200821255 九、發明說明 【發明所屬之技術領域】 本發明係關於用來使工件對多數個棚架進行出入（移 載）之移載裝置，特別是關於該移載裝置中，用來使移載 機（進行工件的出入）昇降之昇降台的安裝構造。 【先前技術】 • 這種移載裝置以及其構成要件之昇降台，係分別使移 載機（用來使工件進出於棚架）配合棚架的位置而進行移動 、昇降者，在自動化倉庫中，扮演相當重要的角色。在這 種移載裝置，爲了將昇降台的兩側吊起，如第1圖〜第4 圖所不，在該移載裝置之進行方向必須設有左右2個支柱 (裝置）。關於移載機，可按照工件的種類而適當選擇多關 節機械手臂（S CARA arm)或是滑動式叉架等等。 這種移載裝置，必須將上述昇降台沿支柱裝置之上下 方向引導，當工件變大且重量變重時，該昇降台之昇降必 須更加確實地進行，且隨著工件之大型化棚架也變得大型 化’因此經由移載機而施加於該昇降台之重力負荷也變大 • 〇 關於這種移載裝置之昇降台之引導裝置，在申請人之 申請案之專利文獻丨中有詳細的說明。 〔專利文獻1〕日本實開平5-2249 1號公報（第2圖、 第3圖） 200821255 . 【發明內容】 該專利文獻1所記載之發明’係關於以 左右一對的導軌昇降之昇降台不致產生左右 而構成之「昇降台的引導裝置」；該「昇降 」，如第14圖所示’係採用「將昇降台12 導輥1 8以能左右移動的方式設於昇降台1 2 1 9朝導軌1 1側彈壓」之構成。 φ 專利文獻1之「昇降台的引導裝置」’ 知技術問題點之「當塔變高時，塔在高度的 相分離或互相接近的方向變形，因此塔之左 方向會產生變化，左右導軌彼此間之間隔也 導軌和昇降台之導輥間會產生間隙，而造成 搖晃的問題」，藉由採用上述構成，而發揮 至少一側之導輥以能左右移動的方式設於昇 彈簧朝導輥側彈壓，藉此使導軌和昇降台之 • 合狀態」之作用效果。 然而，本案發明人之後深入探討得知， ~ 柱（裝置）的連結.可藉由「導輥和導軌」來進 ^ 造足以充分因應，但當必須採用其他的連結 構造並無法獲得充分的效果。 亦即，如前述般，用來進行笨重且大型 移載裝置，其整體不得不變得大型化，前後 柱（裝置）也必須使用高度10m左右之高大物 支柱裝置之上下的「間距（span)」，會依： 「爲了使沿著 搖晃」爲目的 台的引導裝置 之至少一側之 ，並藉由彈簧 係爲了改善習 中央部會朝互 右間隔沿高度 會改變，結果 昇降台朝左右 「將昇降台之 降台，並藉由 導輥恒保持密 當昇降台和支 行時，上述構 方法時，上述 工件的移載之 2個必要的支 。這樣一來， 該> 柱裝置本 200821255 • 身之製造誤差、是否有施加來自上述工件之重量、該工件 的支承位置是位於支柱上端側或下端側等等，而有所不同 〇 ^ 換言之’若昇降台（承載工件或移載機）僅單純的連結 於支柱裝置側，將無法充分對應於上述般的況狀變化，例 如以專利文獻1來說，將會對導軌和昇降台之導輥造成機 械上的不當負荷，可能對移載裝置之圓滑動作造成阻礙。 Φ 於是，本案發明人等，針對上述移載裝置，如何在其 支柱裝置大型化時仍能使昇降台的昇降動作持續穩定進行 做深入探討，結果達到本發明之完成。 亦即’本發明之第1目的係提供一種移載裝置之昇降 台之支承構造，即使支柱裝置之上下間距產生誤差、支柱 裝置和支承框產生些微傾斜，仍能圓滑地進行昇降台之昇 降。 本發明之第2目的係提供一種移載裝置之昇降台之支 ^ 承構造，係藉由直線移動導件來穩定進行支承框（和昇降 台連結）相對於支柱裝置之昇降引導，以充分對抗經由工 ~ 件所賦予之扭力。 _ 爲了解決上述課題，首先，申請專利範圍第1項所用 之手段，若使用後述最佳形態的說明中所用的符號來做說 明，係「一種移載裝置100之昇降台30之安裝構造，係 在配置有多數個棚架50之倉庫內移動，以對前述各棚架 5〇進行工件的出入之移載裝置100;且該移載裝置1〇〇係 具備：可在前述倉庫內移動之基台1 0、豎設於該基台i 〇 -6 - 200821255 上之左右兩座的支柱裝置20、可相對於該各支柱裝置20 上下移動之昇降台30、設置於該昇降台30上之移載機40 :相對於前述各支柱裝置20將支承框32安裝成昇降自如 ;在該各支承框32的下端，透過插通於前述支承框32之 圓孔3 3 a之插銷3 3連結著前述昇降台3 0之端部，相對於 • 前述各支承框32，前述昇降台30係透過前述各插銷33而 形成在左右方向可傾動」。 • 亦即，申請專利範圍第1項之移載裝置100，係在配 置有多數個棚架50之倉庫內移動，以對各棚架50進行工 件的出入者；如第1圖所示係具備：可在前述倉庫內移動 之基台10、豎設於該基台1〇上之兩座支柱裝置20、可相 對於該各支柱裝置20上下移動之昇降台30、設置於該昇 降台30上之移載機40。 該移載裝置1〇〇，係藉由支承框32(相對於支柱裝置 20安裝成昇降自如）來支承昇降台30，除了如第2圖所示 • 在支柱裝置20直接安裝支承框32以外，如第3圖所示， 也能在支柱裝置20上透過引導單元3 1間接地安裝支承框 • 32 ° • 該申請專利範圍第1項之移載裝置100，當各支柱裝 置2 0本身、以昇降自如的方式安裝於其之支承框32，因 製造誤差等相對於鉛垂方向產生傾斜時，昇降台3 0和支 承框3 2可透過插通於各圓孔3 3 a之插銷3 3進行傾動，因 此可在維持昇降台30之水平狀態下，避免傾斜所造成之 「不當施力」施加於該移載裝置1 〇〇之各部位。 -7- 200821255 具有以上構造之移載裝置100，如第2圖及第3 示，在倉庫（配置有多數個棚架50)的軌道21上移動 達待進行工件出入之棚架50前方，如第4圖所示， 台30會昇降至棚架50之對應位置。之後，使昇降亡 上之移載機40作動，將其多關節機械手臂或滑動式 延伸至棚架5 0而進行工件之出入後，再度使多關節 手臂或滑動式叉架返回原先的位置而結束工件之出入 〇 在構成該移載裝置10之兩座支柱裝置20上，如 圖或第3圖及第4圖所示，將上述昇降台30安裝成 自如，該昇降台3 〇對支柱裝置2 0之安裝，在第2圖 之最佳形態，係透過支承框3 2而以可傾動的方式安 各支柱裝置20，又在第3圖所示之最佳形態，係在各 裝置20透過引導單元31將支承框32安裝成可傾動。 當然，該等的支承框32，係透過鏈條等的纜索或 的直線移動導件60而被各支柱裝置20所支承，藉由 各支柱裝置20內之未圖示的驅動裝置將各纜索予以 驅動，以進行各支承框3 2之昇降。 如第2圖或第3圖所示，在該支承框3 2的下端 插銷3 3將昇降台3 0的端部連結成可傾動，因此，如 圖〜第10圖所示，例如在昇降台30的上面固定著昇 側塊體3 0 a，在該昇降台側塊體3 0 a形成圓孔3 3 a。 方面，在支承框3 2的下端固定著支承框側塊體3 2b， 支承框側塊體32b也形成有圓孔33a。在上述構造之 圖所 而到 昇降 ί 3 0 叉架 機械 動作 第2 昇降 所示 裝於 支柱 後述 設於 同步 透過 第8 降台 另一 在該 各昇 200821255 降台側塊體3 0a及支承框側塊體3 2b上所形成之各圓孔 3 3 a內***上述插銷3 3，透過該插銷3 3將昇降台3 0以可 傾動的方式連結於支承框3 2。在後述之最佳形態，該插銷 3 3係配置於第7圖所示之俯視四角形的昇降台3 0之各隅 角部，亦即在2個支承框3 2之前後兩下端各配置一個而 合計使用4個。 依據以上的構造，申請專利範圍第1項之移載裝置 100之昇降台30的安裝構造，在昇降台30之對應於各支 柱裝置2 0側端部之4部位各個，係透過插通於各圓孔33a 之插銷33而以可傾動的方式連結於支承框32的下端部， 因此昇降台30相對於位於兩側之個支承框32係形成可傾 動。 在此，當支承框3 2之昇降量在兩側稍有差異、各支 柱裝置20在高度方向有些微的尺寸誤差、或是昇降台30 上的移載機40支承著工件時的扭力作用於各支柱裝置20 和昇降台3 0本身時，兩支柱裝置20間之間距會和其他部 分不同，各支柱裝置2 0朝內側、亦即朝昇降台3 0上側傾 倒的現象變明顯，會對各支柱裝置2 0側之軌道等產生不 當施力，而對昇降台30之圓滑昇降造成阻礙。其原因在 於，施加在各支柱裝置20上的重量，除了昇降台3 0以及 其上方的移載機4 0，進一步還有藉移載機40支承之工件 的重量。 然而，申請專利範圍第1項之安裝構造，由於該昇降 台3 0是透過插通於圓孔3 3 a之插銷3 3連結於支承框3 2， 200821255 因兩支柱裝置20間之間距不同所產生之尺寸變化（傾斜狀 態），會被各插銷3 3及圓孔3 3 a所吸收，因此不致對該移 載裝置1 00之各連結部及支承部施加不當的力量。 因此，依據申請專利範圍第1項之移載裝置100之昇 降台30的支承構造，即使支柱裝置20間之間距產生誤差 ，由於昇降台3 0和支承框3 2能經由插通於各圓孔3 3 a之 插銷33而形成可傾動，故能圓滑地進行昇降台30之昇降 〇 爲了解決上述課題，申請專利範圍第2項之發明所採 用的手段，同樣地係「一種移載裝置100之昇降台30之 安裝構造，係在配置有多數個棚架50之倉庫內移動，以 對各棚架50進行工件的出入之移載裝置100 ;且該移載裝 置1〇〇係具備：可在前述倉庫內移動之基台10、豎設於該 基台1 〇上之左右兩座的支柱裝置20、可相對於該各支柱 裝置20上下移動之昇降台30、設置於該昇降台30上之移 載機40 ;相對於前述各支柱裝置20將支承框32安裝成昇 降自如；在該等支承框32中一方的下端，透過插通於前 述支承框32之圓孔33a之插銷33連結著前述昇降台30 之一端部；在前述支承框32另一方的下端，透過插通於 前述支承框32的長孔33b(可容許插銷33水平移動）之插 銷3 3連結著前述昇降台3 0之另一端部·，藉此相對於前述 各支承框32，使前述昇降台30透過前述各插銷，33形成在 左右方向可傾動，又相對於前述另一方的支承框3 2，使前 述昇降台30透過前述插銷33形成在左右方向可滑動」。 -10- 200821255 亦即，申請專利範圍第2項之移載裝置100之昇降台 30之安裝構造，其基本部分、以及在支承框32中一方的 下端透過插通於圓孔33a之插銷33將昇降台30的一端部 連結成可傾動之特點，係和申請專利範圍第1項相同’而 不同點在於：在支承框32另一方的下端，透過插通於長 " 孔33b(長軸朝水平方向）之插銷33將昇降台30之另一端 部連結成可滑動。 Φ 該移載裝置100，係藉由支承框32(相對於支柱裝置 20安裝成昇降自如）來支承昇降台30，除了如第2圖所示 在支柱裝置20直接安裝支承框32以外，如第3圖所示， 也能在支柱裝置20上透過引導單元31間接地安裝支承框 32，這點和上述申請專利範圍第1項的情形相同。 申請專利範圍第2項之移載裝置100，當各支柱裝置 20本身、以昇降自如的方式安裝於其之支承框32，因製 造誤差等相對於鉛垂方向產生傾斜時，昇降台3 0和支承 • 框32可透過插通於各圓孔33a之插銷33進行傾動，且在 藉由插通於各長孔33b之插銷33所構成的能進行滑動， ^ 因此可在維持昇降台3 0之水平狀態下，避免誤差、傾斜 - 所造成之「不當施力」產生於該移載裝置100之各部位。 換言之，依據申請專利範圍第2項之安裝構造，係利 用分別插通於第9圖所示的圓孔3 3 a、第1 1圖所示的長孔 3 3 b這二種孔之插銷3 3，來相對於各支柱裝置2 0側之支 承框32將昇降台30連結成可傾動。 依據以上構造的結果，藉由利用第9圖所示的圓孔 -11 - 200821255 3 3 a和插通於其之插銷3 3，來相對於一方的支承框3 2將 昇降台3 0連結成可傾動，因此前述與圓孔3 3 a相關的部 分，可發揮和申請專利範圍第1項相同的作用效果。 相對於此，利用長軸朝水平方向的長孔3 3 b和插通於 其之插銷33，來相對於另一方的支承框32將昇降台30連 結成可傾動，藉此使形成有長孔33b那側（在後述之最佳 形態爲昇降台30側），相對於插銷33連結側（在最佳形態 爲支承框3 2側）在水平方向可稍微移動。 因此，在昇降台30和兩支承框32的連結部分，當產 生水平方向的誤差時，會被透過長孔3 3b(長軸朝水平方向 )和插通於其之插銷3 3所連結的部分吸收。亦即，即使支 承框32之昇降量在兩側稍有誤差、各支柱裝置20在高度 方向有些微尺寸誤差、昇降台30上之移載機40支承工件 時之扭力施加於各支柱裝置20和昇降台30本身而造成支 承框32的下端和昇降台30的端部之間產生水平方向的誤 差，該誤差仍會被長孔33b及插通於其之插銷33所吸收 〇 當然，昇降台3 0之透過插通於圓孔3 3 a之插銷3 3來 和支承框3 2連結的部分，和申請專利範圍第1項之安裝 構造同樣的，因兩支柱裝置2 0間之間距變化所造成之各 支承框32的傾斜，會被各插銷3 3所吸收’而如前述般可 避免不當施力作用於各連結部及支承部。 因此，依據申請專利範圍第2項之移載裝置100之昇 降台3 0之支承構造，即使支柱裝置20間的間距產生誤差 -12- 200821255 ，仍可藉由插通圓孔33a及長孔33b(長軸朝水平方向）之 各插銷3 3確實地予以吸收，而能使昇降台3 0進行圓滑的 昇降。 爲了解決上述課題，申請專利範圍第3項所採用的手 段，係在申請專利範圍第2項記載之移載裝置1 〇〇之昇降 台30之安裝構造中，「相對於各支柱裝置20而進行之各 支承框32的連結，係利用設於各支柱裝置20的上下方向 之軌道2 1上所組裝之直線移動導件60」。 亦即，申請專利範圍第3項之安裝構造，係著眼於該 移載裝置100中各支柱裝置20和各支承框32之連結，而 利用設於各支柱裝置2 0的上下方向之軌道2 1上所組裝之 直線移動導件6 0來進行該連結。當然，各支承框32對於 各支柱裝置20之連結，也包含最佳形態所示之利用引導 單元3 1進行的情形。 直線移動導件60，如第1 3圖所示，係在其殼本體和 軌道2 1之間介設多數個滾珠6 1而構成，藉由使各滾珠6 1 在殼本體內轉動，以在軌道2 1上穩定地進行支承框32或 引導單元31之往復移動。亦即，該直線移動導件60，係 挾持多數個滾珠6 1將直線移動導件60之殼本體和軌導2 1 相連結。此外，昇降台30、其上方的移載機40、以及該 移載機40所支承之工件等的重量，係藉由構成各支柱裝 置2 0之纜索或鏈條來支承，因此能恒以穩定的狀態進行 各支柱裝置20和昇降台30之連結。 因此，申請專利範圍第3項之安裝構造，除能發揮和 -13- 200821255 移 置 置 50 移 內 裝 、 裝 的 連 32 提 進 構 針 之 全 申請專利範圍第2項相同的作用效果外，還能藉由直線 動導件60而持續穩定地進行昇降台30相對於各支柱裝 20之昇降。 如以上所說明，本發明之主要特徵爲「一種移載裝 100之昇降台30之安裝構造，係在配置有多數個棚架 之倉庫內移動，以對前述各棚架50進行工件的出入之 載裝置100;且該移載裝置10 0係具備：可在前述倉庫 移動之基台10、豎設於該基台10上之左右兩座的支柱 置2 0、可相對於該各支柱裝置20上下移動之昇降台30 設置於該昇降台3 0上之移載機40 ;相對於前述各支柱 置20將支承框32安裝成昇降自如；在該各支承框32 下端，透過插通於前述支承框3 2之圓孔3 3 a之插銷3 3 結著前述昇降台30之端部，該昇降台30和各支承框 係透過各插銷33而形成在左右方向可傾動」，藉此可 供：即使支柱裝置20間的間距產生誤差，仍能圓滑地 行昇降台30的昇降之移載裝置100的昇降台30之安裝 造。 【實施方式】 其次，關於上述構造之各申請專利範圍的發明，係 對圖示之最佳形態的移載裝置1 〇〇做說明，該最佳形態 移載裝置100實質上係包含上述各申請專利範圍的發明 部。 第1圖係顯示該最佳形態的移載裝置1 00之立體圖 -14- 200821255 該移載裝置100如第2圖或第3圖所示，係在配置有多數 個棚架50之倉庫內移動，以對前述各棚架50進行工件的 出入。且移載裝置1〇〇係具備：可在前述倉庫內移動之基 台10、豎設於該基台10上之左右兩座的支柱裝置20、可 相對於該各支柱裝置20上下移動之昇降台3 0、設置於該 昇降台30上之移載機40。 在本最佳形態，如第1圖中之實線或第4圖中之假想 線所示，在基台1 〇設有車輪1 2，藉由使該車輪1 2在鋪設 於倉庫內之軌道21上轉動，以將該移載裝置10移動至倉 庫內之既定位置。該等車輪12，係藉由組裝於基台10內 或是各支柱裝置20(豎設於基台上）內之未圖示的馬達來進 行轉動驅動，用來驅動控制該馬達及各種機器之構件，係 組裝於各支柱裝置20內。 在該移載裝置1〇〇，如第2圖或第3〜8圖所示，在引 導單元31(可相對於各支柱裝置20進行昇降）上將支承框 32安裝成可傾動。如第2圖或第3圖及第8圖所示，在一 方（圖示左方）支承框32的下端，透過插通於圓孔33a之插 銷33將昇降台30的一端部連結成可傾動。 亦即，在支承框32之圖示左方的下端，如第9圖及 第10圖所示，在昇降台30的端部上面連結著具有圓孔 3 3a之昇降台側塊體3 0a，在其上側之支承框32的下端連 結著具有圓孔33a之支承框側塊體32b。昇降台側塊體 3 0a和支承框側塊體32b，如第10圖所示，係以互相對接 的狀態嵌合，在其各中心所設的圓孔33a內，如第10(a) -15- 200821255 圖所示，插通著一根插銷3 3。在本最佳形態，如備1 〇 (a) 圖所示，係在插銷3 3的外周嵌合筒狀的套筒3 3 c ’在支承 框側塊體3 2b和昇降台側塊體3 Oa之間挾持圓板狀的套筒 33d，利用該等套筒33c、33d來減少支承框側塊體32b和 昇降台側塊體3 Oa間的摩擦，以形成圓滑的接觸。 當然，如第12(a)圖所示，插通於插銷33中心且*** 支承框側塊體3 2 b側之未圖示的固定銷，係固定於昇降台 側塊體3 Oa，藉此防止昇降台側塊體3 Oa和支承框側塊體 32b之脫離。 另一方面，在另一方（圖示右方）支承框32的下端和昇 降台3 0的另一端部（圖示右端部）之間，透過插通於長孔 3 3 b(長軸朝水平方向）之插銷33連結成可傾動。亦即’在 支承框32之圖示右方的下端，如第8圖、第11圖及第12 圖所示，在昇降台30的端部上面連結著具有長孔33b(長 軸朝水平方向）之昇降台側塊體3 0 a，在其上側的支承框 32的下端連結著具有圓孔33a之支承框側塊體32b。 昇降台側塊體30a和支承框側塊體32b ’如第1 2(a)圖 所示，以互相對接的狀態嵌合，在其各中心所設之圓孔 3 3 a及長孔3 3 b內，插通著一根插銷3 3。結果’藉由插銷 33，使昇降台側塊體30a可相對於支承框側塊體32b傾動 (旋動），且該昇降台側塊體30a ’可沿長孔33b(形成於支 承框側塊體32b側）之長軸方向（水平方向）在該長孔33b的 範圍內移動。 在本最佳形態，如第1 2 (b)圖所不’昇降台側塊體3 0 a -16- 200821255 側的頭部係構成以插銷3 3爲中心之圓弧狀的圓弧頂部3 6 ，該圓弧頂部36可在設於支承框側塊體32b內之搖動空 間3 2a內自由搖動。當然，插通於插銷33中心且***支 承框側塊體32b側之固定銷37，係固定於昇降台側塊體 3〇a，藉此防止昇降台側塊體30a和支承框側塊體32b之 脫離。 (其他實施例） 本發明的構造所採用之支承框3 2，如第1圖、第5圖 及第6圖所示，係形成底邊和昇降台30的寬度同寬之大 致等邊三角形，且在底邊的中央上方設有傾動軸3 4。該傾 動軸34，如第2圖或第3圖所示，係安裝於引導單元31 的下部之和移載機40的移載面同高的位置，支承框32整 體能以該傾動軸3 4爲中心在前後方向旋動。 相對於此，在引導單元3 1的上部側，如第2圖或第3 圖〜第6圖所示安裝有搖動軸35。該搖動軸35係卡合於支 承框3 2上部所形成之長孔3 5 a。亦即，相對於引導單元 3 1，各支承框32係以傾動軸34進行些微旋動，這時係利 用設於上部之長孔3 5 a來進行該支承框3 2之離隙。 藉由以上的構造，昇降台3 0不僅能在前述各插銷3 3 之左右方向進行旋動，且能以各傾動軸34爲中心而進行 前後方向之傾動， 【圖式簡單說明】 -17- 200821255 第1圖係採用本發明的安裝構造之移載裝置的立體圖 〇 第2圖係從面向棚架側觀察第1圖的移載裝置之槪略 前視圖。 第3圖係從面向棚架側觀察另一移載裝置之槪略前視 圖。 第4圖係第3圖的移載裝置之前視圖。 • 第5圖係移載裝置之沿第4圖的1 -1線觀察之截面圖 〇 第6圖係移載裝置之沿第4圖的hi線觀察之包含支 柱裝置的截面圖。 第7圖係裝載於昇降台上的移載機之俯視圖。 第8圖係昇降台以及其所連結的引導單元之放大前視 圖。 第9圖係第8圖中2_2線部分的放大圖。 ® 第10圖係顯示第9圖所示昇降台側塊體及支承框側 塊體的關係，(a)爲前視圖，（b)爲從插銷中心剖開之截面 * 圖。 - 第1 1圖係第9圖中的3 - 3線部分的放大圖。 第12圖係顯示第n圖所示昇降台側塊體及支承框側 塊體的關係’（a)爲前視圖，（b)爲從插銷中心剖開之截面 圖。 第13圖係顯示直線移動導件，（a)爲顯示其和軌道的 位置關係之局部透視立體圖，（b)爲沿軌道的縱方向觀察之 -18 - 200821255 局部縱截面圖。 第1 4圖係顯示習知技術之前視圖。 【主要元件符號說明】 100 :移載裝置 10 :基台 1 1 :地面軌道（導軌） 1 2 :車輪 2 0 :支柱裝置 21 :軌道 3 〇 :昇降台 3〇a :昇降台側塊體 31 :引導單元 3 2 :支承框 3 2 a :搖動空間 3 3 :插銷 33 a:圓孔 3 3 b :長孔 33c > 33d:套筒 3 4 :傾動軸 35 :搖動軸 3 5 a :長孔 3 6 :圓弧頂部 37 :固定銷 -19- 200821255200821255 IX. Description of the Invention [Technical Field] The present invention relates to a transfer device for moving a workpiece into and out of a plurality of scaffolds, and more particularly to the transfer device for transferring The mounting structure of the lifting platform for lifting and lowering the machine. [Prior Art] • The transfer device and the lifting platform of its components are used to move and lift the transfer machine (used to get the workpiece into and out of the scaffold) in conjunction with the position of the scaffold, in an automated warehouse. , playing a very important role. In this type of transfer device, in order to lift both sides of the elevating table, as shown in Figs. 1 to 4, two pillars (devices) on the left and right sides must be provided in the direction in which the transfer device is to be carried. Regarding the transfer machine, a multi-section robot arm (S CARA arm) or a sliding fork frame can be appropriately selected depending on the type of the workpiece. In such a transfer device, the lifting platform must be guided in the up and down direction of the strut device. When the workpiece becomes large and the weight becomes heavier, the lifting and lowering of the lifting table must be performed more surely, and the scaffolding is also increased with the workpiece. It has become larger [therefore, the gravity load applied to the lifting platform via the transfer machine is also increased. 〇 The guiding device for the lifting table of the transfer device is detailed in the patent document of the applicant's application. instruction of. [Patent Document 1] Japanese Laid-Open Patent Publication No. Hei 5-2249 (No. 2, No. 3) 200821255. [Invention] The invention described in Patent Document 1 is a lifting table for lifting and lowering a pair of left and right guide rails. The "elevator" of the elevating table is formed without causing the left and right sides; as shown in Fig. 14, the "lifting and lowering" is used to "provide the lifting table 12 guide roller 18 to the left and right to move to the lifting platform 1 2 1 9 is formed by pressing the rail 1 1 side. φ Patent Document 1 "Guide for Lifting Table" - Knowing the technical problem "When the tower becomes high, the towers are deformed in the direction of height separation or mutual proximity, so the left direction of the tower changes, and the left and right rails are mutually The interval between the guide rails and the guide rollers of the lift table also causes a problem of shaking, and by using the above configuration, at least one of the guide rollers can be moved to the guide roller so as to be movable to the left and right. The side is biased, so that the effect of the joint state of the guide rail and the lifting platform is achieved. However, the inventors of the present invention have further explored that the connection of the column (device) can be fully satisfied by the "guide roller and the guide rail", but the other connection structure must be used and sufficient effect cannot be obtained. . In other words, as described above, the bulky and large-sized transfer device has to be enlarged, and the front and rear columns (devices) must also use a "span" above and below the tall pillar structure of about 10 m in height. ", according to at least one side of the guiding device for the purpose of "shaking", and by the spring system, in order to improve the height of the center, the height will change toward the right and left. When the lifting platform is lowered and the dense lifting platform and the branch are kept by the guide roller, the above-mentioned structure is used to transfer the two necessary branches of the workpiece. Thus, the > column device 200821255 • Manufacturing error, whether the weight from the workpiece is applied, the support position of the workpiece is located on the upper or lower end side of the pillar, etc., and is different. In other words, if the lifting platform (supporting workpiece or transfer machine) It is not possible to sufficiently correspond to the above-described state change only by being connected to the side of the pillar device. For example, in Patent Document 1, the guide roller of the guide rail and the lift table will be caused. The improper load on the machine may hinder the smooth movement of the transfer device. Φ Thus, the inventor of the present invention can continue to carry out the lifting operation of the lifting platform continuously when the pillar device is enlarged in size for the above-mentioned transfer device. In order to achieve the completion of the present invention, the first object of the present invention is to provide a support structure for a lifting platform of a transfer device, which causes slight tilting of the support device and the support frame even if the pitch of the support device is uneven. The second object of the present invention is to provide a support structure for a lifting platform of a transfer device, which is capable of stably supporting a support frame (connected to a lifting platform) by linearly moving a guide. With respect to the lifting and lowering of the pillar device, it is sufficient to counteract the torque given by the workpiece. _ In order to solve the above problem, first, the means used in the first paragraph of the patent application, if the symbol used in the description of the best mode described later is used, For the sake of explanation, "the mounting structure of the lifting platform 30 of the transfer device 100 is configured by a plurality of scaffolds 50. Moving in the warehouse, the transfer device 100 for moving the workpieces to and from the scaffolds 5; and the transfer device 1 includes a base 10 that can be moved in the warehouse, and is erected on the base Two pillars 20 on the left and right sides of the platform i -6 - 200821255, a lifting platform 30 movable up and down with respect to the pillar devices 20, and a transfer machine 40 disposed on the lifting platform 30: relative to the aforementioned pillars The device 20 mounts the support frame 32 so as to be movable up and down. At the lower end of each of the support frames 32, the end of the lifting platform 30 is coupled to the end of the lifting platform 30 through a pin 3 3 inserted through the circular hole 3 3 a of the support frame 32. In each of the support frames 32, the lifting table 30 is formed to be tiltable in the left-right direction by passing through the respective pins 33. • That is, the transfer device 100 of the first application of the patent scope is moved in a warehouse in which a plurality of scaffolds 50 are arranged to carry out workpiece entry and exit to each scaffold 50; as shown in Fig. 1 a base 10 that can be moved in the warehouse, two pillar devices 20 that are vertically erected on the base, and a lifting platform 30 that can move up and down with respect to the pillar devices 20, and is disposed on the lifting platform 30. Transfer machine 40. In the transfer device 1A, the elevating table 30 is supported by the support frame 32 (which is attached to the strut device 20 so as to be movable up and down), except as shown in Fig. 2, and the support frame 32 is directly attached to the strut device 20, As shown in Fig. 3, the support frame can also be indirectly mounted on the strut device 20 through the guide unit 3 1 • 32 ° • The transfer device 100 of the first application of the patent scope, when each strut device 20 itself When the support frame 32 is attached to the support frame 32 in a freely movable manner, the lift table 30 and the support frame 32 can be inserted through the pins 3 3 inserted through the respective circular holes 3 3 a when the tilt is generated with respect to the vertical direction due to a manufacturing error or the like. Since the tilting is performed, the "improper force applied" caused by the tilting can be prevented from being applied to the respective portions of the transfer device 1 while maintaining the horizontal position of the lifting platform 30. -7- 200821255 The transfer device 100 having the above configuration, as shown in Figs. 2 and 3, moves on the rail 21 of the warehouse (equipped with a plurality of scaffolds 50) to the front of the scaffold 50 where the workpiece is to be accessed, such as As shown in Fig. 4, the table 30 will be raised and lowered to the corresponding position of the scaffolding 50. After that, the transfer machine 40 is moved up and down, and the multi-joint robot arm or sliding type is extended to the scaffold 50 to perform the entry and exit of the workpiece, and then the multi-joint arm or the sliding fork frame is returned to the original position again. The entrance and exit of the workpiece are completed on the two pillars 20 constituting the transfer device 10, as shown in Figs. 3 and 4, the lift table 30 is mounted freely, and the lift platform 3 is attached to the pillar device. In the preferred embodiment of Fig. 2, the pillar device 20 is tiltably mounted through the support frame 32, and in the best mode shown in Fig. 3, the device 20 is permeable. The guiding unit 31 mounts the support frame 32 to be tiltable. Of course, the support frames 32 are supported by the strut devices 20 through cables or linear moving guides 60 such as chains, and the cables are driven by driving devices (not shown) in the respective strut devices 20. To raise and lower each of the support frames 32. As shown in FIG. 2 or FIG. 3, the lower end of the support frame 32 has a pin 33 that connects the end of the lifting platform 30 so as to be tiltable. Therefore, as shown in FIG. A rising side block 30 a is fixed to the upper surface of the lower surface 30, and a circular hole 3 3 a is formed in the upper side block body 30 a. On the other hand, the support frame side block 3 2b is fixed to the lower end of the support frame 32, and the support frame side block 32b is also formed with the circular hole 33a. In the above-mentioned structure, the lifting and lowering of the fork mechanism is shown in the second lift, which is shown in the synchronous transmission through the eighth descending platform, and the other rises in the 200821255 downstage side block 30a and the support frame. The pin 3 3 is inserted into each of the circular holes 3 3 a formed in the side block 3 2b, and the lifting table 30 is rotatably coupled to the support frame 32 by the pin 33. In a preferred embodiment to be described later, the latch 3 3 is disposed at each corner portion of the lifting platform 30 in a plan view as shown in Fig. 7, that is, one of the rear and the lower ends of the two support frames 3 2 is disposed. A total of four are used. According to the above configuration, the attachment structure of the elevating table 30 of the transfer device 100 of the first application of the patent application is inserted into each of the four portions of the elevating table 30 corresponding to the end portion of each of the strut devices 20 The pin 33 of the circular hole 33a is rotatably coupled to the lower end portion of the support frame 32, so that the lift table 30 is tiltable with respect to the support frames 32 located on both sides. Here, when the lifting amount of the support frame 32 is slightly different on both sides, the pillar device 20 has a slight dimensional error in the height direction, or the torsion force when the transfer machine 40 on the lifting platform 30 supports the workpiece acts on When the strut device 20 and the elevating table 30 are themselves, the distance between the two strut devices 20 is different from that of the other portions, and the phenomenon that the strut devices 20 are turned toward the inner side, that is, toward the upper side of the elevating table 30 becomes obvious. The trajectory or the like on the side of the strut device 20 causes an improper urging force, which hinders the smooth lifting of the elevating table 30. The reason for this is that the weight applied to each of the strut devices 20 is further the weight of the workpiece supported by the transfer carrier 40 in addition to the lift table 30 and the transfer machine 40 above it. However, in the mounting structure of the first aspect of the patent application, since the lifting platform 30 is coupled to the support frame 32 through the latch 3 3 inserted through the circular hole 3 3 a, 200821255 is different between the two pillar devices 20 The resulting dimensional change (inclined state) is absorbed by each of the latches 3 3 and the circular holes 3 3 a , so that improper force is not applied to the respective connecting portions and the supporting portions of the transfer device 100 . Therefore, according to the support structure of the elevating table 30 of the transfer device 100 of the first application of the patent application, even if an error occurs between the strut devices 20, the elevating table 30 and the support frame 32 can be inserted through the circular holes. 3 3 a of the pin 33 is formed to be tiltable, so that the lifting and lowering of the lifting platform 30 can be carried out smoothly. In order to solve the above problems, the means adopted in the invention of claim 2 is similarly "a type of transfer device 100" The mounting structure of the lifting platform 30 is a transfer device 100 that moves in a warehouse in which a plurality of scaffolds 50 are disposed to carry out the workpieces in and out of the scaffolds 50; and the transfer device 1 is provided with: a base 10 that moves in the warehouse, two pillars 20 that are vertically disposed on the base 1 , and a lifting platform 30 that can move up and down with respect to the pillars 20 , and is disposed on the lifting platform 30 . The transfer frame 40; the support frame 32 is attached to the support frame 32 so as to be movable up and down; and the lower end of the support frame 32 is connected to the pin 33 inserted through the circular hole 33a of the support frame 32. One end of the lifting platform 30 At the other lower end of the support frame 32, the other end of the lifting platform 30 is coupled to the pin 33 through the long hole 33b (which allows the latch 33 to be horizontally moved) inserted through the support frame 32. With respect to each of the support frames 32, the elevating table 30 is formed to be tiltable in the left-right direction by the respective plugs 33, and the elevating table 30 is formed on the left and right by the plug 33 with respect to the other support frame 32. The direction can be slid." -10- 200821255 That is, the mounting structure of the lifting platform 30 of the transfer device 100 of the second application of the patent scope, the basic portion, and the lower end of one of the support frames 32 through the pin 33 inserted through the circular hole 33a will One end of the lifting platform 30 is connected to be tiltable, and is the same as the first item of the patent application. The difference is that the other end of the support frame 32 is inserted through the long hole 33b (long axis) The latch 33 in the horizontal direction connects the other end of the lifting platform 30 to be slidable. Φ The transfer device 100 supports the elevating table 30 by the support frame 32 (mounted and lowered with respect to the strut device 20), and the support frame 32 is directly mounted on the strut device 20 as shown in Fig. 2, As shown in Fig. 3, the support frame 32 can also be indirectly attached to the strut device 20 through the guide unit 31, which is the same as the case of the first item of the above-mentioned patent application. In the transfer device 100 of the second application of the patent application, when the support device 20 itself is attached to the support frame 32 so as to be freely movable, and the tilt is generated in the vertical direction due to a manufacturing error or the like, the lift table 30 and The support frame 32 can be tilted by the pin 33 inserted through each of the circular holes 33a, and can be slid by the pin 33 inserted through each of the long holes 33b, so that the lifting platform 30 can be maintained. In the horizontal state, "improper force application" caused by avoiding errors and tilting is generated in various parts of the transfer device 100. In other words, according to the mounting structure of the second application of the patent application, the plugs 3 of the two holes respectively inserted into the circular hole 3 3 a shown in Fig. 9 and the long hole 3 3 b shown in Fig. 1 are used. 3. The lifting platform 30 is coupled to be tiltable with respect to the support frame 32 on each of the pillar devices 20 side. According to the result of the above configuration, the lifting platform 30 is connected to one of the support frames 3 2 by using the circular hole -11 - 200821255 3 3 a shown in FIG. 9 and the plug 3 3 inserted thereinto. It can be tilted, so that the aforementioned portion related to the circular hole 3 3 a can exert the same effects as the first item of the patent application. On the other hand, the long hole 3 3 b having the long axis in the horizontal direction and the pin 33 inserted therein are connected to the other support frame 32 so as to be tiltable, thereby forming a long hole. The side of 33b (the best mode to be described later is the side of the elevating table 30) is slightly movable in the horizontal direction with respect to the connecting side of the plug 33 (on the side of the support frame 32 in the best mode). Therefore, when a horizontal direction error occurs in the joint portion between the lift table 30 and the two support frames 32, it is transmitted through the long hole 33b (long axis toward the horizontal direction) and the portion to which the pin 33 inserted is inserted. absorb. That is, even if the amount of lifting of the support frame 32 is slightly different on both sides, the pillar device 20 has a slight dimensional error in the height direction, and the torsion force when the transfer machine 40 on the lifting table 30 supports the workpiece is applied to each of the pillar devices 20 and The lifting table 30 itself causes a horizontal error between the lower end of the support frame 32 and the end of the lifting platform 30, and the error is still absorbed by the long hole 33b and the pin 33 inserted therein. Of course, the lifting table 3 The portion of the 0 that is inserted into the circular hole 3 3 a by the pin 3 3 and the support frame 32 is the same as the mounting structure of the first application of the patent scope, due to the change in the distance between the two-pillar devices 20 The inclination of each of the support frames 32 is absorbed by the respective plugs 3 3, and as described above, it is possible to prevent the improper force from acting on the respective joint portions and the support portions. Therefore, according to the support structure of the lifting platform 30 of the transfer device 100 of the second application of the patent application, even if the pitch between the pillar devices 20 is -12-200821255, the circular hole 33a and the long hole 33b can be inserted. Each of the latches 3 3 (the long axis is oriented in the horizontal direction) is surely absorbed, and the lifting platform 30 can be smoothly raised and lowered. In order to solve the above problem, the means used in the third aspect of the patent application is "with respect to each of the pillar devices 20 in the mounting structure of the lifting platform 30 of the transfer device 1" described in the second application of the patent application. The connection of each of the support frames 32 is a linear movement guide 60" assembled by the rails 2 1 provided in the vertical direction of each of the pillar devices 20. In other words, the mounting structure of the third aspect of the patent application is directed to the connection between the pillar devices 20 and the support frames 32 in the transfer device 100, and the rails 2 1 provided in the vertical direction of the pillar devices 20 are used. The connection is performed by the linear movement guide 60 assembled thereon. Of course, the connection of each of the support frames 32 to each of the pillar devices 20 also includes the case where the guide unit 31 is used in the best mode. The linear movement guide 60 is formed by interposing a plurality of balls 6 1 between the casing body and the rail 2 1 as shown in FIG. 3 , by rotating the balls 6 1 in the casing body to The reciprocating movement of the support frame 32 or the guide unit 31 is stably performed on the rail 2 1 . That is, the linear movement guide 60 holds a plurality of balls 61 to connect the casing body of the linear movement guide 60 and the rail guide 2 1 . Further, the weight of the lifting table 30, the transfer machine 40 above it, and the workpiece supported by the transfer machine 40 are supported by the cables or chains constituting each of the pillar devices 20, so that the weight can be constantly stabilized. The state is connected to each of the pillar devices 20 and the lifting platform 30. Therefore, the installation structure of the third application scope of the patent application can be used in addition to the same effect as the second application of the patent application scope of the second application of the detachment of the detachment of the detachment of the detachment. The lifting and lowering of the lifting platform 30 with respect to each of the pillars 20 can be continuously and stably performed by the linear motion guide 60. As described above, the main feature of the present invention is that "the mounting structure of the lifting platform 30 of the transfer device 100 is moved in a warehouse in which a plurality of scaffoldings are disposed to perform the entry and exit of the workpieces to the scaffolds 50. The carrier device 100 includes a base 10 that can be moved in the warehouse, and two pillars 20 that are vertically disposed on the base 10, and can be disposed relative to the pillars 20 The lifting platform 30 that moves up and down is disposed on the lifting platform 30 of the lifting platform 30; the support frame 32 is mounted to be lifted and lowered with respect to the pillars 20; and the lower end of each of the support frames 32 is inserted through the support The latch 3 3 of the circular hole 3 3 a of the frame 3 2 is attached to the end of the lifting platform 30, and the lifting platform 30 and each supporting frame are formed to be tiltable in the left-right direction through the respective latches 33, thereby providing: Even if an error occurs in the pitch between the strut devices 20, the elevating table 30 of the transfer device 100 for elevating and lowering the elevating table 30 can be smoothly mounted. [Embodiment] Next, the invention of each of the above-mentioned configurations is described with respect to the transfer device 1 of the best mode shown in the drawings. The optimal mode transfer device 100 substantially includes the above applications. The invention department of the patent scope. 1 is a perspective view showing the transfer device 100 of the best mode. FIG. 14 - 200821255. The transfer device 100 is moved in a warehouse in which a plurality of scaffolds 50 are arranged as shown in FIG. 2 or FIG. In order to perform the entry and exit of the workpiece to each of the scaffolds 50 described above. Further, the transfer device 1 includes a base 10 that can be moved in the warehouse, and two pillars 20 that are vertically disposed on the base 10, and can be moved up and down with respect to the pillars 20 The table 30 is a transfer machine 40 disposed on the lifting platform 30. In the best mode, as shown by the solid line in Fig. 1 or the imaginary line in Fig. 4, the wheel 12 is provided on the base 1 by means of the wheel 12 in the track laid in the warehouse. The 21 is rotated to move the transfer device 10 to a predetermined position within the warehouse. The wheels 12 are rotationally driven by a motor (not shown) assembled in the base 10 or each of the strut devices 20 (standing on the base) for driving and controlling the motor and various machines. The members are assembled in each of the strut devices 20. In the transfer device 1A, as shown in Fig. 2 or Figs. 3 to 8, the support frame 32 is mounted to be tiltable in the guide unit 31 (which can be moved up and down with respect to each of the column devices 20). As shown in FIG. 2 or FIG. 3 and FIG. 8 , at one lower end of the support frame 32 on the left side (the left side of the drawing), one end portion of the elevating table 30 is connected to be tiltable by a pin 33 inserted through the circular hole 33a. . That is, at the lower end of the left side of the support frame 32, as shown in FIGS. 9 and 10, the elevating table side block 30a having the circular hole 3 3a is connected to the upper end portion of the elevating table 30, A support frame side block 32b having a circular hole 33a is coupled to the lower end of the upper support frame 32. As shown in Fig. 10, the lifting platform side block body 30a and the support frame side block body 32b are fitted to each other in abutting state, and in the circular hole 33a provided in each center thereof, as in the 10th (a) - 15- 200821255 The figure shows a plug 3 3 inserted. In the present preferred embodiment, as shown in FIG. 1(a), a cylindrical sleeve 3 3 c ' is fitted to the outer periphery of the pin 3 3 at the support frame side block 3 2b and the elevating table side block 3 The disc-shaped sleeve 33d is held between the Oa, and the friction between the support frame side block 32b and the elevating table side block 3Oa is reduced by the sleeves 33c and 33d to form a smooth contact. As a matter of course, as shown in Fig. 12(a), a fixing pin (not shown) that is inserted into the center of the pin 33 and inserted into the side of the support frame side block 3 2 b is fixed to the elevating table side block 3 Oa. The detachment of the lifting platform side block 3 Oa and the support frame side block 32b is prevented. On the other hand, between the lower end of the other side (the right side of the drawing) and the other end of the lifting platform 30 (the right end of the drawing), the through hole is inserted into the long hole 3 3 b (the long axis is horizontal) The pins 33 of the direction are connected to be tiltable. That is, at the lower end of the right side of the support frame 32, as shown in Figs. 8, 11, and 12, a long hole 33b is connected to the upper end portion of the elevating table 30 (the long axis is oriented in the horizontal direction). The lifting platform side block body 30a has a support frame side block body 32b having a circular hole 33a connected to the lower end of the upper side support frame 32. The lifting platform side block body 30a and the support frame side block body 32b' are fitted to each other as shown in Fig. 2(a), and the circular holes 3 3 a and the long holes 3 3 are provided at the respective centers. In the b, a latch 3 3 is inserted. As a result, the lifter side block 30a can be tilted (swirled) with respect to the support frame side block 32b by the pin 33, and the lifter side block body 30a' can be formed along the long hole 33b (formed on the support frame side block) The long axis direction (horizontal direction) of the body 32b side moves within the range of the long hole 33b. In the present preferred embodiment, the head portion on the side of the lifting platform side block 3 0 a -16- 200821255 as shown in Fig. 1 2 (b) constitutes an arc-shaped arc top 3 centered on the pin 3 3 6. The circular arc top 36 is freely rockable in the rocking space 3 2a provided in the support frame side block 32b. Of course, the fixing pin 37 inserted into the center of the plug pin 33 and inserted into the side of the support frame side block 32b is fixed to the elevating table side block body 3a, thereby preventing the elevating table side block body 30a and the support frame side block body 32b. Separation. (Other Embodiments) The support frame 32 used in the structure of the present invention, as shown in Figs. 1, 5, and 6, is a substantially equilateral triangle having the same width and width as the bottom edge and the lifting platform 30. A tilting shaft 34 is provided above the center of the bottom edge. As shown in FIG. 2 or FIG. 3, the tilting shaft 34 is attached to the lower portion of the guiding unit 31 at the same height as the transfer surface of the transfer unit 40, and the support frame 32 as a whole can be tilted by the tilting shaft 34. Rotate in the front and rear direction for the center. On the other hand, on the upper side of the guide unit 31, a swing shaft 35 is attached as shown in Fig. 2 or Fig. 3 to Fig. 6. The rocking shaft 35 is engaged with the long hole 35 5 formed in the upper portion of the support frame 3 2 . That is, each of the support frames 32 is slightly rotated with respect to the guide unit 3 1, and the tilting of the support frame 32 is performed by the long holes 35a provided in the upper portion. According to the above configuration, the elevating table 30 can be rotated not only in the left-right direction of the respective plugs 3 3 but also in the front-rear direction around the tilting shafts 34. [Simplified illustration] -17- 200821255 Fig. 1 is a perspective view of a transfer device using the mounting structure of the present invention. Fig. 2 is a schematic front view of the transfer device of Fig. 1 viewed from the side facing the scaffold. Figure 3 is a schematic front elevational view of another transfer device viewed from the side facing the scaffolding. Figure 4 is a front view of the transfer device of Figure 3. • Fig. 5 is a cross-sectional view of the transfer device taken along line 1-1 of Fig. 4 〇 Fig. 6 is a cross-sectional view of the transfer device including the support device as viewed along the line hi of Fig. 4. Figure 7 is a plan view of the transfer machine loaded on the lifting platform. Figure 8 is an enlarged front elevational view of the lifting platform and the guiding unit to which it is attached. Fig. 9 is an enlarged view of a portion of line 2_2 in Fig. 8. ® Figure 10 shows the relationship between the elevator side block and the support frame side block shown in Figure 9, (a) is the front view, and (b) is the section cut from the center of the pin. - Figure 11 is an enlarged view of the 3 - 3 line portion in Figure 9. Fig. 12 is a view showing the relationship between the side block of the elevating table side and the side block of the support frame shown in Fig. n (a) is a front view, and (b) is a cross-sectional view taken along the center of the pin. Fig. 13 is a view showing a linear moving guide, (a) is a partial perspective perspective view showing the positional relationship with the track, and (b) is a partial longitudinal sectional view taken along the longitudinal direction of the track -18 - 200821255. Figure 14 shows a prior view of the prior art. [Description of main component symbols] 100: Transfer device 10: Abutment 1 1 : Ground track (rail) 1 2 : Wheel 2 0 : Strut device 21 : Track 3 〇: Elevator 3〇a : Elevator side block 31 : guiding unit 3 2 : support frame 3 2 a : shaking space 3 3 : pin 33 a: circular hole 3 3 b : long hole 33c > 33d: sleeve 3 4 : tilting shaft 35 : rocking shaft 3 5 a : long Hole 3 6 : Arc top 37 : Fixed pin -19- 200821255
4 〇 :移載機 5 〇 :棚架 60 :直線移動導件 61 :滾珠 -20 -4 〇 : Transfer machine 5 〇 : Scaffolding 60 : Linear moving guide 61 : Ball -20 -