1362360 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 載）之移載裝置，特別是關於該移載裝置中，用來使 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，係分另! 載機（用來使工件進出於棚架）配合棚架的位置而進行 、昇降者，在自動化倉庫中，扮演相當重要的角色。 種移載裝置，爲了將昇降台的兩側吊起，如第1圖. 圖所示，在該移載裝置之進行方向必須設有左右2個 (裝置）。關於移載機，可按照工件的種類而適當選揖 節機械手臂（SCAR A 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 方向引導，當工件變大且重量變重時，該昇降台之亮 須更加確實地進行’且隨著工件之大型化棚架也變賴 化’因此經由移載機而施加於該昇降台之重力負荷廿 關於這種移載裝置之昇降台之引導裝置，在申請 申請案之專利文獻1中有詳細的說明。 〔專利文獻1〕日本實開平5-22491號公報（第2 第3圖） 、（移 移載 使移 移動 在這 第4 支柱 多關 上下 降必 大型 變大 人之 圖、 1362360 【發明內容】 該專利文獻1所記載之發明，係關於以「爲了使沿著 左右一對的導軌昇降之昇降台不致產生左右搖晃」爲目的 而構成之「昇降台的引導裝置」：該「昇降台的引導裝置 」，如第14圖所示，係採用「將昇降台12之至少一側之 導輥18以能左右移動的方式設於昇降台12，並藉由彈簧 1 9朝導軌1 1側彈壓」之構成。 專利文獻1之「昇降台的引導裝置j ，係爲了改善習 知技術問題點之「當塔變高時，塔在高度的中央部會朝互 相分離或互相接近的方向變形，因此塔之左右間隔沿高度 方向會產生變化，左右導軌彼此間之間隔也會改變，結果 導軌和昇降台之導輥間會產生間隙，而造成昇降台朝左右 搖晃的問題」，藉由採用上述構成，而發揮「將昇降台之 至少一側之導輥以能左右移動的方式設於昇降台’並藉由 彈簧朝導輥側彈壓，藉此使導軌和昇降台之導輥恒保持密 合狀態」之作用效果。 然而，本案發明人之後深入探討得知’當昇降台和支 柱（裝置）的連結可藉由「導輥和導軌」來進行時’上述構 造足以充分因應’但當必須採用其他的連結方法時’上述 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工件的移載之 移載裝置，其整體不得不變得大型化’前後2個必要的支 柱（裝置）也必須使用高度10m左右之高大物。這樣一來’ 支柱裝置之上下的「間距（sPan)」’會依：該支柱裝置本 1362360 身之製造誤差、是否有施加來自上述工件之重量、該工 的支承位置是位於支柱上端側或下端側等等，而有所不 0 換言之，若昇降台（承載工件或移載機）僅單純的連 於支柱裝置側，將無法充分對應於上述般的況狀變化， 如以專利文獻1來說，將會對導軌和昇降台之導輥造成 械上的不當負荷，可能對移載裝匱之圓滑動作造成阻礙 於是，本案發明人等，針對上述移載裝置，如何在 支柱裝置大型化時仍能使昇降台的昇降動作持續穩定進 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 台之支承構造，即使支柱裝置之上下間距產生誤差、支 裝置和支承框產生些微傾斜，仍能圓滑地進行昇降台之 降。 本發明之第2目的係提供一種移載裝置之昇降台之 承構造，係藉由直線移動導件來穩定進行支承框（和昇 台連結）相對於支柱裝置之昇降引導，以充分對抗經由 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 之手段，若使用後述最佳形態的說明中所用的符號來做 明，係「一種移載裝置100之昇降台30之安裝構造， 在配置有多數個棚架50之倉庫內移動，以對前述各棚 5〇進行工件的出入之移載裝置100 ;且該移載裝置1〇〇 具備：可在前述倉庫內移動之基台】〇、豎設於該基台 件 同 結 例 機 〇 其 行 降 柱 昇 支 降 工 用 說 係 架 係 -6- 10 20 1362360 上之左右兩座的支柱裝置20、可相對於該各支柱裝置 上下移動之昇降台30、設置於該昇降台3〇上之移載機 :相對於前述各支柱裝置20將支承框32安裝成昇降自 ;在該各支承框32的下端’透過插通於前述支承框32 圓孔33a之插銷33連結著前述昇降台3〇之端部，相對 前述各支承框32，前述昇降台30係透過前述各插銷33 形成在左右方向可傾動j 。 亦即，申請專利範圍第1項之移載裝置1〇〇，係在 置有多數個棚架50之倉庫內移動，以對各棚架50進行 件的出入者；如第1圖所示係具備：可在前述倉庫內移 之基台10、豎設於該基台10上之兩座支柱裝置20、可 對於該各支柱裝置20上下移動之昇降台30、設置於該 降台30上之移載機40。 該移載裝置100，係藉由支承框32(相對於支柱裝 20安裝成昇降自如）來支承昇降台30，除了如第2圖所 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 32 ° 該申請專利範圍第1項之移載裝置100，當各支柱 置20本身、以昇降自如的方式安裝於其之支承框32, 製造誤差等相對於鉛垂方向產生傾斜時，昇降台3 0和 承框32可透過插通於各圓孔33a之插銷33進行傾動’ 此可在維持昇降台3 0之水平狀態下，避免傾斜所造成 「不當施力」施加於該移載裝置100之各部位。 40 如 之 於 而 配 工 動 相 昇 置 示 框 裝 因 支 因 之 1362360 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’使昇降兰 上之移載機4〇作動，將其多關節機械手臂或滑動式 延伸至棚架50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30對支柱裝置20之安裝，在第2圖 之最佳形態，係透過支承框32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32之昇降。 如第2圖或第3圖所示，在該支承框32的下端 插銷33將昇降台30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30a，在該昇降台側塊體30a形成圓孔33a。 方面，在支承框32的下端固定著支承框側塊體32b， 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 Ϊ 30 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 1362360 降台側塊體30a及支承框側塊體32b上所形成之各 33a內插入上述插銷33，透過該插銷33將昇降台30 傾動的方式連結於支承框32。在後述之最佳形態，該 33係配置於第7圖所示之俯視四角形的昇降台30之 角部，亦即在2個支承框32之前後兩下端各配置一 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 100之昇降台30的安裝構造，在昇降台30之對應於 柱裝置20側端部之4部位各個，係透過插通於各圓孑I 之插銷33而以可傾動的方式連結於支承框32的下端 因此昇降台30相對於位於兩側之個支承框32係形成 動。 在此，當支承框32之昇降量在兩側稍有差異、 柱裝置20在高度方向有些微的尺寸誤差、或是昇降1 上的移載機40支承著工件時的扭力作用於各支柱裝f 和昇降台30本身時，兩支柱裝置20間之間距會和其 分不同，各支柱裝置20朝內側、亦即朝昇降台30上 倒的現象變明顯，會對各支柱裝置20側之軌道等產 當施力，而對昇降台30之圓滑昇降造成阻礙。其原 於，施加在各支柱裝置20上的重量，除了昇降台30 其上方的移載機40，進一步還有藉移載機40支承之 的重量。 然而，申請專利範圍第1項之安裝構造’由於該 台30是透過插通於圓孔33a之插銷33連結於支承框 圓孔 以可 插銷 各隅 個而 裝置 各支 33a 部， 可傾 各支 ί 30 I 20 他部 側傾 生不 因在 以及 工件 昇降 32， -9- 1362360 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33及圓孔33a所吸收，因此不致對該移 載裝置1〇〇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30和支承框32能經由插通於各圓孔33a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1〇〇;且該移載裝 置100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33連結著前述昇降台30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32，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- 1362360 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I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。 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 3 2，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30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30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1〇〇之各部位。 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 33b這二種孔之插銷33，來相對於各支柱裝置20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 - 1362360 33a和插通於其之插銷33，來相對於一方的支承框32將 昇降台30連結成可傾動，因此前述與圓孔33a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33b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3 0側），相對於插銷3 3連結側（在最佳形態 爲支承框32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33b(長軸朝水平方向 )和插通於其之插銷33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30之透過插通於圓孔33a之插銷33來 和支承框32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20間之間距變化所造成之各 支承框32的傾斜，會被各插銷33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1 〇〇之昇 降台30之支承構造，即使支柱裝置20間的間距產生誤差 -12-1362360 IX. Description of the Invention [Technical Fields of the Invention] The present invention relates to a transfer device for loading a workpiece to a plurality of scaffolds, and more particularly to the transfer device for use in a machine The installation structure of the lifting platform for lifting and lowering. [Prior Art] This type of transfer device and the lifting table of its constituent parts are divided into another! The carrier (used to make the workpiece into the scaffold) is carried out in accordance with the position of the scaffold, and the lifter plays in the automated warehouse. A very important role. In order to lift both sides of the lifting platform, as shown in Fig. 1, there are two left and right (devices) in the direction in which the transfer device is to be carried. Regarding the transfer machine, the SCAR A arm or the sliding fork can be appropriately selected according to the type of the workpiece. In such a transfer device, the lifting platform must be guided in the direction of the strut device. When the workpiece becomes large and the weight becomes heavier, the lighting of the lifting table must be performed more surely and the scaffolding becomes larger as the workpiece becomes larger. The reliance on the hoisting load of the hoisting device, which is applied to the hoisting platform by the transfer machine, is described in detail in the patent document 1 of the application. [Patent Document 1] Japanese Unexamined Japanese Patent Publication No. Hei No. 5-22491 (No. 2, FIG. 3), (Transfer of the shifting movement, the movement of the fourth pillar, the large-scale enlargement of the fourth pillar, 1362360 [Invention content] The invention described in the document 1 relates to a "guide device for a lifting platform" for the purpose of "the lifting platform for lifting up and down a pair of left and right guide rails does not cause side-to-side shaking": the "leading device for the lifting platform" As shown in Fig. 14, the "guide roller 18 of at least one side of the lifting table 12 is provided on the lifting table 12 so as to be movable to the left and right, and is biased toward the side of the guide rail 1 by the spring 19". The guidance device j of the elevator table is for improving the conventional technical problem. "When the tower becomes high, the tower is deformed in the direction of being separated from each other or close to each other in the central portion of the height, so the tower is left and right. The interval will change along the height direction, and the distance between the left and right guide rails will also change. As a result, a gap will occur between the guide rollers and the guide rollers of the lifting platform, causing the lifting platform to sway to the left and right. According to the above configuration, the guide roller of at least one side of the elevating table is provided on the elevating table so as to be movable to the left and right, and the guide roller of the guide rail and the elevating table is kept tightly by the spring. However, the inventor of the present invention went deep into the discussion and learned that 'when the connection between the lifting platform and the pillar (device) can be carried out by the "guide roller and the guide rail", the above configuration is sufficient to adequately 'but when necessary When the other connection method is used, the above-described structure does not provide sufficient effects. That is, as described above, the transfer device for carrying out heavy and large workpiece transfer has to be enlarged as a whole. The necessary pillars (devices) must also use tall objects with a height of about 10 m. In this way, the "span" above the pillar device will depend on: the manufacturing error of the pillar device 1362360, whether it is applied or not The weight of the workpiece, the support position of the work is located on the upper end side or the lower end side of the pillar, etc., and there is no 0. In other words, if the lifting platform (bearing workpiece or transfer machine) only Simply connecting to the side of the strut device will not be able to adequately correspond to the above-mentioned changes in the condition. For example, in Patent Document 1, the guide roller of the guide rail and the elevating table will be subjected to an undue load, which may be applied to the transfer. In the case of the above-described transfer device, the inventors of the present invention have made it possible to carry out an in-depth study on the elevating and lowering operation of the elevating table while the strut device is being enlarged, and as a result, the present invention has been completed. A first object of the present invention is to provide a support structure for a lifting platform of a transfer device, which can smoothly elevate the elevating table even if an error occurs in the upper and lower pitches of the strut device, and the support device and the support frame are slightly inclined. A second object is to provide a support structure for a lifting platform of a transfer device, which is configured to stably carry out the lifting guide of the support frame (and the riser connection) with respect to the support device by linearly moving the guide member to fully resist the passage of the support member. Torque. In order to solve the above problems, first, the means for applying the first aspect of the patent application will be described using the symbols used in the description of the best mode described below, "the mounting structure of the lifting table 30 of the transfer device 100, and the arrangement" There is a transfer device 100 in which a plurality of scaffolds 50 are moved in a warehouse to carry out the workpieces in and out of the sheds 5; and the transfer device 1 〇〇 has a base that can be moved in the warehouse. Erected on the abutment and the same as the machine, the two columns of the pillars 20 on the left and right sides of the frame can be moved up and down relative to the pillar device The lifting platform 30 and the transfer machine provided on the lifting platform 3: the support frame 32 is mounted to be lifted and lowered with respect to each of the pillar devices 20; and the lower end of each of the support frames 32 is inserted through the support frame The latch 33 of the circular hole 33a is connected to the end of the lifting platform 3, and the lifting platform 30 is formed to be tiltable in the left-right direction through the respective latches 33 with respect to the respective support frames 32. Transfer of 1 item 1〇〇, moving in a warehouse in which a plurality of scaffolds 50 are placed to carry out the entry and exit of each scaffold 50; as shown in Fig. 1, there is provided a base 10 that can be moved in the warehouse; Two pillar devices 20 erected on the base 10, a lifting platform 30 movable up and down for the pillar devices 20, and a transfer machine 40 disposed on the landing platform 30. The transfer device 100 is borrowed The elevating table 30 is supported by the support frame 32 (mounted to be lifted and lowered with respect to the strut mount 20), and can be mounted on the strut device 20 as shown in Fig. 3, except that the support frame 32 is directly attached to the strut device 20 as shown in Fig. 2. The support device 32 is indirectly mounted by the guiding unit 31. The transfer device 100 of the first aspect of the patent application is attached to the support frame 32 of the pillars 20 itself in a freely movable manner, and manufacturing errors and the like are relative to the vertical. When the direction is inclined, the lifting platform 30 and the frame 32 can be tilted by the pin 33 inserted through each of the circular holes 33a. This can prevent the "improper force" caused by the tilting while maintaining the level of the lifting platform 30. Applied to various parts of the transfer device 100. 40 If it is the case, the mobile phase is raised and the frame is installed. The 1362360 has the above-structured transfer device 100. As shown in Fig. 2 and Fig. 3, the track in the warehouse (equipped with a plurality of scaffolds 50) 21 moves up to the front of the scaffolding 50 where the workpiece is to be accessed. As shown in Fig. 4, the table 30 is raised and lowered to the corresponding position of the scaffolding 50. After that, the moving machine on the lifting and lowering machine is actuated, and the multi-joint robot arm or sliding type is extended to the scaffolding 50 to carry out 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, and the lift table 30 is detachably mounted as shown in Figs. 3 and 4, and the lift table 30 is attached to the pillar device 20. In the preferred embodiment of Fig. 2, each of the strut devices 20 is tiltably mounted through the support frame 32, and in the best mode shown in Fig. 3, the devices 20 are transmitted through the guiding unit 31. The support frame 32 is mounted 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 pin 33 of the support frame 32 connects the end of the elevating table 30 so as to be tiltable. Therefore, as shown in FIG. 10 to FIG. 10, for example, on the upper surface of the elevating table 30. The rising side block body 30a is fixed, and a circular hole 33a is formed in the lifting table side block body 30a. In addition, the support frame side block 32b 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 lift Ϊ 30 cleaver mechanical operation is shown in the second lift and is attached to the struts, and is described later on the synchronous permeable eighth descending platform. The other liters 1362360 lowering the side block body 30a and the support frame side block. The pin 33 is inserted into each of the portions 33a formed in the body 32b, and the lifting frame 30 is tilted by the pin 33 to be coupled to the support frame 32. In the best mode to be described later, the 33 series are disposed at the corners of the lifting platform 30 in plan view as shown in Fig. 7, that is, four in total at the lower and lower ends of the two support frames 32. According to the above configuration, the mounting structure of the lifting platform 30 of the transfer 100 of the first application of the patent application is inserted into each of the four corners of the lifting platform 30 corresponding to the end portion of the column device 20 side. The latch 33 is coupled to the lower end of the support frame 32 in a tiltable manner so that the lift table 30 is moved relative 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 column device 20 has a slight dimensional error in the height direction, or the torsion force when the transfer machine 40 supports the workpiece on the lift 1 acts on each of the pillars. f and the lifting platform 30 itself, the distance between the two pillar devices 20 will be different from the difference between the two pillar devices 20, and the phenomenon that the pillar devices 20 are turned inward, that is, toward the lifting platform 30, becomes obvious, and the rails on the side of each pillar device 20 are When the production is forced, the sleek lifting of the lifting platform 30 is hindered. Originally, the weight applied to each of the strut devices 20, in addition to the transfer machine 40 above the elevating table 30, is further weighted by the transfer carrier 40. However, the mounting structure of the first application of the patent scope is because the table 30 is connected to the circular hole of the support frame through the pin 33 inserted through the circular hole 33a so as to be able to be inserted into each of the pins 33a, and the branches 33a can be tilted. ί 30 I 20 The other side of the roll and the workpiece lift 32, -9- 1362360 due to the difference in the distance between the two strut devices 20 (inclined state) 'will be the pin 33 and the hole 33a Since it is absorbed, it does not apply an undue force to each connection part and support part of this transfer apparatus 1〇〇. 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 respective circular holes 33a. In order to solve the above problems, the means for applying the invention of the second aspect of the patent application is similar to the "lifting table 30 of the transfer device 100". The mounting structure is a transfer device that moves in a warehouse in which a plurality of scaffolds 50 are disposed to carry out workpieces for each scaffold 50; and the transfer device 100 is configured to be movable in the warehouse a base 10, a pillar device 20 vertically disposed on the base 10, a lifting platform 30 movable up and down with respect to the pillar device 20, and a transfer machine 40 disposed on the lifting platform 30; The support frame 32 is mounted to be lifted and lowered with respect to each of the pillar devices 20; and one of the lower ends of the support frames 32 is connected to one end of the lift table 30 via a pin 33 inserted through a circular hole 33a of the support frame 32. Ministry The other lower end of the support frame 32 is connected to the other end of the lift table 30 via a latch 33 that is inserted through the long hole 33b of the support frame 32 (the plug 33 can be allowed to move horizontally); In the frame 32, the elevating table 30 is formed to be tiltable in the left-right direction through the respective plugs 33, and the elevating table 30 is slidably formed in the left-right direction by the insertion pin 33 with respect to the other support frame 32. -10- 1362360 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 thereof, and the lower end of one of the support frames 32 through the pin 33 inserted through the circular hole 33a will One end portion 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 (the long axis is oriented in the horizontal direction). The latch 33 connects the other end of the lifting platform 30 to be slidable. The transfer device 100 supports the elevating table 30 by the support frame 32 (mounted and lowered with respect to the strut device 20), except that the support frame 32 is directly attached to the strut device 20 as shown in Fig. 2, as in the third As shown in the figure, 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 are provided. The frame 32 can be tilted by the pin 33 inserted through each of the circular holes 33a, and can be slid by the latch 33 inserted through each of the long holes 33b, so that the horizontal position of the lifting platform 30 can be maintained. The "improper force application" caused by the error and the inclination is generated in each part of the transfer device 1 . In other words, according to the mounting structure of the second application of the patent application, the pins 33 of the two types of holes, which are respectively inserted into the circular hole 3 3 a shown in Fig. 9 and the long hole 33b shown in Fig. 1, are used. The elevating table 30 is coupled to be tiltable with respect to the support frame 32 on the side of each strut device 20. According to the result of the above configuration, by using the circular hole -11 - 1362360 33a shown in FIG. 9 and the pin 33 inserted therein, the lifting platform 30 is coupled to be tiltable with respect to one of the support frames 32, so that the foregoing The portion related to the circular hole 33a can exert the same effects as the first item of the patent application. On the other hand, the long hole 33b 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, whereby the long hole 33b is formed. The side (the best mode to be described later is the side of the lifting platform 30) is slightly movable in the horizontal direction with respect to the coupling side of the plug 3 3 (on the side of the support frame 32 in an optimum form). Therefore, when a horizontal direction error occurs in the joint portion between the lift table 30 and the two support frames 32, it is absorbed by the portion through which the long hole 33b (the long axis is oriented in the horizontal direction) and the pin 33 inserted therethrough. 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 30 The portion of the support frame 32 that is connected to the support frame 32 through the pin 33 inserted through the circular hole 33a is the same as the mounting structure of the first aspect of the patent application. The tilting is absorbed by each of the latches 33, and as described above, it is possible to prevent the improper force from acting on the respective connecting portions and the supporting portions. Therefore, the supporting structure of the lifting platform 30 of the transfer device 1 according to the second application of the patent application scope, even if the pitch between the strut devices 20 is erroneous -12-
1362360 ，仍可藉由插通圓孔33a及長孔33b(長軸朝水平 各插銷33確實地予以吸收，而能使昇降台30進f 昇降。 爲了解決上述課題，申請專利範圍第3項所採 段，係在申請專利範圍第2項記載之移載裝置1 00 台30之安裝構造中，「相對於各支柱裝置20而進 支承框32的連結，係利用設於各支柱裝置20的上 之軌道21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 移載裝置1〇〇中各支柱裝置20和各支承框32之連 利用設於各支柱裝置20的上下方向之軌道21上戶月 直線移動導件60來進行該連結。當然，各支承框 各支柱裝置2 0之連結，也包含最佳形態所示之利 單元3 1進行的情形。 直線移動導件60，如第1 3圖所示，係在其葡 軌道21之間介設多數個滾珠61而構成，藉由使各 在殼本體內轉動，以在軌道21上穩定地進行支承彳 引導單元31之往復移動。亦即，該直線移動導件 挾持多數個滾珠61將直線移動導件60之殼本體和 相連結。此外，昇降台30、其上方的移載機40、 移載機40所支承之工件等的重量，係藉由構成名 置20之纜索或鏈條來支承，因此能恒以穩定的狀 各支柱裝置20和昇降台3 0之連結。 因此，申請專利範圍第3項之安裝構造，除育丨 方向）之 :圓滑的 :用的手 之昇降 ;行之各 .下方向 :眼於該 丨結，而 i組裝之 32對於 丨用引導 丨本體和 滚珠61 隹32或 6 0，係 軌導21 以及該 •支柱裝 :態進行 j發揮和 -13 - 1362360 申請專利範圍第2項相同的作用效果外，還能藉由直線移 動導件60而持續穩定地進行昇降台30相對於各支柱裝置 2〇之昇降。 如以上所說明，本發明之主要特徵爲「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50進行工件的出入之移 載裝置100;且該移載裝置100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33a之插銷33連 結著前述昇降台30之端部，該昇降台30和各支承框32 係透過各插銷33而形成在左右方向可傾動」，藉此可提 供：即使支柱裝置20間的間距產生誤差，仍能圓滑地進 行昇降台30的昇降之移載裝置100的昇降台30之安裝構 造。 【實施方式】 其次，關於上述構造之各申請專利範圍的發明’係針 對圖示之最佳形態的移載裝置I 〇〇做說明’該最佳形態之 移載裝置100實質上係包含上述各申請專利範圍的發明全 部。 第]圖係顯示該最佳形態的移載裝置〗00之立體圖’ -14- 1362360 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30、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10設有車輪12，藉由使該車輪12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3 3將昇降台3 0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1〇圖所示，在昇降台30的端部上面連結著具有圓孔 33a之昇降台側塊體30a，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 〇 a和支承框側塊體3 2 b，如第1 〇圖所示’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】〇(a) -15- 1362360 第1圖係採用本發明的安裝構造之移載裝置的立體圖 c 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1-1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1 0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11圖係第9圖中的3-3線部分的放大圖。 第1 2圖係顯示第1 1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，U)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- 1362360 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 1 0 :基台 1 1 :地面軌道（導軌） 12 :車輪 20 :支柱裝置 21 :軌道 30 :昇降台 30a :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 3 3 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- 1362360 40 :移載機 50 :棚架 60 :直線移動導件 61 :滾珠1362360, by inserting the circular hole 33a and the long hole 33b (the long axis is reliably absorbed by the horizontal plugs 33, the lifting platform 30 can be moved up and down. In order to solve the above problem, the third application of the patent scope is In the mounting structure of the loading unit 100 of the transfer device described in the second paragraph of the patent application, the connection section is connected to the support frame 32 with respect to each of the pillar devices 20, and is provided on each of the pillar devices 20. The linear movement guide 60" assembled on the rail 21. That is, the mounting structure of the third application of the patent application is provided for the connection between the pillar devices 20 and the support frames 32 in the transfer device 1 The rails 21 in the vertical direction of each of the pillar devices 20 linearly move the guides 60 to perform the connection. Of course, the connection of the pillars 20 of each of the support frames also includes the profit cells 31 shown in the best form. The linear movement guide 60 is formed by interposing a plurality of balls 61 between the Portuguese rails 21 as shown in FIG. 3, and is stably rotated on the rails 21 by rotating each of the housings in the housing. The reciprocating movement of the support 彳 guiding unit 31 is performed. The linear movement guide holds a plurality of balls 61 to connect the main body of the linear movement guide 60. Further, the weight of the lifting platform 30, the transfer machine 40 above it, and the workpiece supported by the transfer machine 40, Since it is supported by a cable or a chain constituting the name 20, the connection between each of the pillar devices 20 and the lifting platform 30 can be constantly stabilized. Therefore, the mounting structure of the third application of the patent scope, except for the breeding direction) It is sleek: the lifting of the hand used; the direction of each. The lower direction: the eye is the knot, and the assembly of the 32 is for the 丨 guide body and the ball 61 隹 32 or 60, the rail guide 21 and the • The pillars are mounted in the same manner as in the second paragraph of the application of the patent application No. 2-13362360, and the lifting platform 30 can be continuously and stably carried out with respect to the pillar devices 2 by linearly moving the guides 60. Lifting. 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 scaffolds 50 are disposed to perform workpiece entry and exit to each of the scaffolds 50. The transfer 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 attached to the pillars a lifting platform 30 that moves up and down 20, a transfer machine 40 that is disposed on the lifting platform 30, and a support frame 32 that is mounted to be lifted and lowered with respect to each of the pillar devices 20; and a lower end of each of the support frames 32 is inserted through The pin 33 of the circular hole 33a of the support frame 32 is coupled to the end of the elevating table 30, and the elevating table 30 and each of the support frames 32 are formed to be tiltable in the left-right direction through the respective pins 33, thereby providing: The mounting structure of the lifting platform 30 of the transfer device 100 for the lifting and lowering of the lifting platform 30 can be smoothly performed with an error in the pitch between the pillar devices 20. [Embodiment] Next, the invention of each of the above-mentioned structures is described with respect to the transfer device I of the best mode shown in the drawings. The transfer device 100 of the best mode substantially includes the above-described All inventions in the scope of patent application. Fig. 7 is a perspective view showing the transfer device of the best form 〖00' - 14 - 1362360. The transfer device 100 is shown in Fig. 2 or Fig. 3 in a warehouse in which a plurality of scaffolds 50 are disposed. Moving 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 and the transfer machine 40 disposed on the lifting platform 30. In the preferred embodiment, as shown by the solid line in Fig. 1 or the imaginary line in Fig. 4, the wheel 12 is provided on the base 10 by rotating the wheel 12 on the rail 21 laid in the warehouse. To move the transfer device 10 to a predetermined location 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 each of the wheels. The components of the machine 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, FIG. 3, and FIG. 8, the one end of the elevating table 30 is connected to the lower end of the support frame 32 at one side (the left side of the drawing) through the pin 33 inserted through the circular hole 33a. Tiltable. That is, as shown in FIG. 9 and FIG. 1 at the lower end of the left side of the support frame 32, the elevating table side block 30a having the circular hole 33a is connected to the upper end portion of the elevating table 30, The lower end of the upper support frame 32 is connected to a support frame side block 32b having a circular hole 33a. The lifting platform side block 3 〇a and the support frame side block 3 2 b are fitted in a state of being butted against each other as shown in Fig. 1 and are in the circular holes 33a provided in the respective centers. 〇(a) -15- 1362360 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 as viewed from the side facing the scaffolding. 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 line 1-1 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. Figure 9 is an enlarged view of the 2 - 2 line portion of Fig. 8. Fig. 10 shows the relationship between the lifting platform side block and the support frame side block shown in Fig. 9, and (a) is a front view '(b) is a cross-sectional view taken from the center of the pin. Fig. 11 is an enlarged view of a portion 3-3 of the ninth drawing. Fig. 1 shows the relationship between the lifting platform side block and the support frame side block shown in Fig. 1 and (a) is a front view 'b) which is a cross-sectional view taken from the center of the pin. Fig. 13 shows a linear moving guide, U) is a partial perspective perspective view showing the positional relationship with the track, and Fig. (b) is a partial longitudinal sectional view taken along the longitudinal direction of the track, -18 - 1362360. Figure 14 shows a prior view of the prior art. [Description of main component symbols] 100: Transfer device 1 0 : Base station 1 1 : Ground track (rail) 12 : Wheel 20 : Support device 21 : Track 30 : Lift table 30 a : Lift table side block 31 : Guide unit 3 2: Support frame 3 2 a : Shaking space 3 3 : Bolt 3 3 a : Round hole 3 3 b : Long hole 33c, 33d: Sleeve 3 4: Tilting shaft 35: Shake shaft 3 5 a : Long hole 3 6 : Arc top 37: fixing pin -19- 1362360 40: transfer machine 50: scaffolding 60: linear movement guide 61: ball