CN114535947A - Elevator operation device - Google Patents

Abstract

An object of the present invention is to provide an elevator working device that can facilitate the loading work to the site and that does not require on-site teaching of the supply device after the device is installed on a work platform. The elevator working device includes: a tool table positioning part which adjusts the relative positional accuracy of the tool table (50) with respect to the support table (45) on which the robot arm (15) is assembled to a predetermined accuracy; and a workpiece table positioning part , which converges the relative positional accuracy of the workpiece table (50) with respect to the support table (45) to a predetermined accuracy. The predetermined accuracy is converged to a positional accuracy such that during reassembly after loading, the teaching of the relative positional relationship between the robot arm (15), the tool table (50), and the workpiece table (100) is not performed, and the robot arm (15). 15) The work tool mounted on the tool table (50) and the components mounted on the workpiece table (100) can be accessed.

Description

Elevator operation device

technical field

The present invention relates to an elevator working device for working in a lift passage of an elevator.

Background technique

Usually, guide rails which guide the movement of the elevator car and the counterweight are provided in the elevator hoistway. The guide rail is fixed on the wall or steel frame with brackets. Conventionally, the fixing work of the guide rail has been performed on a liftable work platform installed in the hoistway by an operator or a scaffold installed in the hoistway, using various work tools such as a hammer drill. In recent years, in order to improve work efficiency, it has been considered to use a robot for the installation of guide rails.

As a technique for fixing a guide rail using a robot, for example, an in-elevating tunnel working device described in Japanese Patent Application Laid-Open No. 5-105362 (Patent Document 1) is known. The in-hoistway working device of Patent Document 1 includes a workbench that moves up and down in the liftway, a plurality of fixtures attached to a side surface of the workbench, and a centering table that is arranged on the workbench and can Adjust the level of the installation device, the alignment device of the track, and the level of the horizontal plane on which the connection fixing device is placed; and the position detection device, which outputs position signals with several stages of precision The position control of the work table uses the high-precision position signal to perform the horizontal adjustment control of the horizontal plane of the centering table (refer to the abstract). In addition, as a device that is not mounted on a centering table for performing precise centering in the working device in the elevating tunnel of Patent Document 1, there are provided tools for accommodating tools used in the mounting device and mounting parts, a parts storage device, and an industrial The supply device of the robot (refer to paragraph 0032), the supply device operates between the mounting device and the tool and parts storage device, takes out tools or parts from the tool and parts storage device, and supplies the mounting device (refer to paragraphs 0035, 0040, 0041).

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Application Laid-Open No. 5-105362

SUMMARY OF THE INVENTION

The problem to be solved by the invention

However, in the hoistway working device described in Patent Document 1, there are a large number of equipment mounted on the workbench, and the equipment also includes heavy objects, so that a large amount of equipment is required to be loaded into the site and installed on the workbench. labor. In addition, in the working device in the hoistway of Patent Document 1, no consideration is given to the installation accuracy when the supply device provided on the workbench, the tool for accommodating the components or tools for rail fixing, and the component storage device are installed on the workbench. Since the relative positions of the supply device and the tool and parts storage device change, it is necessary to teach the supply device on-site after setting it on the workbench.

An object of the present invention is to provide an elevator work apparatus which can easily carry out the carrying-in work to the site, and which does not require on-site teaching of the supply device after the apparatus is installed on the workbench.

means of solving problems

In order to achieve the above object, the elevator operation device of the present invention is arranged on a work platform that moves in the up-down direction in the elevator passage, and performs work in the elevator passage,

The elevator operation device includes:

a robotic arm with a tool changer at the front end of the robotic arm;

a tool stand which can be coupled to the tool changer and mounts a plurality of work tools that can be provided separately from the tool changer;

a workpiece table, which houses the parts used by the robotic arm for work;

a support table, which is assembled with the robotic arm, the tool table and the workpiece table;

a tool table aligning section that converges the relative positional accuracy of the tool table with respect to the support table on which the robot arm is assembled to a predetermined accuracy; and

a workpiece table aligning section for converging the relative positional accuracy of the workpiece table with respect to the support table on which the robot arm is assembled to a predetermined accuracy,

The tool table positioning portion and the workpiece table positioning portion converge the predetermined accuracy to a positional accuracy that is obtained when the robot arm, the tool table, the workpiece table, and the support table are carried into the After raising and lowering the tunnel and assembling, without teaching the relative positional relationship between the robot arm, the tool table, and the workpiece table, the robot arm can access the work tool placed on the tool table and the components of the workpiece table.

effect of invention

According to the present invention, when the tool table and the workpiece table are detached from the support table, the size of the tool table and the workpiece table is made compact when carrying in to the site, thereby facilitating the carrying in. Furthermore, since the tool table and the workpiece table can be mounted with predetermined accuracy after the loading, there is an effect that the teaching of tool replacement and gripping of components can be performed in advance.

Problems, structures, and effects other than those described above will be clarified by the description of the following embodiments.

Description of drawings

Fig. 1A is a perspective view showing the overall configuration of an elevator working apparatus according to an embodiment of the present invention.

FIG. 1B is a perspective view showing an example of a fixing structure of the main rail of FIG. 1A .

FIG. 2 is a perspective view showing a schematic configuration of equipment mounted on a work platform of the elevator work apparatus of FIG. 1A .

FIG. 3 is a perspective view showing a robot, a tool table, and a workpiece table mounted on a trolley with respect to the elevator work apparatus of FIG. 1A .

FIG. 4 is a block diagram showing the overall configuration of the control system of the elevator working apparatus according to the embodiment of the present invention.

5 is a flowchart showing an example of the installation work of the guide rail in the elevator work apparatus according to the embodiment of the present invention.

Fig. 6 is a perspective view showing a robot arm mounted on a trolley used in the elevator working device of Fig. 1A .

Fig. 7 is a perspective view showing an example of a connection portion of a tool bed attached to a trolley of a robot arm of the elevator working device of Fig. 1A .

Fig. 8 is a perspective view showing another example (modified example) of a positioning portion with a tool bed used in the elevator work apparatus of Fig. 1A .

In the picture:

1...guide rail, 7...work platform, 10...elevator working device, 14...first manipulator, 15...second manipulator, 30...camera (front-end camera of manipulator), 40...tool changer, 45...support table (table) cart), 45A...support surface (mounting surface) of the cart 45 on which the robot arms 14, 15 are placed, 48...robot controller, 50...tool table, 100...workpiece table, 170...carriage plate, 180...positioning Pin, 190...tool table (workpiece table), 195...alignment hole, 198...angular projection (fitting structure), 170, 190, 180, 195...tool table alignment portion (workpiece table alignment portion) ), 170, 180, 190, 195, 198...tool table alignment portion (workpiece table alignment portion), 180, 198, 195...tool table fitting portion (workpiece table fitting portion).

Detailed ways

Hereinafter, an elevator working apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 8 . In addition, in each figure, the same code|symbol is attached|subjected to the common member, and the overlapping description is abbreviate|omitted.

In the present embodiment, a guide rail mounting working device for fixing a guide rail for guiding an elevator car along the elevator car in the elevator hoistway using a bracket in the elevator hoistway will be described. Therefore, in the following description, "elevator work apparatus" may be referred to as "rail mounting apparatus" or "elevator rail mounting apparatus". The elevator working device according to the present embodiment is not limited to the installation work of the guide rail, and may be a device that performs other work in the hoistway.

1A and 1B , the overall structure of the elevator working device 10 and the fixing structure of the guide rail 1 according to the present embodiment will be described. FIG. 1A is a perspective view showing the overall configuration of an elevator work apparatus 10 according to an embodiment of the present invention. FIG. 1B is a perspective view showing an example of a fixing structure of the main rail 1 of FIG. 1A .

The elevator work apparatus 10 shown in FIG. 1A performs the work (installation work) of fixing the guide rail 1 of the elevator to the hoistway wall surface. A pair of main rails 1 and a pair of counterweight rails (not shown) are erected in the lift passage. The lower ends of these rails are fixed to a pit base (not shown) provided in the bottom pit of the lift passage.

As shown in FIG. 1B , the main rail 1 is fixed to the wall surface of the lift passage by the bracket 2 fixed by the anchor bolt 1A. The bracket 2 is composed of a rail bracket 2A and a wall bracket 2B. The wall bracket 2B is fixed to the inner wall surface of the lift passage by the anchor bolt 1A, and the rail bracket 2A is fixed to the wall bracket 2B by the adjustment bolt 1B. The main rail 1 is fixed to the rail bracket 2A by rail clips 1C and clamp bolts 1D.

Like the main rail 1, the counterweight rail is also fixed to the inner wall surface of the lift passage via the bracket 2 including the rail bracket 2A and the wall bracket 2B.

In addition, when the main rail 1 and the counterweight rail are close to each other, both rails are fixed by the common bracket 3 . The common bracket 3 is also composed of a rail bracket and a wall bracket similarly to the bracket 2, and fixes both the main rail 1 and the counterweight rail to the inner wall surface of the lift passage.

The main rail 1 and the counterweight rail are installed on the wall surface of the hoistway through the elevator operation device 10 through the same steps. Therefore, when there is no need to distinguish between the main rail 1 and the counterweight rail, the two rails are referred to as the guide rail 1 for description.

A hanging beam (not shown) is provided at the uppermost part of the lift passage, and two hoisting machines 5 are provided on the hanging beam. The wire ropes 6 of the two hoisting machines 5 are connected to the work platform 7 via a sling, and by operating the hoisting machines 5, it is possible to Lift the work platform 7 up and down. Moreover, the hoisting machine 5 can detect a rotation angle, and can control a lift amount, and can raise and lower the work platform 7 to a predetermined height.

Moreover, the monitoring PC 500 which monitors the state of the elevator work apparatus 10 is installed on the outer side of the lift passage. The communication between the control device in the hoistway and the monitoring PC 500 may be wired, but wireless communication is preferable since there is no risk of disconnection or the like.

Next, the arrangement and configuration of the equipment mounted on the work platform 7 will be described with reference to FIGS. 2 and 3 . FIG. 2 is a perspective view showing a schematic configuration of equipment mounted on the work platform 7 of the elevator work apparatus 10 of FIG. 1A . FIG. 3 is a perspective view showing the robots 14 and 15 mounted on the trolley 45 , the tool table 50 , and the workpiece table 100 of the elevator work apparatus 10 of FIG. 1A . In addition, although the structure of the 2nd manipulator 15 is shown in FIG. 3, the 1st manipulator 14 is also comprised similarly to the 2nd manipulator 15 shown in FIG.

A plurality of robot arms are arranged on the work platform 7 . In this embodiment, the first robot arm 14 and the second robot arm 15 are fixed to the work platform 7 by anchor bolts not shown. The first arm 14 and the second arm 15 have bolt insertion holes 150A in the leg portions 150 through which anchor bolts (not shown) are inserted. In addition, the elevator working device 10 includes: a centering device 16 that grips the guide rail 1 and positions it at a predetermined position; an integrated control device 17 that controls the entire two robot arms; an air compressor 18; and a dust collector 19 ; and the cable support 20 .

A force sensor 25 , a robot tip camera 30 , and a tool changer (tool grip) 40 are provided at the robot tips of the first robot arm 14 and the second robot arm 15 .

The two manipulators 14 and 15 are mounted on the cart 45 together with the robot controller 48 , and the robot controller 48 controls the operations of the manipulators 14 and 15 installed on the same cart 45 . A tool table (tool mounting portion) 50 for mounting a tool and a workpiece table (component mounting portion) 100 on which components such as the anchor bolt 1A (see FIG. 1B ) are mounted are assembled on the trolley 45 .

That is, in the elevator working device 10 of the present embodiment, the support table 45 supporting the first robot arm 14 or the second robot arm 15, the tool table 50 and the workpiece table 100 is constituted by a movable trolley, and the robot controller 48 and the robot arm 14 and 15 are supported by the support table 45 together.

That is, the elevator work apparatus 10 of the present embodiment includes the cameras 30 provided at the robot tips of the robot arms 14 and 15 , and the robot controller 48 which controls the operations of the robot arms 14 and 15 .

One trolley 45 is provided for each of the first robot arm 14 and the second robot arm 15 , and the first robot arm 14 , the tool table 50 and the workpiece table 100 are assembled on one trolley 45 , and the other trolley 45 is assembled. The second robot arm 15 , the tool table 50 and the workpiece table 100 are assembled on top. The trolley 45 does not need to be a trolley as long as it is not necessary to be a trolley as long as the first robot arm 14 or the second robot arm 15 , the tool table 50 , and the workpiece table 100 are assembled to support the first robot arm 14 or the second robot arm 100 . The support table of the robot arm 15 , the tool table 50 and the workpiece table 100 is sufficient. However, by constituting the support base 45 with a trolley, the transportability of the first robot arm 14 or the second robot arm 15 assembled to the trolley is improved.

A unit including the first robot arm 14 , the tool table 50 , and the workpiece table 100 arranged on one trolley 45 is referred to as a first robot arm unit, and the unit including the second robot arm 15 arranged on one trolley 45 is referred to as a first robot arm unit. The unit of the tool table 50 and the workpiece table 100 is called the second robot arm unit. That is, the elevator work apparatus 10 of the present embodiment includes a plurality of robot arm units including the robot arm 14 or 15 , the tool table 50 , and the workpiece table 100 .

The tool table 50 is provided beside the second robot arm 15 , and the hammer drill 60 , the nut wrench 70 , the magnetic hand 80 , the anchor tool 90 , and the like are placed on the tool table 50 . These working tools (working tools) can be separated from or coupled to the tool changer 40 provided at the distal end of the robot arm, and the tool of the second robot arm 15 can be exchanged. The same tool changer 40 is also provided at the manipulator tip end of the first manipulator 14 , and the tool set on the tool table 50 for the first manipulator 14 can be exchanged similarly to the second manipulator 15 .

The hammer drill 60 is used when opening a hole into which the anchor bolt 1A (see FIG. 1B ) for fixing the brackets 2 and 3 is inserted into the wall surface of the lift passage. The nut wrench 70 tightens the nut of the anchor bolt 1A and the clamping bolt 1D (see FIG. 1B ) of the rail clip 1C.

The magnetic hand 80 attracts the brackets 2 and 3 for rail fixing by magnetic force and positions them at predetermined positions.

The anchoring tool 90 is used to drive the anchor bolt 1A for fixing the bracket into the hole made by the hammer drill 60 .

Next, the structure of the control system of the elevator work apparatus 10 is demonstrated with reference to FIG. 4. FIG. FIG. 4 is a block diagram showing the overall configuration of the control system of the elevator working machine 10 according to the embodiment of the present invention.

The elevator work apparatus 10 includes PLC (Programmable Logic Controller) 120 , HUB 110 , and monitoring PC 500 as an example of a work control apparatus that controls the entire apparatus. The PLC 120 and the HUB 110 are accommodated in the unified control device 17 , for example.

The force sensor 25 provided at the manipulator tips of the first manipulator 14 and the second manipulator 15 is connected to the robot controller 48 through serial communication. By performing force control using the signal of the force sensor 25, the insertion of the anchor bolt 1A (refer to FIG. 1B ) to the hole in the wall surface of the hoistway can be performed. The robot controller 48 is connected to the HUB 110 and the PLC 120 through a network. The two manipulators 14 and 15 perform predetermined work under the control from the PLC 120 . The overall camera 130 is connected to the HUB 110 , and images the entire work platform 7 , that is, an area where the first robot arm 14 and the second robot arm 15 work, from above the work platform 7 . From this image, the fixing work (installation work) of the guide rail can be monitored.

The robot tip camera 30 acquires images such as bolts, the positions of holes in brackets, and the like, which are objects of work. The image acquired by the robot tip camera 30 is processed by the image processing controller 140 and transmitted to the robot controller 48 via the HUB 110 as coordinate data. Sensors that detect the presence or absence of tools, anchor bolts, etc. mounted on the tool table 50 and the workpiece table 100 are connected to the contact input of the PLC 120, and the amount of the currently mounted tools and anchor bolts can be recognized. The guide rail centering device 16 is connected to the centering device controller 160 , and the centering device controller 160 is connected to the PLC 120 . Under the control from the PLC 120 , the guide rail centering device 16 performs the positioning of the guide rail 1 , and then the guide rail 1 is fixed to the wall surface of the hoistway through the elevator working device 10 . The hoisting machine 5 is connected to PLC120, and raises and lowers the work platform 7 to a predetermined height by the control from PLC120. The dust collector 19 is connected to the PLC 120 and operates when the hammer drill 60 is piercing, so that chips during piercing can be collected. The monitoring PC 500 installed on the outer side of the hoistway is connected to the HUB 110 and can monitor the entire elevator working device 10 .

The manipulator tip camera 30 captures an image of the joint parts of various work tools and the tool changer 40 and performs image processing, whereby the coordinates on the work tool side can be acquired. In this case, although the coordinates on the horizontal plane can be acquired, the vertical position of the work tool cannot be detected. However, the force sensor 25 detects the contact between the tool changer 40 and the work tool when the tool is replaced, and the vertical position of the contact portion of the work tool and the tool changer 40 can be determined, so that the tool change can be performed. In addition, by photographing the anchor bolt 1A with the robot tip camera 30, the coordinates of the anchor bolt 1A on the horizontal plane can be obtained, and the contact between the anchor bolt 1A and the work tool can be detected by the force sensor 25 in the vertical direction, and the anchor can be held by the work tool. Set screw 1A.

In addition, the images of the joints of the respective tools and the tool changer 40 at the time of teaching in advance are acquired by the robot end camera 30 after positioning the robot arms 14 and 15 at predetermined positions. After the tool table 50 is fixed to the trolley 45 (after assembly), the image of the joint portion of each tool with the tool changer 40 is obtained in the same manner, and the difference between the coordinate values at the time of teaching and at the time of fixation (at the time of assembly) is obtained, In this way, by adding an offset to the already taught data, errors at the time of assembly can be corrected.

Specifically, the robot controller 48 uses the first imaging result and the second imaging result, based on the position of the tool table 50 and the position of the workpiece table 100 based on the first imaging result, and the tool based on the second imaging result. The difference between the position of the table 50 and the position of the workpiece table 100 is corrected by correcting the teaching data taught in advance,

The above-mentioned first imaging result is the position of the tool table 50 when the robot arms 14 and 15 are positioned at predetermined relative positions with respect to the tool table 50 and the workpiece table 100 using the teaching data acquired in advance, and the camera 30 images the workpiece table 100 The result in the case of the location,

The above-mentioned second imaging result is that in the state where the robot arms 14 and 15 , the tool table 50 and the workpiece table 100 are reassembled on the support table 45 (the assembly after the lifting channel is loaded), the camera 30 captures the robot arms 14 and 15 facing each other. The result of the position of the tool table 50 and the position of the workpiece table 100 when the tool table 50 and the workpiece table 100 are positioned at predetermined relative positions.

Thereby, positional errors occurring between the robot arms 14 and 15 and the tool table 50 and the workpiece table 100 can be suppressed to be small.

Next, with reference to FIG. 5, the outline|schematic operation procedure of an elevator guide rail fixing apparatus is demonstrated. FIG. 5 is a flowchart showing an example of the installation work of the guide rail 1 in the elevator work apparatus 10 according to the embodiment of the present invention.

The installation work is started in step S101, and in step S102, the hoisting machine 5 is controlled to the installation height of the brackets 2 and 3 determined in advance, and the work platform 7 is moved. In step S103 , the brackets 2 and 3 are positioned at predetermined positions by the magnetic hand 80 . In step S104, the hammer drill 60 is attached to the manipulator tips of the manipulators 14 and 15, and the hole for the anchor bolt 1A is carried out in the wall surface of the lift passage. In step S105, the fixing tool 90 is attached to the manipulator tips of the manipulators 14 and 15, the anchor bolt 1A placed on the workpiece table 100 is grasped, and the anchor bolt 1A is driven into the perforated hole of the wall of the lift passage. In step S106 , the nut 1E (see FIG. 1B ) is inserted and fastened to the anchor bolt 1A using the nut wrench 70 , thereby fixing the wall brackets of the brackets 2 and 3 to the wall surface. In step S107 , the adjusting bolt 1B (see FIG. 1B ) fixed between the wall bracket and the rail bracket fixed to the wall surface of the lift passage is fixed using the nut wrench 70 . In step S108, the rail 1 is fixed to the rail brackets of the brackets 2 and 3 using the rail clip 1C. In step S109, it is determined whether or not the work has been completed for the brackets 2 and 3 having the same installation height, and if not completed, the process returns to step S103. In step S110 , it is determined whether the fixing of the guide rails 1 by the brackets 2 and 3 at all heights in the hoistway is completed, and if not, the hoist 5 is controlled to the next height to move the work platform 7 .

By repeating such an operation, the elevator working device 10 fixes the guide rail 1 to the hoistway.

Next, the connection of the trolley 45 on which the robot arms 14 and 15 are mounted, the tool table 50 and the workpiece table 100 will be described with reference to FIGS. 6 and 7 . FIG. 6 is a perspective view showing the robot arm 15 mounted on the trolley 45 for use in the elevator work apparatus 10 of FIG. 1A . FIG. 7 is a perspective view showing an example of a connection portion of the tool base 50 attached to the trolley 45 of the robot arms 14 and 15 of the elevator work apparatus 10 of FIG. 1A . In addition, in FIG. 6, although the 2nd robot arm 15 is shown, the 1st robot arm 14 is also comprised similarly to the 2nd robot arm 15 of FIG.

The robot arms 14 and 15 are carried in in the state shown in FIG. 6 on the spot. As shown in FIG. 6 , a trolley plate 170 is provided on the side surface of the trolley 45 , and two positioning pins 180 (protrusions) are provided on the surface of the trolley plate 170 . By fitting the positioning pins 180 with the alignment holes (fitting holes) 195 of the tool table 190 shown in FIG. 7 , the positional relationship between the trolley 45 and the tool table 50 can always be maintained in the same state. Therefore, even when the tool table 50 is assembled on the trolley 45 after being carried in on site, the relative position between the trolley 45 and the tool table 50 does not change. Therefore, the program for replacing the previously taught tool (tool replacement program) is used. It is possible to perform the replacement of the robot tip tool (working tool) and the grasping of parts.

For the workpiece table 100 , similarly to the trolley plate 170 and the tool table 190 for the tool table 50 , the trolley plate 170 and the workpiece table 190 for the workpiece table are provided, and the workpiece is positioned by using the positioning pins 180 and the alignment holes 195 . The table 100 is fixed to the trolley 45, whereby components such as the anchor bolt 1A can be grasped using data taught in advance.

The trolley plate 170 , the tool table 190 , and the workpiece table 190 include positioning pins 180 and alignment holes 195 , and constitute an alignment portion of the trolley 45 , the tool table 50 and the workpiece table 100 . The tool table 190 and the dolly plate 170 corresponding to the tool table 190 constitute an alignment portion (tool table alignment portion) of the tool table 50 , and the workpiece table 190 and the dolly plate 170 corresponding to the workpiece table 190 constitute a workpiece Positioning portion (workpiece table positioning portion) of the table 100 . The positioning pins 180 and the positioning holes 195 are also included in the tool table positioning parts 170 and 190 . In addition, the positioning pins 180 and the positioning holes 195 are further included in the workpiece table positioning portions 170 and 190 .

In addition, the trolley 45 includes two trolley plates 170 , and between the tool table 190 and one of the trolley plates 170 , a tool seat composed of positioning pins (protrusions) 180 and alignment holes (fitting holes) 195 is formed. The fitting portion constitutes a workpiece table fitting portion composed of positioning pins (protrusions) 180 and alignment holes (fitting holes) 195 between the workpiece table 190 and the other pallet plate 170 .

In this example, the alignment hole 195 is a hole with a circular cross section parallel to the plate surface, and the positioning pin 180 is formed as a convex portion with a circular cross section perpendicular to the axial direction (protrusion direction). That is, the tool table fitting portion and the workpiece table fitting portion have a structure in which the positioning pin 180 having a circular cross section perpendicular to the axial direction is fitted into the alignment hole 195 .

By closely contacting the plate surface of the trolley plate 170 with the plate surfaces of the tool table 190 and the workpiece table 190 , one positioning pin 180 and one alignment hole 195 are provided, respectively, so that the trolley 45 and the tool table 50 and the Correct positioning of the workpiece table 100 . However, in this example, by respectively providing two positioning pins 180 and two alignment holes 195, it is possible to prevent slight twisting between the plate surface of the pallet plate 170 and the plate surfaces of the tool platen 190 and the workpiece platen 190, and it is possible to More accurate positioning of the trolley 45, the tool table 50, and the workpiece table 100 is performed.

In addition, the trolley plate 170 is positioned below the support surface (placement surface) 45A of the trolley 45 on which the robot arms 14 and 15 are placed, and is arranged on the side surface of the trolley 45 . The tool table 190 and the workpiece table 190 are arranged below the tool table 50 and the workpiece table 100 . Since the trolley plate 170 , the tool table 190 , and the workpiece table 190 are arranged in the empty space below the support surface 45A of the trolley 45 , it is possible to suppress the enlargement of the elevator working device 10 and contribute to the miniaturization of the elevator working device 10 . change.

The carriage plate 170 , the tool platen 190 , and the workpiece platen 190 are configured such that each plate surface is along a direction (vertical direction) perpendicular to the horizontal direction. Therefore, after the tool table 50 and the workpiece table 100 are placed on the support surface 45A of the trolley 45 , the tool table 50 and the workpiece table 100 can be moved in the horizontal direction on the support surface 45A to perform the positioning pins 180 and the alignment holes. 195 of chimeras. Thereby, positioning of the tool table 50 and the workpiece table 100 with respect to the trolley 45 can be easily performed.

In this example, alignment holes 195 may be provided on the side of the carriage plate 170 , and positioning pins 180 may be provided on the sides of the tool table 190 and the workpiece table 190 .

Fig. 8 is a perspective view showing another example (modified example) of the positioning portions 170 and 190 with the tool base 50 used in the elevator work apparatus 10 of Fig. 1A . In addition, in FIG. 8, although the 2nd robot arm 15 is shown, the 1st robot arm 14 is also comprised similarly to the 2nd robot arm 15 of FIG. In addition, in FIG. 8, although the positioning part 170 with the tool table 50 is shown, the positioning part 170 with the workpiece table 100 is also comprised similarly to the positioning part shown in FIG.

In the modification of FIG. 8 , the positioning pin 180 of the trolley plate 170 is constituted by a protrusion (protrusion) 198 whose cross-sectional shape perpendicular to the protrusion direction is a square (rectangle) such as a square or a rectangle. In cooperation with the positioning pins 180 , the alignment holes 195 of the tool table 190 and the workpiece table 190 are formed by holes having a rectangular shape such as a square or a rectangle in cross-section parallel to the plate surface. In this case, the tool table positioning portion and the workpiece table positioning portion 170 , 190 , 180 , and 195 are constituted by a square fitting structure.

In this modified example, the trolley 45 includes two trolley plates 170 , and a protrusion (protrusion) 198 and an alignment hole (fitting hole) 195 are configured between the tool table 190 and one of the trolley plates 170 . The tool table fitting portion of the present invention constitutes a workpiece table fitting portion composed of protrusions (protrusions) 198 and alignment holes (fitting holes) 195 between the workpiece table plate 190 and the other pallet plate 170 .

When the shape of the part to be fitted is made of the square protrusion 198, even when the number of protrusions is set to one, the accuracy of the trolley 45, the tool table 50 and the workpiece table 100 can be improved. alignment. Thereby, the positional relationship between the trolley 45, the tool table 50, and the workpiece table 100 can be always maintained in the same state. Therefore, even when the tool table 50 and the workpiece table 100 are assembled to the trolley 45 after being carried in on site, the occurrence of relative positional displacement between the trolley 45 and the tool table 50 and the workpiece table 100 can be suppressed. A program (tool replacement program) for replacing a pre-taught tool operates to replace a tool (working tool) at the end of the manipulator and hold parts.

As described above, the elevator working apparatus 10 of the present embodiment has the following configuration.

The elevator operation device 10 is installed on the work platform 7 that moves in the up-down direction in the elevator passage, and performs work in the elevator passage, and includes:

Robotic arms 14, 15 with tool changer 40 at the front end of the robot;

a tool table 50 which can be combined with the tool changer 40 and mount a plurality of work tools that can be installed separately from the tool changer 40;

The workpiece table 100, which mounts the parts used by the robot arms 14 and 15 for work;

The support table 45 is assembled with the robotic arms 14, 15, the tool table 50 and the workpiece table 100;

Tool table alignment portions 170, 180, 190, 195, 198 that converge the relative positional accuracy of the tool table 50 with respect to the support table 45 on which the robot arms 14, 15 are assembled to a predetermined accuracy; and

The workpiece table positioning portions 170 , 180 , 190 , 195 , and 198 converge the relative positional accuracy of the workpiece table 100 with respect to the support table 45 on which the robot arms 14 and 15 are assembled to a predetermined accuracy,

The tool table positioning portion and the workpiece table positioning portion 170 , 180 , 190 , 195 , 198 converge the predetermined accuracy to the positional accuracy as follows: when the robot arms 14 , 15 , the tool table 50 , the workpiece table 100 , and the support table are combined 45 is transported into the lift tunnel and assembled, without teaching the relative positional relationship between the robot arms 14 and 15 and the tool table 50 and the workpiece table 100, the robot arms 14 and 15 can access the work tool and the load on the tool table 50. Components placed on the workpiece table 100 .

Furthermore, the elevator work apparatus 10 of this Example has the following structure.

The trolley 45 has two trolley plates 170 which are positioned below the placing surface (support surface) 45A on which the robot arms 14 and 15 are placed and are arranged on the side surface of the trolley 45 ,

The tool table 50 and the workpiece table 100 have a tool table and a workpiece table 190 arranged below the tool table 50 and the workpiece table 100 ,

The tool table 190 is in contact with one of the two trolley boards 170,

The workpiece platen 190 is in contact with the other one of the two truck plates 170,

Between the tool table plate 190 and one of the trolley plates 170, a tool table fitting portion constituted by the protruding portions 180 and 198 and the fitting hole 195 is formed,

Between the workpiece table 190 and the other dolly plate 170, a workpiece table fitting portion constituted by the protruding portions 180 and 198 and the fitting hole 195 is formed,

The tool table plate 190, one of the trolley plates 170, and the tool table fitting parts 180, 198, 195 constitute the tool table positioning part,

The workpiece table 190 , the other dolly plate 170 , and the workpiece table fitting portions 180 , 198 , and 195 constitute the workpiece table positioning portion.

In the above-described embodiment and its modifications, the relative positional accuracy of the tool table 50 and the workpiece table 100 and the support table 45 is higher than the relative positional accuracy of the support table 45 and the work platform 7 .

In addition, this invention is not limited to the above-mentioned embodiment, Various modification examples are included. For example, the above-described embodiment is an example described in detail in order to explain the present invention in an easy-to-understand manner, and is not limited to having all the structures described. In addition, with respect to a part of the structure of an Example, addition and replacement|exchange of other structure can be performed.

In addition, each of the above-described structures, functions, processing units, processing units, and the like may be realized by hardware by, for example, designing a part or all of them by an integrated circuit. In addition, each of the above-described structures, functions, and the like can also be realized by software when a processor interprets and executes a program that realizes each function. Information such as programs, tables, and files that realize each function can be placed in a recording device such as a memory, a hard disk, and an SSD (Solid State Drive), or a recording medium such as an IC card, SD card, and DVD.

In addition, the control line and the information line show what is required for the description, and the product does not necessarily show all the control lines and the information line. In fact, it can also be considered that almost all structures are connected to each other.

Claims (10)

1. An elevator operation device which is arranged on an operation platform moving along the up-and-down direction in an elevating channel and performs operation in the elevating channel,

the elevator operation device is provided with:

a robot arm having a tool changer at a front end thereof;

a tool table that can be coupled to the tool changer and on which a plurality of work tools that can be separated from the tool changer are placed;

a workpiece table on which a part to be used for work by the robot is placed;

a support table to which the robot arm, the tool table, and the workpiece table are assembled;

a tool table positioning section that converges the accuracy of the relative position of the tool table with respect to the support table to which the robot is attached to a predetermined accuracy; and

a workpiece stage aligning section for converging the relative positional accuracy of the workpiece stage with respect to the support table to which the robot is attached to a predetermined accuracy,

the tool table alignment unit and the workpiece table alignment unit converge the predetermined accuracy to the following positional accuracy: after the robot arm, the tool stage, the workpiece stage, and the support stage are carried into the lifting path and assembled, the robot arm can access the work tool placed on the tool stage and the component placed on the workpiece stage without teaching the relative positional relationship between the robot arm and the tool stage and the workpiece stage.

2. The elevator operating device according to claim 1, comprising:

a camera provided at a front end of the manipulator of the robot arm; and

and a robot controller that controls the operation of the robot arm.

3. An elevator operating device according to claim 2,

the support table is constituted by a movable trolley,

the robot controller is supported by the support table together with the robot arm.

4. An elevator operating device according to claim 3,

the carriage has 2 carriage plates disposed below a mounting surface on which the robot arm is mounted and on a side surface of the carriage,

the tool table and the workpiece table have a tool platen and a workpiece platen disposed below the tool table and the workpiece table,

the tool bedplate is abutted with one of the 2 trolley plates,

the workpiece bedplate is abutted against the other square trolley plate of the 2 trolley plates,

a tool table fitting portion formed of a protruding portion and a fitting hole is formed between the tool table and the one carriage plate,

a workpiece table fitting portion formed of a protrusion and a fitting hole is formed between the workpiece table and the other carriage plate,

the tool table, the one carriage plate, and the tool table fitting portion constitute the tool table positioning portion,

the workpiece table, the other carriage plate, and the workpiece table fitting portion constitute the workpiece table aligning portion.

5. The elevator operating device according to claim 4,

the tool table fitting portion and the workpiece table fitting portion are configured such that a positioning pin having a circular cross section perpendicular to the axial direction is fitted in the alignment hole.

6. An elevator operating device according to claim 4,

the tool table aligning portion and the workpiece table aligning portion are formed of a square fitting structure.

7. An elevator operating device according to claim 4,

the robot system is provided with a plurality of robot units including the robot, the tool table, and the workpiece table.

8. An elevator operating device according to any one of claims 2 to 7,

the robot controller corrects the teaching data taught in advance based on a difference between the position of the tool stage and the position of the workpiece stage based on the first imaging result and the position of the tool stage and the position of the workpiece stage based on the second imaging result, using a first imaging result and a second imaging result,

the first imaging result is obtained when the position of the tool stage and the position of the workpiece stage are imaged by the camera when the robot arm is positioned at predetermined relative positions with respect to the tool stage and the workpiece stage by using teaching data acquired in advance,

the second imaging result is a result of imaging, by the camera, the position of the tool stage and the position of the workpiece stage when the robot arm is positioned at a predetermined relative position with respect to the tool stage and the workpiece stage in a state where the robot arm, the tool stage, and the workpiece stage are reassembled in the support stage.

9. An elevator operating device according to any one of claims 1 to 7,

the relative position precision of the tool table, the workpiece table and the supporting table is higher than that of the supporting table and the working platform.

10. The elevator operating device according to any one of claims 1 to 7,

the operation of fixing the guide rail to the wall surface of the hoistway is performed.

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