201208970 六、發明說明： 【發明所屬之技術領域】 本發明是關於一種使用在堆高式起重機（stacker crane) 等而使物品升降的升降裝置。本申請案是對於2010年6 月30日提出申請的日本國發明專利申請案第2010-149278 號主張優先權，在此援用其内容。 【先前技術】 就堆高式起重機等所使用的升降裝置而言，已知有一 種在分開配置的一對支柱（mast)之間配置升降台，並使該 升降台懸吊在支柱而使其升降的裝置。該升降裝置是利用 鋼索或鏈條使升降台的兩端部支撐在兩側的支柱，並利用 電動機牵引鋼索或鏈條來使升降台上下升降。這種升降裝 置大多是在升降台的兩端部設有會在各支柱之側面轉動的 複數個引導滾輪，並藉由這些引導滾輪的引導功能來限制 升降台的振動。 並且，以往提案了 一種具備可吸收兩支柱分開距離之 參差不齊的功能的升降裝置（參照例如日本國發明專利第 2571013號公報、日本國發明專利第3982562號公報、以 及曰本國發明專利第4013991號公報）。該升降裝置是在升 降台的引導滾輪保持部與升降台的主體部之間設有容許兩 者的支柱間方向之滑動位移的滑動機構。藉此，即使兩支 柱的分開距離有些許的不均一，引導滾輪保持部仍可透過 滑動機構相對於主體部位移而實現升降台順暢的升降動 作。 3 323259 201208970 而這種升降裝置有時會搭載於堆高式起重機等，並且 在清淨室等用以進行物品的搬運。在這種用途中，會有伴 隨動作產生粉塵的問題，因此期盼一種在升降裝置的各部 分更不容易產生塵埃的構造。 對於這種需求，目前正在檢討於升降台的引導手段採 用發塵或振動噪音更少的直線運動導件。直線運動導件是 在支架（block)内收容有複數個滾輪或球等的轉動構件，這 些複數個轉動構件是恆常緊密地與導軌的複數個引導面接 觸。因此，直線運動導件是藉由導軌，使與該導執之延伸 方向正交的所有方向之位移受到限制，並且沿著導軌的延 伸方向順暢動作。 然而，直線運動導件可藉由導軌來限制與該導軌正交 的所有方向之位移。因此，在升降裝置的引導手段採用直 線運動導件的情況，當兩導執（兩支柱）的平行度或真直度 等有誤差時，因為這些誤差所產生的應力會集中在直線運 動導件及導軌。尤其，在兩導軌的平行度或真直度等有誤 差的狀態下使升降台進行升降動作時，升降台本身會因為 導軌側的彎曲或傾斜而產生彈性變形。問題是，該升降台 之彈性變形復原時產生的大反動將會劇烈作用在直線運動 導件及導軌。而且，大型的升降裝置不可能完全消除兩支 柱之平行度或真直度等的誤差，因此實際上要採用直線運 動導件是不容易的。 本發明是鑒於這種情況而研創者，其目的在於提供一 種可採用直線運動導件作為升降台的引導手段，且發塵及 4 323259 201208970 振動噪音少的升降裝置。 【發明内容】 為了解決上述課題而達成上述目的，本發明採用以下 的手段。本發明之升降裝置係具備··具有朝鉛直方向延伸 的導執的一對支柱；配置在前述一對支柱間而升降的升降 台，安裝在前述升降台，並且可轉動地卡合在前述各支柱 之對應的導執的引導手段；以及賦予前述升降台升降驅動 力的升降驅動手段。前述升降台具備：朝前述支柱間方向 延伸而將物品放置在上部的底座支架；以及配置在該底座 支架的前述支柱間之延伸方向之兩端部的一對側部支架， =各侧部支架的下端是轉動自如地連結於前述底座支架的 前述支㈣之延伸方向H前述各㈣手段是與複數 :轉動構件所對應的導執之複數㈣導面接觸，而限制盘 Γ=延伸方向正交的所有方向之位移的直線運動導 ^该直線運動導件是透過球面錄連結於前述各側部支 根據上述本發明之升降裝置，當 段接收驅動力時，與升降台的兩側降獎動手 :導件會沿著各支㈣導軌轉動二=各=運 因為兩側導執的平行度或真直度等的 ^降°此時， 生局部的彎曲或傾斜的情況，受 纟兩導軌間產 ，動導件相對於升降台之對應的匈位移的各直 承相對的搖擺。同時，升降 。支架會透過球面軸 侧部支架的連結角度得以自動°調整底座支架之兩側的 323259 5 201208970 根據上述本發明之升降裝置，卡合在各支柱之導軌的 直線運動導件是透過球面軸承連結於升料之對應的側部 支架升降α的各側部支架的下端與底座支架的端部是可 轉動地連結。亦即，即使兩導軌的姿勢或形狀因為兩側導 執的平行度或真直度等的誤差而產生變化，也會由於球面 軸承容許直線運動導件的搖擺，也容許側部支架與底座支 架的相對轉動。結果’可·Α的應力作用在直線運動導 件與導軌之間。 尤其，升降台中，側部支架的下端是轉動自如地連結 於底座支架的兩端部。即使在因為兩導執的平行度或真直 度等的誤差而在導軌財局部㈣曲或傾斜的狀況使升降 台升降時’侧部支架也會在底座支架的兩端部轉動，因此 可防止升降台本身產生彈性變形。因此，可預防升降台之 彈性變形的反麟產生的大的荷重劇烈作用在直線運動導 件及導軌。因此，可適當地採用直線運動導件作為升降台 的引導手段，且可藉由直線運動導件來抑制發塵及振動噪 音的產生。 在上述本發明之升降裝置中’前述各側部支架的下端 亦可透過球面軸承轉動自如地連結於前述底座支架的前述 支柱間之延伸方向的端部。 在該情況，藉由球面軸承，可容許側部支架之下端相 對於底座支架的三次元轉動。 在上述本發明之升降裝置中，前述各側部支架的下端 亦可透過支軸插銷轉動自如地連結於前述底座支架的前述 323259 6 201208970 支柱間之延伸方向的端部。 在該情況，藉由支軸插銷，可容許侧部支架之下端相 對於底座支架的二次元轉動。 在上述本發明之升降裝置中，連結前述一方支枉側的 直線運動導件與前述側部支架的前述球面軸承亦可具備容 許前述升降台與前述一方支柱的支柱間方向之相對位移的 滑動機構。 在該情況，當直線運動導件沿著各支柱的導軌升降 時，即使兩導轨的支柱間方向之距離改變，導軌間之距離 的變動也會由滑動機構吸收。而且，支柱間方向之升降台 的位置會以具有滑動機構的直線運動導件及相反側的支柱 為基準而維持一定。 在上述本發明之升降裝置令，亦可在前述各側部支架 之上下分開的兩個部位分別透過前述球面軸承設有前述直 線運動導件。 在該情況，升降台的各側部支架可透過上下的直線運 動導件追隨導軌，且可自動地調整各侧部支架與底座支架 的連結角度。 【實施方式】 以下，根據圖式來說明本發明之一實施形態。本實施 形態是將本發明的升降裝置應用在堆高式起重機s c。堆高 式起重機SC是使用在例如無塵室（Clean Room)，並且在鋪 設於地面上的軌道上行走。以下的說明是以沿著堆高式起 重機SC之軌道的移動方向為X軸方向，以與水平方向之 7 323259 201208970 X轴方向正交的方向為γ軸方向’以與χ·γ面正交的鉛直 方向為Ζ軸方向來做說明。 第1圖是堆高式起重機SC的立體圖，第2圖、第3 圖是堆高式起重機SC的剖面圖。如這些圖所示，堆高式 起重機SC具備沿著ζ轴方向延伸的一對方柱狀支柱 20Α、20Β，各支柱20Α、20Β的下端部是安裝在矩形框狀 的底部框架10,各支柱20Α、20Β的上端部彼此是藉由沿 著X方向延伸的上部框架30而連結。在底部框架1〇設有 旋轉自如地支撐軌道行走用之車輪的車輪安裝部在朝 X軸方向分開的支柱20Α、20Β之間配置有升降自如的升 降台40(cage)’在升降台40上設置有移载裝置1〇〇(例如又 架（fork)裝置）。 在各支柱20A、20B的下端各设有一組驅動鏈輪2i(升 降驅動手段）’在各支柱20A、20B的上端各設有一組從動 鏈輪22(升降驅動手段）。在對應於各支柱2〇A、2〇B之上 下方向的驅動鍵輪21及從動鍵輪22懸掛有用來支承升降 台40的鏈條23(升降驅動手段）。並且，在各支柱2〇a、2〇b 的下端設有與減速機25(參照第3圖）一體化的電動機 24(升降驅動手段），在減速機25的輸出側分別連接有兩個 (一組)驅動鏈輪21。此外，本實施形態是由設置在各支柱 20A、20B的電動機24、驅動鏈輪21、從動鏈輪22及鏈 條23等構成可賦予升降台40(cage)升降驅動力的升降驅動 手段。又’本實施形態中，設置在各支柱20A、20B的兩 個電動機24可由未圖示的控制器控制以同步動作。 8 323259 201208970 又，在兩支柱20A、20B之彼此相對向的側面固定設 置有朝Z軸方向（錯直方向）延伸的導軌26A、26B。在這些 各導軌26A、26B可供配置在後述升降台40侧的引導手段 卡合。 第4圖是顯示升降台40及導軌26A、26B的立體圖， 第5圖、第6圖是升降台40與各導執26A、26B之卡合部 的剖面圖’第7圖是升降台40之一部分的剖面圖。升降台 40具備：可將移載裝置1〇〇設定在上部的底座支架27;以 及與底座支架27之X軸方向之兩端部連結的一對側部支 架 28A、28B。 底座支架27具備朝乂袖方向延伸的^ —對剖面I字狀 的主框架27a ’在這些主框架27a的上部固定設置有移載 裝置100。因此，一對主框架27a是形成剛性的一體支架。 此外’一對主框架27a亦可藉由交叉框架而非移載裝置1〇〇 來互相結合使強度提升。又，在主框架27a之X軸方向的 各端部設有與側部支架28A、28B的連結部。 侧部支条28A、28B是將矩形剖面的框材組裝成大致 二角形狀而構成。這些侧部支架28Α、28β是使大致三角 形狀的一邊（以下稱為「下邊31」）水平地延伸，並且使該 邊的對角部分形成頂部邊（以下稱為「頂部邊32」的方式 連結於底座支架27。在各侧部支架28A、28B之下邊η 的兩端部設有朝下枝伸的絲33，支承在該各托架^ 的轴部34是透過後料_承35轉動自如地連結於 支架27的主框架27a之各端部。 ' — 323259 9 201208970 在各側部支架28A、28B的下邊31及頂部邊32分別 設有朝向與各導軌26A、26B相對向之方向突出的支軸插 銷41。在該各支轴插銷41透過球面轴承43(參照第5圖.、 第6圖）連結有直線運動導件42(引導手段）支承在各支軸 插銷41的球面軸承43除了配置在支检2〇B侧的下邊3 j 的軸承之外，其餘球面軸承43皆具備同樣的構造。配置在 支柱20B側之下邊31的球面軸承43是附上43S的符號以 便與其他球面軸承43區別。 如第5圖、第6圖所示，在各導軌26A、26B設有一 對沿著Z軸方向的引導凹槽45，在各引導凹槽45内設有 一對具有彼此交又之傾斜角度的引導面46a、46b。相對於 此，各直線運動導件42是在大致方形的支架48内設有可 循環移動的複數個滾輪(未圖示），並且使該支架48卡合在 對應的導軌26A、26B的外面。支架48内的複數個滾輪是 可轉動地抵接在導轨26A、26B之傾斜角度不同的各引導 面46a、46b。直線運動導件42是藉由導軌26A、26B來 限制與Z轴方向正交的所有方向之位移，並且朝向沿著導 執26A、26B的方向（Z軸方向）順暢動作。 又，如第5圖所示，在球面軸承43是在以螺栓結合於 直線運動導件42之支架48的外殼5〇設有圓筒狀的保持部 51，在該保持部51内安裝有具有凹陷成球面狀之内周面的 外輪52。藉此，球面套筒53得以滑動自如地保持在外輪 52的内周面。球面套筒53是固定在支軸插銷41的外面。 然而，如第6圖所示，配置於支柱2〇B側之下邊31的球 10 323259 201208970 *轴承43S疋在球面套筒53的内周面安裝有大致圓筒狀 • 2滑動套筒54。藉此，滑動套筒54可在支軸插銷41上朝 ^向滑動。本實施形態中’該滑動套筒54及支轴插銷 41是容許升降台40(侧部支架28B)與支柱綱之χ轴方向 之相對位移的滑動機構。 則述升降台40的主框架27a與侧部支架28Α、28Β之 連結部所採用的球面軸承35是與安裝在直線運動導件42 的衣面軸承43大致相同的構造。第7圖是將主框架27& 一側邛支架28A之連結部放大後所示的剖面圖。如該圖面 所示，在延伸设於側部支架28A(參照第3圖）的托架33安 裝有轴。卩34，在該軸部34的外面安裝有球面套筒57。在 主忙架27a(參照第3圖）的端部設有朝上方延伸的突緣部 58在该突緣部58透過定位環(retainer)6〇安裝有具有球 面狀之内周面的外輪59。在外輪59的内周面有軸部34上 的球面套筒57滑動自如地保持。 又，如第1圖及第2圖所示，懸掛在各支柱2〇A、2〇b 之驅動鏈輪21與從動鏈輪22的鏈條23的兩端部是分別連 結在與各側部支架28A、28B之上端部及下端部連接的直 線運動導件42。 第8A圖是上述升降台40的示意性立體圖，第8b圖 疋升降台40升降時之動作的示意性侧面圖。以下，參照這 些圖面針對升降台4〇的升降動作加以說明。例如，要使位 於最下降位置的升降台40上升時是驅動兩支柱2〇A、2〇B 之下端的電動機24朝一方向旋轉，並藉由鏈條23將連接 323259 11 201208970 於兩侧部支架28A、28B之上端部的直線運動導件42朝上 方拉起。藉此，升降台40就會因為直線運動導件42沿著 兩導軌26A、26B受到引導而上升至預定的高度。 又’要使升降台40下降時是驅動電動機24逆向旋轉。 藉此，升降台40就會因為直線運動導件42沿著兩導軌 26A、26B受到引導而下降至預定的高度。 此時’升降台40之X軸方向中兩側的各直線運動導 件42之與導軌26A、26B之延伸方向正交的所有方向之位 移會受到限制而沿著導軌26A、26B位移。然而，兩導軌 26A、26B之平行度或真直度等有誤差的情況，藉由介設 存在於各直線運動導件42與升降台40(側部支架28A、28B) 之間的球面轴承43、43S，各直線運動導件42與升降台 40之間會適當彎曲，並容許各直線運動導件们相對於升 降台40的相對搖擺。再者，在升降台4〇側，侧部支架28A、 28B相對於底座支架27的連結角度可依兩導執201208970 VI. OBJECT OF THE INVENTION: 1. Field of the Invention The present invention relates to a lifting device that uses a stacker crane or the like to lift and lower an article. The present application claims priority to Japanese Patent Application No. 2010-149278, filed on Jun. 30, 2010, the disclosure of which is incorporated herein. [Prior Art] As for a lifting device used in a stacker crane or the like, it is known to arrange a lifting platform between a pair of masts that are disposed separately, and to suspend the lifting platform in a pillar Lifting device. The lifting device is a strut that supports both ends of the lifting platform on both sides by a steel cable or a chain, and the electric motor is pulled by a cable or a chain to raise and lower the lifting platform. Most of such lifting devices are provided with a plurality of guide rollers that are rotated on the side faces of the respective columns at both end portions of the lifting table, and the guiding functions of the guiding rollers restrict the vibration of the lifting table. In addition, a lifting device having a function of absorbing the unevenness of the distance between the two pillars has been proposed (refer to, for example, Japanese Patent No. 2571013, Japanese Patent No. 3982562, and National Invention Patent No. 4013991 Bulletin). In the lifting device, a sliding mechanism that allows a sliding displacement between the pillars in the direction of the pillars is provided between the guide roller holding portion of the lifting platform and the main body portion of the lifting platform. Thereby, even if the separation distance of the two columns is slightly uneven, the guide roller holding portion can be smoothly moved up and down by the sliding mechanism with respect to the main body portion. 3 323259 201208970 Such a lifting device may be mounted on a stacker crane or the like, and may be used for conveying articles in a clean room or the like. In such an application, there is a problem that dust is generated accompanying the operation, and therefore a structure in which dust is less likely to be generated in each part of the lifting device is desired. For this demand, it is currently being reviewed that the guiding means of the lifting platform uses linear motion guides that generate less dust or vibration noise. The linear motion guide is a rotary member in which a plurality of rollers or balls are housed in a block, and the plurality of rotary members are constantly and closely contacted with a plurality of guide faces of the guide rail. Therefore, the linear motion guide is limited by the guide rails in all directions orthogonal to the extending direction of the guide, and smoothly moves in the extending direction of the guide rail. However, the linear motion guide can limit the displacement of all directions orthogonal to the guide rail by the guide rail. Therefore, in the case where the guiding means of the lifting device adopts a linear motion guide, when there is an error in the parallelism or the straightness of the two guides (two pillars), the stress generated by these errors is concentrated on the linear motion guide and guide. In particular, when the elevating table is moved up and down in a state in which the parallelism or the straightness of the two guide rails is delayed, the elevating table itself is elastically deformed by bending or tilting on the side of the guide rail. The problem is that the large reaction caused by the elastic deformation of the lifting platform will act strongly on the linear motion guide and the guide rail. Moreover, it is impossible for a large lifting device to completely eliminate the error of parallelism or straightness of the two columns, so it is not easy to actually use a linear motion guide. The present invention has been made in view of such circumstances, and an object of the present invention is to provide a lifting device which can use a linear motion guide as a guiding means for a lifting platform, and which can generate dust and 4 323259 201208970 with less vibration noise. SUMMARY OF THE INVENTION In order to achieve the above object in order to solve the above problems, the present invention adopts the following means. The lifting device of the present invention includes a pair of pillars having a guide extending in the vertical direction, and a lifting platform disposed between the pair of pillars to be lifted and lowered, attached to the lifting platform, and rotatably engaged with each of the aforementioned a guiding means for the corresponding guide of the pillar; and a lifting and lowering driving means for applying the lifting and lowering driving force to the lifting platform. The lifting platform includes: a base bracket that extends in the direction between the pillars to place the article on the upper portion; and a pair of side brackets disposed at both end portions of the bracket bracket in the extending direction of the pillars, = side brackets The lower end of the branch (4) extending in a rotatable manner is coupled to the base bracket. The fourth (four) means are in contact with a plurality of (four) guide surfaces of the plurality of guides corresponding to the rotating member, and the limit is orthogonal to the extension direction. The linear motion guide of the displacement of all directions is connected to each of the side branches through the spherical surface. According to the above-mentioned lifting device of the present invention, when the driving force is received, the two sides of the lifting platform are lowered. : The guide will rotate along each of the four (four) guide rails = each = transport because of the parallelism or straightness of the guides on both sides of the ^ drop ° at this time, the local bending or tilting situation, the two rails The moving guides are swayed relative to the respective straight supports of the corresponding Hungarian displacement of the lifting platform. At the same time, lift. The bracket can automatically adjust the connection angle of the side brackets of the spherical shaft to automatically adjust the sides of the base bracket 323259 5 201208970 According to the lifting device of the present invention, the linear motion guides that are engaged with the guide rails of the pillars are connected to each other through the spherical bearing. The lower end of each side bracket of the corresponding side bracket lift α of the lift material is rotatably coupled to the end of the base bracket. That is, even if the posture or shape of the two guide rails changes due to the error of the parallelism or the straightness of the guides on both sides, the spherical bearing allows the swing of the linear motion guide, and the side bracket and the base bracket are also allowed. Relative rotation. As a result, the stress of the 可 Α acts between the linear motion guide and the guide rail. In particular, in the elevating table, the lower end of the side bracket is rotatably coupled to both end portions of the base bracket. Even if the lifting table is lifted or lowered due to the error of the parallelism or straightness of the two guides, the side brackets will rotate at both ends of the base bracket, thus preventing lifting The table itself is elastically deformed. Therefore, the large load generated by the reverse lining which can prevent the elastic deformation of the lifting table is strongly applied to the linear motion guide and the guide rail. Therefore, the linear motion guide can be suitably used as the guiding means of the lifting platform, and the generation of the dust and vibration noise can be suppressed by the linear motion guide. In the above-described lifting device of the present invention, the lower end of each of the side brackets may be rotatably coupled to the end portion of the base bracket in the extending direction of the pillar by the spherical bearing. In this case, by the spherical bearing, the three-dimensional rotation of the lower end of the side bracket relative to the base bracket can be tolerated. In the above-described lifting device of the present invention, the lower end of each of the side brackets may be rotatably coupled to the end portion of the base bracket in the extending direction between the pillars of the base bracket by the pivot pin. In this case, the secondary shaft rotation of the lower end of the side bracket relative to the base bracket can be tolerated by the pivot pin. In the above-described lifting device of the present invention, the spherical bearing that connects the linear motion guide on the one side of the support side and the side bracket may have a sliding mechanism that allows relative displacement between the lifting platform and the pillar between the one of the pillars. . In this case, when the linear motion guides are moved up and down along the guide rails of the respective pillars, even if the distance between the pillars in the direction of the guide rails is changed, the variation in the distance between the guide rails is absorbed by the sliding mechanism. Further, the position of the elevating table in the direction between the pillars is maintained constant based on the linear motion guide having the sliding mechanism and the pillar on the opposite side. In the above-described lifting device of the present invention, the linear motion guides may be provided through the spherical bearings at two locations separated from above and below the respective side brackets. In this case, each side bracket of the lifting platform can follow the guide rail through the upper and lower linear motion guides, and can automatically adjust the connection angle of each side bracket and the base bracket. [Embodiment] Hereinafter, an embodiment of the present invention will be described based on the drawings. In this embodiment, the lifting device of the present invention is applied to a stacker crane s c. The stacker SC is used, for example, in a Clean Room and walks on a track laid on the ground. The following description is based on the movement direction of the track along the stacker SC as the X-axis direction, and the direction orthogonal to the horizontal direction of the 7 323259 201208970 X-axis direction is the γ-axis direction 'to be orthogonal to the χ·γ plane. The vertical direction is the direction of the x-axis. Fig. 1 is a perspective view of a stacker crane SC, and Figs. 2 and 3 are cross-sectional views of a stacker crane SC. As shown in these figures, the stacker SC has a pair of columnar pillars 20A and 20'' extending along the z-axis direction, and the lower end of each of the pillars 20A and 20B is a bottom frame 10 which is attached to a rectangular frame, and each pillar 20Α The upper ends of the 20 turns are connected to each other by the upper frame 30 extending in the X direction. In the bottom frame 1A, a wheel mounting portion that rotatably supports the wheel for traveling the rail is disposed between the pillars 20A and 20'' which are separated in the X-axis direction, and a lifting platform 40 (cage) is disposed on the lifting platform 40. A transfer device 1 (for example, a fork device) is provided. A set of drive sprocket 2i (elevation drive means) is provided at each lower end of each of the pillars 20A, 20B. A set of driven sprocket wheels 22 (elevation drive means) are provided at the upper ends of the respective pillars 20A, 20B. A chain 23 (elevation driving means) for supporting the elevating table 40 is suspended from the drive key wheel 21 and the driven key wheel 22 corresponding to the upper and lower sides of the respective pillars 2A, 2B. Further, a motor 24 (elevation driving means) integrated with the speed reducer 25 (refer to FIG. 3) is provided at the lower end of each of the pillars 2a, 2b, and two are connected to the output side of the speed reducer 25 ( One set) drives the sprocket 21. Further, in the present embodiment, the electric motor 24, the drive sprocket 21, the driven sprocket 22, the chain 23, and the like provided in each of the pillars 20A and 20B constitute a lifting and lowering driving means capable of providing the lifting/lowering driving force of the lifting platform 40 (cage). Further, in the present embodiment, the two motors 24 provided in the respective pillars 20A and 20B can be controlled by a controller (not shown) to operate in synchronization. Further, the guide rails 26A and 26B extending in the Z-axis direction (wrong direction) are fixed to the side faces of the two pillars 20A and 20B facing each other. The guide rails 26A and 26B are engageable by guide means disposed on the side of the lifting platform 40, which will be described later. 4 is a perspective view showing the lifting platform 40 and the guide rails 26A and 26B. FIGS. 5 and 6 are cross-sectional views of the engaging portion of the lifting platform 40 and the guides 26A and 26B. FIG. 7 is a lifting platform 40. Part of the section view. The lifting platform 40 includes a base bracket 27 that can set the transfer device 1A on the upper side, and a pair of side brackets 28A and 28B that are coupled to both end portions of the base bracket 27 in the X-axis direction. The base bracket 27 is provided with a main frame 27a' having a cross-sectional I-shape extending in the cuff direction, and a transfer device 100 is fixed to the upper portion of the main frame 27a. Therefore, the pair of main frames 27a are integral brackets that form a rigidity. Further, the pair of main frames 27a can be combined with each other by the cross frame instead of the transfer device 1 to increase the strength. Further, a connecting portion to the side brackets 28A and 28B is provided at each end portion of the main frame 27a in the X-axis direction. The side stays 28A and 28B are configured by assembling a frame member having a rectangular cross section into a substantially two-corner shape. The side brackets 28A and 28β extend horizontally on one side of the substantially triangular shape (hereinafter referred to as "lower side 31"), and the diagonal portion of the side is formed as a top side (hereinafter referred to as "top side 32"). The base bracket 27 is provided with a downwardly extending wire 33 at both ends of the lower side η of each of the side brackets 28A and 28B, and the shaft portion 34 supported by the brackets is rotatably conveyed by the carrier Each end portion of the main frame 27a of the bracket 27 is coupled to each other. ' 323259 9 201208970 The lower side 31 and the top side 32 of each of the side brackets 28A and 28B are respectively provided with a branch that protrudes in a direction opposite to the guide rails 26A and 26B. The shaft pin 41. The spherical bearing 43 that is coupled to each of the pivot pins 41 by the linear motion guide 42 (guide means) is coupled to the spherical bearing 43 (see FIGS. 5 and 6) through the spherical bearing 43. The spherical bearings 43 have the same configuration except for the bearings of the lower side 3 j on the side of the 2 〇 B side. The spherical bearing 43 disposed on the lower side 31 of the side of the struts 20B is attached with a symbol of 43S so as to be attached to other spherical bearings 43. The difference is as shown in Figure 5 and Figure 6, The guide rails 26A, 26B are provided with a pair of guide grooves 45 along the Z-axis direction, and a pair of guide faces 46a, 46b having mutually inclined angles are provided in each of the guide grooves 45. In contrast, the linear motion guides are provided. The member 42 is provided with a plurality of rollers (not shown) that are rotatably movable in the substantially square bracket 48, and the bracket 48 is engaged with the outside of the corresponding guide rails 26A, 26B. The plurality of rollers in the bracket 48 are Rotatablely abutting the guide faces 46a, 46b having different inclination angles of the guide rails 26A, 26B. The linear motion guide 42 limits the displacement in all directions orthogonal to the Z-axis direction by the guide rails 26A, 26B, and The movement is smoothly performed in the direction (Z-axis direction) along the guides 26A, 26B. Further, as shown in Fig. 5, the spherical bearing 43 is provided in the outer casing 5 of the bracket 48 bolted to the linear motion guide 42. The cylindrical holding portion 51 is provided with an outer ring 52 having an inner peripheral surface recessed in a spherical shape. The spherical sleeve 53 is slidably held by the inner peripheral surface of the outer ring 52. The spherical sleeve 53 is fixed to the outside of the spindle pin 41. As shown in Fig. 6, the ball 10 323259 201208970 * bearing 43S is disposed on the lower side 31 of the support 2B side. A substantially cylindrical shape 2 sliding sleeve 54 is attached to the inner peripheral surface of the spherical sleeve 53. Thereby, the sliding sleeve 54 is slidable toward the fulcrum pin 41. In the present embodiment, the sliding sleeve 54 and the fulcrum pin 41 are the allowable lifting platform 40 (side bracket 28B) and the pillars. A sliding mechanism for relative displacement in the axial direction. The spherical bearing 35 used for the joint between the main frame 27a of the lifting platform 40 and the side brackets 28A, 28B is substantially the same as the facing bearing 43 attached to the linear motion guide 42. Construction. Fig. 7 is a cross-sectional view showing the connecting portion of the main frame 27 & side bracket 28A in an enlarged manner. As shown in the figure, a shaft is attached to the bracket 33 which is extended to the side bracket 28A (see Fig. 3). A spherical sleeve 57 is attached to the outer surface of the shaft portion 34. A flange portion 58 that extends upward is provided at an end portion of the main busy frame 27a (see FIG. 3). The flange portion 58 is attached to a retaining ring 6 through an outer ring 59 having a spherical inner peripheral surface. . The spherical sleeve 57 on the inner peripheral surface of the outer ring 59 is slidably held by the spherical sleeve 57. Further, as shown in Figs. 1 and 2, the both ends of the drive sprocket 21 and the chain sprocket 22 of the driven sprocket 22, which are suspended from the respective struts 2A and 2B, are coupled to the respective side portions. A linear motion guide 42 connected to the upper end portion and the lower end portion of the brackets 28A, 28B. Fig. 8A is a schematic perspective view of the elevating table 40, and Fig. 8b is a schematic side view showing the operation of the elevating table 40 when it is moved up and down. Hereinafter, the lifting operation of the lifting platform 4A will be described with reference to these drawings. For example, when the lifting platform 40 at the lowermost position is raised, the motor 24 driving the lower ends of the two pillars 2A, 2B is rotated in one direction, and the chain 323259 11 201208970 is connected to the bracket 28A on both sides by the chain 23. The linear motion guide 42 at the upper end of the 28B is pulled upward. Thereby, the elevating table 40 is raised to a predetermined height because the linear motion guide 42 is guided along the two guide rails 26A, 26B. Further, when the elevating table 40 is lowered, the drive motor 24 is rotated in the reverse direction. Thereby, the elevating table 40 is lowered to a predetermined height because the linear motion guide 42 is guided along the two guide rails 26A, 26B. At this time, the displacement of all the linear motion guides 42 on both sides in the X-axis direction of the elevating table 40 orthogonal to the extending directions of the guide rails 26A, 26B is restricted and displaced along the guide rails 26A, 26B. However, in the case where there is an error in the parallelism or the straightness of the two guide rails 26A, 26B, the spherical bearings 43, 43S existing between the linear motion guides 42 and the lifting table 40 (the side brackets 28A, 28B) are interposed. The linear motion guides 42 and the lifting platform 40 are appropriately bent and allow relative sway of the linear motion guides relative to the lifting platform 40. Furthermore, on the side of the lifting platform 4, the connection angle of the side brackets 28A, 28B with respect to the base bracket 27 can be guided by two guides.
26A、26B 的姿勢或形狀的變化而藉由球面軸承35自動調整。此外， 分開配置在X轴方向之隨著兩導軌26A、26B的分開距離 之變動所產生的直線運動導件42的相對移動 ，可藉由球面 轴承43S内之滑動套筒54之相對於支軸插銷41的軸方向 之滑動而得到容許。 如以上所述，在該堆高式起重機SC中，卡合在各導 軌26A、MB的直線運動導件42是透過球面轴承43、桃 連、、。於升降口 40之對應的側部支架“A、。再者，各 側4支架28A、28B的下端與底座支架的端部是透過球 12 323259 201208970 面軸承35可轉動地連結。因此，即使因為兩導執26A、26B 之平行度或真直度等的誤差而在兩導執26A、26B產生彎 曲或傾斜等的姿勢變化或形狀變化，也可實現藉由球面軸 承43、43S而容許直線運動導件42的搖擺，以及在侧部 支架28A、28B的下端之與底座支架27的轉動。藉此，可 預防大的應力作用在直線運動導件42與導轨26A、26B之 間。 又，在該堆高式起重機SC中，在升降台42之下端的 球面軸承43S内設有滑動套筒54(滑動機構）。因此，在兩 導軌26A、26B之分開距離有變動的情況，滑動機構會吸 收該距離的變動，且可防止不必要的應力作用在直線運動 導件42。 而且，在該堆高式起重機SC中，整體升降台40並非 剛性的一體支架。該升降台40是由可供移載裝置1〇〇放置 的底座支架27、以及透過鏈條23可藉由電動機24驅動升 降的兩側的侧部支架28A、28B的不同構件所構成，各側 部支架28A、28B的下端與底座支架27的端部是透過球面 軸承35而連結。因此，由於兩導軌26A、26B之平行度或 真直度等的誤差，以致在導轨26A、26B間有局部的彎曲 或傾斜的狀況下使升降台4〇進行升降動作的情況，也可預 防不必要的應力作用在升降台4〇。 參照第9圖來說明具體例。第9圖是兩側的導軌26A、 26B是以在上下方向的中央區域最為分開的形態彎曲成汰 狀（彎曲）時之’升降台40及直線運動導件42之動作的示 323259 13 201208970 意圖。如該圖面中的實線所示，升降台40位在比導執 26A、26B的中央區域為下方的情況，連接於側部支架 28A、28B之上部的直線運動導件42會隨著導軌26A、26B 的向外撓曲而朝外側方向位移。結果，各側部支架28A、 28B就會相對於底座支架27以球面轴承35為中心向外傾 斜。又，如該圖面中的假想線所示，升降台40位在比導軌 26A、26B的中央區域為上方的情況，連接於侧部支架 28A、28B之上部的直線運動導件42會隨著導執26a、26b 的向内撓曲而朝内侧方向位移。結果，各侧部支架28A、 28B就會相對於底座支架27以球面轴承35為中心向内傾 斜。因此’升降台40沿著導軌26A、26B升降的情況，侧 部支架28A、28B會柔軟地傾動以吸收導執26A、26B的 繞曲成分’因此在升降台40的各部不會產生不必要的應 力。亦即’該堆高式起重機SC並不會隨著升降台40的升 降動作而在升降台40產生由於應力導致的彈性變形，因此 可預防由於彈性變形之反動所產生的大的荷重劇烈作用在 直線運動導件42及導軌26A、26B。此外，本實施形態的 情況’當側部支架28A、28B在升降台40之升降動作時隨 著導執26A、26B的彎曲或傾斜而傾動時，連接於升降台 40之下端部的球面轴承43的滑動套筒54(滑動機構）會自 動調整兩侧部支架-28A、28B的分開寬度。該功能也有助 於獲得順暢的升降台4〇之升降動作。 因此’根據該堆高式起重機SC，可抑制不必要的應力 作用在直線運動導件42。因此，可採用發塵或振動噪音少 323259 14 201208970 ' 的直線運動導件42而不會導致壽命降低等的不良結果。 : 又’在該堆高式起重機SC是僅於升降台40之X軸方 向的一端侧的球面軸承43S設有滑動機構（滑動套筒54)。 因此，可使升降台40上之移載裝置100的位置恆常地與沒 有滑動機構之側的支柱20A(導軌26A)維持在一定的靼 離。亦即，可怪常正確地管理升降台4〇上所設置的移載教 置100的位置。 、 而且，在該堆高式起重機sc中，升降台4〇之側部支 架28A、28B的上端部及下端部是分別透過直線運動導件 42卡合在對應的導執26A、26B。因此，可使兩側的侧部 支架28A、28B恆常靈活地追隨導執26A、26B，且可將升 降台40的底座支架27穩定地保持在導軌26A、26B。 又，在該堆高式.起重機sc的情況，升降台4〇與各直 線運動導件42之間是藉由球面軸承43、43S可彎曲地連 結。因此’在堆〶式起重機sc之移動開始時及移動停止 時、以及移载裝£ 100之動作時等，可容易並且正確地算 出會作用在直線運動導件42的負荷。這是因為堆高式起重 機SC之移動開始時及移動停止時所產生的乂轴方向的荷 重、以及移載裝i 100之動作時產生的¥轴方向的荷重並 不會伴隨力矩而作用在球面轴承43、43S部分。因此，可 適當設定直線運動導件42及導軌2从、細的強度等。 此外，本發明並不限定於上述實施形態，而可在不脫 離其主旨的範圍進行各種致計變更。例如，上述實施形態 是將本發明之升降裝置應用於在行走執道上移動的堆高式 323259 15 201208970 起重機sc，但是升降裝置亦可固定設置在地板上。又，上 述實施形態是在底座支架27之X軸方向的兩端部透過球 面軸承35連結有側部支架28A、28B的下端，但是該連結 部並不一定要球面軸承35。例如，亦可藉由沿著Y軸方向 的支軸插銷來連結底座支架27與側部支架28A、28B。 【圖式簡單說明】 第1圖是採用本發明之一實施形態的升降裝置的堆高 式起重機的立體圖。 第2圖是採用本發明之一實施形態的升降裝置的堆高 式起重機之沿著第1圖的A-A剖面的剖面圖。 第3圖是採用本發明之一實施形態的升降裝置的堆高 式起重機之沿著第2圖的B-B剖面的剖面圖。 第4圖是採用本發明之一實施形態的升降裝置的堆高 式起重機的升降台（cage)的立體圖。 第5圖是採用本發明之一實施形態的升降裝置的堆高 式起重機之沿著第2圖的C-C剖面的放大剖面圖。 第6圖是採用本發明之一實施形態的升降裝置的堆高 式起重機之沿著第2圖的D-D剖面的放大剖面圖。 第7圖是採用本發明之一實施形態的升降裝置的堆高 式起重機之第3圖的E部的放大圖。 第8A圖是採用本發明之一實施形態的升降裝置的堆 高式起重機的升降台（cage)的示意性立體圖。 第8B圖是採用本發明之一實施形態的升降裝置的堆 高式起重機的升降台（cage)的示意性側面圖。 16 323259 201208970 第9圖是採用本發明之一實施形態的升降裝置的堆高 式起重機的示意性側面圖。 【主要元件符號說明】 10 底部框架 11 車輪安裝部 20A,20B 支柱 21 驅動鍵輪 22 從動鏈輪 23 鏈條 24 電動機 25 減速機 26A,26B 導軌 27 底座支架 27a 主框架 28Α,28Β 側部支架 30 上部框架 31 下邊 32 頂部邊 33 托架 34 軸部 35 球面轴承 40 升降台 41 支軸插銷 42 直線運動導件 17 323259 201208970 43 球面轴承 43S 球面軸承 45 引導凹槽 46a,46b 引導面 48 支架 50 外殼 51 保持部 52 外輪 53 球面套筒 54 滑動套筒 - 57 球面套筒 58 突緣部 59 外輪 60 定位環 100 移載裝置 SC 堆高式起重機 18 323259The posture or shape of 26A, 26B is changed by the spherical bearing 35 automatically. In addition, the relative movement of the linear motion guide 42 which is generated by the variation of the separation distance of the two guide rails 26A, 26B in the X-axis direction can be separated by the sliding sleeve 54 in the spherical bearing 43S relative to the support shaft. Sliding of the pin 41 in the axial direction is allowed. As described above, in the stacker SC, the linear motion guide 42 that is engaged with each of the guide rails 26A, MB passes through the spherical bearing 43, the peach joint, and the like. The corresponding side brackets of the lifting port 40 are "A. Further, the lower ends of the side brackets 28A, 28B and the end of the base bracket are rotatably coupled through the ball 12 323259 201208970 surface bearing 35. Therefore, even because The posture or shape change such as bending or tilting may occur in the two guides 26A and 26B due to errors such as the parallelism or the straightness of the two guides 26A and 26B, and the linear motion guide may be allowed by the spherical bearings 43, 43S. The rocking of the member 42 and the rotation of the lower end of the side brackets 28A, 28B with the base bracket 27. Thereby, a large stress can be prevented from acting between the linear motion guide 42 and the guide rails 26A, 26B. In the stacker SC, a sliding sleeve 54 (sliding mechanism) is provided in the spherical bearing 43S at the lower end of the lifting table 42. Therefore, when the separation distance between the two rails 26A, 26B is changed, the sliding mechanism absorbs This distance varies and prevents unnecessary stress from acting on the linear motion guide 42. Moreover, in the stacker SC, the integral lifting platform 40 is not a rigid integral bracket. The lifting platform 40 is available for movement. Loading The base bracket 27 placed in the stack and the through-chain 23 can be formed by different members of the side brackets 28A, 28B on both sides of the lift motor 24, and the lower ends of the side brackets 28A, 28B and the base bracket 27 The ends are connected by the spherical bearing 35. Therefore, due to errors in the parallelism or straightness of the two guide rails 26A, 26B, the lifting table 4 is caused by partial bending or inclination between the guide rails 26A, 26B. In the case of the lifting operation, it is possible to prevent unnecessary stress from acting on the lifting table 4. The specific example will be described with reference to Fig. 9. In Fig. 9, the guide rails 26A and 26B on both sides are separated most in the center in the vertical direction. When the shape is bent into a shape (bending), the operation of the lifting platform 40 and the linear motion guide 42 is shown as 323259 13 201208970. As shown by the solid line in the drawing, the lifting platform 40 is at the ratio guide 26A. The central region of 26B is the lower portion, and the linear motion guide 42 connected to the upper portion of the side brackets 28A, 28B is displaced outward in accordance with the outward deflection of the guide rails 26A, 26B. As a result, the side brackets are supported. 28A, 28B The base bracket 27 is inclined outward with respect to the spherical bearing 35. Further, as shown by the imaginary line in the drawing, the lifting platform 40 is positioned above the center area of the guide rails 26A, 26B, and is connected to the side. The linear motion guides 42 at the upper portions of the brackets 28A, 28B are displaced inwardly with the inward deflection of the guides 26a, 26b. As a result, the side brackets 28A, 28B are spherical with respect to the base bracket 27. The bearing 35 is inclined inwardly in the center. Therefore, when the lifting platform 40 is moved up and down along the guide rails 26A, 26B, the side brackets 28A, 28B are softly tilted to absorb the winding components of the guides 26A, 26B' thus on the lifting platform 40. The various parts of the department do not create unnecessary stress. That is, the stack crane SC does not cause elastic deformation due to stress on the lifting platform 40 as the lifting platform 40 moves up and down, thereby preventing a large load due to the reaction of the elastic deformation from being severely affected. Linear motion guide 42 and guide rails 26A, 26B. Further, in the case of the present embodiment, when the side brackets 28A and 28B are tilted with the bending or inclination of the guides 26A and 26B during the lifting operation of the lifting platform 40, the spherical bearing 43 connected to the lower end portion of the lifting platform 40 is attached. The sliding sleeve 54 (sliding mechanism) automatically adjusts the separation width of the side brackets -28A, 28B. This function also helps to achieve a smooth lifting movement of the lifting platform. Therefore, according to the stacker SC, unnecessary stress can be suppressed from acting on the linear motion guide 42. Therefore, the linear motion guide 42 with less dust or vibration noise can be used without causing a decrease in life and the like. In the stacking crane SC, the spherical bearing 43S on the one end side of the X-axis direction of the lifting platform 40 is provided with a sliding mechanism (sliding sleeve 54). Therefore, the position of the transfer device 100 on the elevating table 40 can be constantly maintained at a constant separation from the strut 20A (the guide rail 26A) on the side where the slide mechanism is not provided. That is, it is possible to blame the position of the transfer teaching device 100 provided on the elevator table 4〇. Further, in the stacker sc, the upper end portion and the lower end portion of the side brackets 28A, 28B of the lifting platform 4 are respectively engaged with the corresponding guides 26A, 26B through the linear motion guide 42. Therefore, the side brackets 28A, 28B on both sides can be made to follow the guides 26A, 26B with constant flexibility, and the base bracket 27 of the lifting platform 40 can be stably held by the guide rails 26A, 26B. Further, in the case of the stacking type crane sc, the lifting table 4A and the linear moving guides 42 are bendably connected by the spherical bearings 43, 43S. Therefore, the load acting on the linear motion guide 42 can be easily and accurately calculated when the movement of the stacker crane sc is started and when the movement is stopped, and when the load is loaded by 100. This is because the load in the direction of the x-axis generated when the movement of the stacker SC is started and when the movement is stopped, and the load in the direction of the ¥ axis generated during the operation of the transfer device i 100 do not act on the spherical surface with the torque. Bearings 43, 43S parts. Therefore, the strength of the linear motion guide 42 and the guide rail 2 can be appropriately set. Further, the present invention is not limited to the above-described embodiments, and various changes can be made without departing from the scope of the invention. For example, in the above embodiment, the lifting device of the present invention is applied to a stacking type 323259 15 201208970 crane sc that moves on a walking path, but the lifting device may be fixedly disposed on the floor. Further, in the above-described embodiment, the lower ends of the side brackets 28A and 28B are coupled to the both ends of the base bracket 27 in the X-axis direction via the spherical bearing 35. However, the joint portion does not necessarily have to include the spherical bearing 35. For example, the base bracket 27 and the side brackets 28A, 28B may be coupled by a pivot pin in the Y-axis direction. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view of a stacker crane using a lifting device according to an embodiment of the present invention. Fig. 2 is a cross-sectional view taken along line A-A of Fig. 1 of the stacker crane using the lifting device according to the embodiment of the present invention. Fig. 3 is a cross-sectional view taken along line B-B of Fig. 2 of the stacker crane using the lifting device according to the embodiment of the present invention. Fig. 4 is a perspective view of a crane of a stacker crane using a lifting device according to an embodiment of the present invention. Fig. 5 is an enlarged cross-sectional view, taken along line C-C of Fig. 2, of a stacker crane using a lifting device according to an embodiment of the present invention. Fig. 6 is an enlarged cross-sectional view taken along line D-D of Fig. 2 of the stacker of the lifting apparatus according to the embodiment of the present invention. Fig. 7 is an enlarged view of a portion E of Fig. 3 of the stacker of the stacking crane according to the embodiment of the present invention. Fig. 8A is a schematic perspective view of a crane of a stacker using a lifting device according to an embodiment of the present invention. Fig. 8B is a schematic side view of a crane of a stacker using a lifting device according to an embodiment of the present invention. 16 323 259 201208970 Fig. 9 is a schematic side view of a stacker crane employing a lifting device according to an embodiment of the present invention. [Main component symbol description] 10 Bottom frame 11 Wheel mounting portion 20A, 20B Strut 21 Drive key wheel 22 Drive sprocket 23 Chain 24 Motor 25 Reducer 26A, 26B Guide rail 27 Base bracket 27a Main frame 28Α, 28Β Side bracket 30 Upper frame 31 Lower side 32 Top side 33 Bracket 34 Shaft part 35 Spherical bearing 40 Elevator 41 Axle pin 42 Linear motion guide 17 323259 201208970 43 Spherical bearing 43S Spherical bearing 45 Guide groove 46a, 46b Guide surface 48 Bracket 50 Housing 51 Holding part 52 Outer wheel 53 Spherical sleeve 54 Sliding sleeve - 57 Spherical sleeve 58 Flange 59 Outer wheel 60 Positioning ring 100 Transfer device SC Stacker 18 323259