動導件（LM導件） 8 :上部框架 1 〇、1 2 :插銷 1 4 :傾斜機構 1 6 :滑動式叉架 -11 - 200823128 17 ： 18 ： 20 ： 21 ： 22 ： 24 ： 26 ： 30 ： 3 1、 34 ： 35 ： 36、 40、 50 ： 5 1: 5 2 ： 54 ： 56 ： 物品 長孔 螺帽 滾珠螺桿 傾斜用馬達 線性移動導件 引導單元 棚架支承件 3 2 :標記 中間單元 頂部單元 3 7 :影像檢測器 41 :視野 昇降台控制部 昇降用馬達 滑動式叉架驅動用馬達 傾斜檢測部 修正模式圖儲存部 -12-200823128 IX. Description of the Invention [Technical Fields of the Invention] The present invention relates to a combination of articles such as a transfer device (a stacker crane, an overhead traveling vehicle, an orbital trolley, an unmanned vehicle, etc.) and a scaffold. system. More particularly, the present invention relates to systems for correcting the tilt of a transfer device. [Prior Art] When transferring an article with a sliding fork or the like, it is known that deformation occurs due to the weight of the sliding fork itself or the load of the article. Therefore, Patent Document 1 discloses that the elevating table on which the sliding fork is mounted is tilted to correct the deformation of the sliding fork. In order to correct the correction correctly, the deformation of the sliding fork must be correctly detected. However, when a detector such as a strain gauge is used, the acceleration of the sliding fork and the acceleration caused by the vibration cause an error, so that it is difficult to accurately detect the deformation. [Patent Document 1] Japanese Laid-Open Patent Publication No. 7-981 1 SUMMARY OF THE INVENTION The object of the present invention is to achieve the transfer of articles in a high-speed, space-saving, and low-impact manner. An additional problem of the invention of claim 2 is that the detection of the tilt can be performed without waiting for the exit of the transfer device to be completed. An additional object of the invention of claim 3 is to more accurately detect the inclination of the transfer device. The transfer system of the present invention includes a transfer system having a transfer device capable of exiting the arm portion -4-200823128 and an article table for carrying in articles by the transfer device; : at least two locations of the article table are provided with a mark having the same height as the article table mounting surface; and the arm portion of the transfer device is provided with a detecting means for detecting a height difference of the at least two portions of the mark; The difference in the height position obtained by the detection means is provided as a tilting means for tilting the transfer device along the exit direction of the arm portion. Preferably, the mark is formed by a continuous line parallel to the article mounting surface. Preferably, the detecting means is constituted by at least one pair of optical sensors arranged at intervals in the direction in which the arm portion is withdrawn. According to the present invention, the arm portion is advanced toward the article table side, and the height difference of the marks of at least two portions is detected. When the arm portion and the article mounting surface are parallel, the height difference between the marks does not occur when viewed from the detecting side; however, when it is not parallel, a height difference occurs between the marks. Therefore, in order to eliminate the gap and tilt the transfer device, the arm portion and the article mounting surface can be formed in parallel. When the arm portion and the article placing surface are formed in parallel, the impact when the article is received between the article table and the arm portion becomes small. Further, the stroke in which the arm is slightly lifted and lowered is shortened, so that the transfer time can be shortened and the space on the side of the article can be reduced. Thereby, it is possible to achieve low impact, high speed and space saving transfer. Further, when the mark is composed of a continuous line parallel to the article placement surface, the mark can be detected between a wide range of the arm exit. The mark of at least one part is first detected and its height is stored, and then the arm is detected to be tilted as long as the height of the mark is detected. Therefore, even if the arm does not enter or exit to a predetermined position, the tilt can be detected. When the mark height difference is used to detect -5 - 200823128 tilt, the wider the interval between mark detection positions, the higher the accuracy. The detecting means is disposed at intervals in the exit direction of the arm portion, i.e., the inclination of the arm portion is detected by the tile. [Embodiment] Hereinafter, preferred embodiments for carrying out the invention will be described. [Embodiment] Figs. 1 to 8 show a heavy machine of the transfer system of the embodiment. In each of the figures, 2 represents a lifting platform, for example, a pair of descending cranes, and a lower stage of a stacking crane is provided on a lower portion of the traveling rail (not shown). The trolley is provided with a lifting motor for the traveling platform 2. The elevating table 2 is composed of, for example, left and right 6, 6 and a linear moving guide (LM guide) 7, which can be lowered. 8 represents the upper frame of the lifting platform 2, and is mounted on the guiding unit by the pin 10 and the pin 1 摇 as a rocking center. The tilting mechanism 14 is as shown in Fig. 2, and the latch 12 is mounted with the element 6 and penetrates. The upper frame 8 and the tilting mechanism 14 are fixed to the nut 20 and the linear movement guide 24; the nut 20 is driven by the motor 22 to move left and right along the ball screw 21. 26 H Guide unit for the linear movement guide 24. When the motor is tilted, the upper frame 8 and the tilting mechanism 14 move relative to the latch 12, but since the upper frame 8 cannot be moved relative to the latch ,, the lift table 2 is tilted with the pin 1 〇 as a fulcrum, if More correct: stacking tower 4, 4 liters =, its walking r up, lifting f guiding unit tower 4 liters 1 2, to insert 5 ° E in the guide single long hole 18, 〖by tilt: table To introduce [22 act to move left and right lines left and right. Knot -6 - 200823128 If the lifting platform 2 is inclined in the exit direction of the sliding fork 16 . Fig. 3 and Fig. 3, Fig. 3, represent the scaffolding support members, which are arranged along the scaffolding of the automatic warehouse for the stacking cranes, in which the pillars of the scaffolding support members 30 are omitted. The upper and lower linear marks 3 1 and 32 are provided so as to be parallel to the longitudinal direction of the scaffold support 30, in other words, parallel to the article placement surface of the scaffold support 30. The marks 3 1 and 32 are, for example, optical marks using a color tape or the like. The sliding fork 16 is fixed to the lifting platform 2 with its bottom unit, and has an intermediate unit 34 and a top unit 35. The image sensor is provided near the left and right ends of the top unit 35 of the front end. . For example, a one-dimensional optical sensor in which the visual field direction is the upper and lower directions is used, but a CCD camera having a planar field of view or the like can also be used. As shown in FIG. 4, when detecting the tilt of the top unit 35 to the scaffold support member 30, 40, 4 1 represents the field of view of the image sensors 36, 37 of FIG. 3, for example, the upper and lower sides can be recognized. When the strips mark 3 1 and 3 2, the distances d 1 and d2 between the average height and the center of the field of view are obtained. Further, when only one of the marks 31 and 3 2 can be detected, the height of the detected mark and the center of the field of view can be obtained. When the top unit 35 is horizontal, the center of the field of view is in common with the heights dl, d2 of the markers 31, 32. The difference between dl and d2 represents the inclination of the top unit 35. By tilting the lifting platform 2 by the tilting mechanism 14 of Fig. 2, the tilt of the top unit 35 of the sliding fork can be eliminated (corrected to 0). . Fig. 5 shows the elevator control unit 50 and its surroundings. 5 1 represents a lifting motor for lifting the lifting platform; 52 represents a driving motor for a sliding fork for driving the sliding fork 200823128. 2 2 is the above-mentioned tilting motor. The signal of the sensors 3 6 and 3 7 is input to the tilt detecting unit 5 4 , and the top unit of the sliding fork is detected based on the difference between d 1 and d 2 : the oblique case. According to the difference between d 1 and d2, the remaining lifting distance between the arrival and the shed 30 0 can be obtained. When the sensors 3 6 and 3 7 are tilted, the tilt must be detected after at least one of the image sensors detects the marks 3 1 and 3 2 . When the top unit 35 starts to exit from the elevator 2 or returns to the up position, the tilt correction pattern map at this time is stored in the correction mode map 56. The data of the correction pattern storage unit 56 includes: a sliding exit position, a target angle for distinguishing the loading or unloading. In the area where the image sensor cannot detect the marks 3 1 and 3 2, the information of the correction pattern storage unit 56 is used to tilt the lifting table. Figure 6 shows the transfer calculation steps of the embodiment. Until the cameras 36, 37 are advanced into the scaffold support 30, the tilt of the yoke cannot be detected. In the case of loading and unloading, the tilt of the exit amount of the slide fork 16 is measured in advance, and the repair is stored. When the slide fork 16 starts to advance, the elevating table 2 is tilted in accordance with the information of the correction mode portion 56, and is advanced in a state where the upper surface of the slider 35 is kept horizontal. When the detector of at least one of the pair of cameras 3 6 and 3 7 detects the mark 3 1 or |, the mark height is stored. When the top unit 35 is above, even if the sliding fork advances the height, it should not change, so that the lifting table is restrained in such a manner as to suppress the height variation with respect to the storage 。. Image 4:5 5 The image of the image of the tilting support is as follows, the tilting of the shovel of the lowering 2 storage section, the image is sensed and the sliding is measured relative to the positive pattern. The top single image sensing I record 32 Horizontalized. Tilt, -8 - 200823128 and keep the top of the sliding fork horizontal. If the left and right image sensors 3 6 and 3 7 detect the marks 3 1 and 3 2, the inclination of the upper surface of the top unit 35 can be accurately measured, and the inclination of the lifting table can be performed in a tilted manner. When the sliding fork is advanced, the tilt of the sliding fork is detected by the image sensors 3 6 and 3 7 , and the tilting motor 2 is tilted by the tilting motor to correct the tilt, and the lifting platform is simultaneously 2 Switching from the low speed up and down to the micro speed up and down, during which the goods are exchanged with the scaffold support 30, and then the elevating table 2 is switched to the low speed up and down again, and the transfer is finished. During this period, since the load applied to the sliding yoke changes depending on the weight of the article, the inclination of the sliding yoke is also changed, and the inclination of the hoisting platform 2 is performed in such a manner as to correct the inclination. When the item is accepted, correct the tilt of the sliding fork and retreat. Fig. 7 is a view showing the speed pattern of the lift table of the embodiment and the conventional example, although the case where the lift table is raised is shown here, but the case of the drop is also the same. The collection of articles is carried out during the period in which the lifting platform is slightly increased. In the conventional example, since the sliding fork is deformed or the like, the height of the sliding fork cannot be correctly defined. Therefore, it is necessary to estimate the height change of the front end of the sliding fork caused by deformation or the like in advance, and therefore it is necessary to expand the micro-speed rising region. As a result, the transfer time is prolonged, and the lifting stroke of the sliding fork is increased at the time of transfer, and the storage efficiency of articles on the scaffold side is deteriorated. In the embodiment, since the front end of the sliding fork can be kept horizontal, the bottom surface of the article and the upper surface of the sliding fork are initially in surface contact, so that the impact is small, and the vibration of the sliding fork after the receiving is small. -9- 200823128 Fig. 8 is a schematic view showing the process of ascending from the sliding fork 16 to the placing of the item 17. In the embodiment, the elevating table 2 is tilted. Here, the two support portions that can independently adjust the height of the opposite elevating table 2 are used to tilt the entire sliding fork unit 16. The deformation is corrected on the side of the lifting platform 2, and the state in which the sliding fork is kept horizontal is in contact with the article 7, so that the sliding fork and the article are in surface contact. When the slide fork 16 is unloaded to the rack support member 30, the article comes into surface contact with the scaffold support member 30 from the beginning, so that the impact of the article is reduced. Further, when the article is being conveyed, the load applied to the slide type fork is changed and deformed, and since the lift table is tilted so that the deformation can be suppressed, the vibration generated by the deformation can be suppressed. Thereby, the article can be accepted with a very small impact, the micro-speed lifting time can be shortened, the article can be transferred in a short time, and the top unit of the sliding fork can be withdrawn in a state of maintaining the level, thereby lifting the shed Shelf side containment efficiency. The stacking device of the embodiment uses a stacker crane, but the same applies to the use of overhead traveling vehicles, railcars, unmanned vehicles, and the like. Further, in the case of a transfer system fixed to the ground by a combination of a lifting platform and a sliding fork, the embodiment in which the tilting mechanism is provided in the transfer device such as the sliding fork is similarly applied. In the embodiment, a sliding fork is used as the transfer device, but a multi-joint robot (SCARA arm) can also be used. In addition, it is also possible to replace a pair of left and right image sensors, and use a C CD camera with a wide horizontal field of view. However, the detection accuracy of the tilt is deteriorated. -10- 200823128 [Simple description of the drawings] Fig. 1 shows a lifting platform of a stacking crane of the embodiment. Fig. 2 is a view showing the tilting mechanism of the lifting platform of the embodiment. Fig. 3 is a view showing an image sensor of the embodiment provided on the top of the scaffold support and provided on the top unit of the slide fork. Fig. 4 is a view showing the tilt detecting method of the sliding fork of the embodiment. Fig. 5 is a block diagram showing the elevator control unit of the embodiment, the motor for raising and lowering, the slide-type fork drive motor, the tilt motor, the tilt detecting unit, the storage unit of the tilt correction pattern, and the like. Fig. 6 is a flow chart showing the transfer method of the embodiment. Fig. 7 is a view showing the speed pattern of the elevation stage of the embodiment (upper paragraph) and the conventional example (lower stage). Figure 8 is a schematic illustration of the process of lifting the article from the sliding yoke and % & 直到 实施 until the lifting of the article from the scaffolding support. [Description of main component symbols] 2 : Lifting table 4 : Tower 6 : Guide unit 7 : Linear moving guide (LM guide) 8 : Upper frame 1 〇, 1 2 : Pin 1 4 : Tilting mechanism 1 6 : Sliding fork Rack-11 - 200823128 17 : 18 : 20 : 21 : 22 : 24 : 26 : 30 : 3 1 , 34 : 35 : 36 , 40 , 50 : 5 1: 5 2 : 54 : 56 : Long hole nut ball Screw tilting motor linear movement guide guide unit scaffold support 3 2 : marking intermediate unit top unit 3 7 : image detector 41 : field of view elevator control unit lifting motor sliding fork drive motor tilt detecting unit correction mode Figure storage unit-12-