JP2021147118A - Rail positioning system - Google Patents

Abstract

A rail positioning system capable of positioning a rail in consideration of the inclination of a building is provided. A tilt detection device (100) includes a laser irradiation unit (101), an attitude change unit (103) that changes the attitude of the laser irradiation unit (101), an attitude control unit (104) that controls the operation of the attitude change unit (103), and a laser beam (108). and a light receiving portion A105 for receiving light. The rail positioning device 200 includes a rail position adjustment unit (front-rear position adjustment unit 205, left-right position adjustment unit 206) that moves the gripped rail 5 to a rail fixing position, a positioning control unit 209 that controls the rail position adjustment unit, a laser and a light receiving portion B210 that receives the light 108 . The attitude control section 104 controls the operation of the attitude changing section 103 so that the laser beam 108 can be received. The positioning control section 209 moves the rail position adjusting section so as to receive the laser beam 108 between the laser irradiation section 101 and the light receiving section A105. [Selection drawing] Fig. 1

Description

The present invention relates to a rail positioning system for rails used in elevators.

In developed countries such as Japan, North America, and Europe, the decrease in construction workers due to the declining birthrate and aging population has become a problem, and labor saving and workability improvement are required even at elevator installation sites. .. In the elevator installation work, rail installation is one of the work that requires time and labor because it is a repetitive work for the floor. Elevator rails are located on both sides of the car, along which the car moves up and down. Generally, the length of a single rail is 3 to 5 m, and individual rails are connected and erected in the hoistway, and brackets are used on the hoistway wall, steel frame, etc. so that the connected rails are vertical. It is fixed. Since the rail installation work affects the riding comfort of the car when ascending and descending, the operator is required to have high skill in positioning the rail with high accuracy.

When installing the rails, it is necessary to consider that the inclination of the building changes due to sunlight. Therefore, according to the inclination of the building, the reference core referred to when installing the rail also inclines in the same way, and by positioning the rail along it and fixing it to the wall surface in the hoistway, the rail can be installed reasonably and accurately. Can be done. Conventionally, the piano wire laid from the top to the bottom of the hoistway has been used as the reference core, and since the piano wire also tilts according to the tilt of the building, it corresponds to the tilt of the building due to sunlight.

However, the piano wire is constantly swaying due to the wind and vibration of the building, and the method of measuring the distance between the rail and the piano wire is liable to vary depending on the operator, and the piano wire is used when carrying in equipment or working in the hoistway. There was a problem that workability was poor because it easily interfered with.

Therefore, as a prior art document of a rail positioning device that does not use a piano wire, there is an elevator installation device in a tower described in Patent Document 1. In the in-tower elevator installation device described in Patent Document 1, there is a description of a device for installing a rail using a laser beam emitted from a laser vertical device installed at the lower part of the hoistway as an installation reference core, and it is safe for workers. The challenge is to provide a device that shortens the installation time of the elevator without impairing its performance. In order to solve this problem, Patent Document 1 describes a vertical reference device for creating a reference vertical line in a hoistway, a work underframe provided with a detection device for detecting the vertical reference line, and a work underframe on the work underframe. A posture holding device provided to hold the work table frame horizontally so as to coincide with the vertical reference line, and a guide rail centering device provided on the work table frame to center the guide rail with respect to the vertical reference line. In the in-tower elevator installation device including the device and the lifting device provided on the work table frame and operating along the guide rail, a dedicated power supply is provided to the reference line generator that generates the vertical reference line. At the same time, a correction means for detecting the amount of bending of the building in which the elevator is installed and calculating a correction value for maintaining the distance from the building wall surface at a constant value, and a control means for controlling the installation position of the guide rail by the correction means. The configuration with the above is described.

Japanese Unexamined Patent Publication No. 59-158780

In the method of detecting the inclination of the building of the elevator installation device in the tower described in Patent Document 1, the laser beam emitted from the laser vertical device can always be detected by the detection device of the work table frame even after the inclination of the building. It is assumed that there is. However, in reality, as the distance between the work table frame and the laser vertical device increases, the laser light may pass outside the detection device due to slight tilting of the building or shaking of the work table frame, and the position of the laser light may be changed. There is a problem that it cannot be detected.

An object of the present invention is to provide a rail positioning system capable of positioning rails in consideration of the inclination of the building even when the building is inclined.

In order to achieve the above object, the present invention includes an inclination detection device and a rail positioning device in a rail positioning system for positioning a rail in a hoistway, and the inclination detection device is installed under the hoistway. The laser irradiation unit that irradiates the laser beam upward, the attitude change unit that changes the posture of the laser irradiation unit, the attitude control unit that controls the operation of the attitude change unit, and the upper part of the hoistway. The rail positioning device includes a light receiving portion A that is installed and receives the laser beam, and the rail positioning device moves the rail grip portion that grips the rail and the rail gripped by the rail grip portion to a fixed rail position. A position adjusting unit, a positioning control unit that controls the rail position adjusting unit, and a light receiving unit B that receives the laser light are provided, so that the posture control unit can receive the laser light at the light receiving unit A. The position of the rail position so that the light receiving unit B receives the laser light emitted between the laser irradiation unit and the light receiving unit A. It is characterized by moving the adjusting unit.

According to the present invention, it is possible to provide a rail positioning system capable of positioning rails in consideration of the inclination of the building even when the building is inclined.

FIG. 5 is a schematic view of a rail installation system 400 including a rail positioning device 200 according to a first embodiment. It is the figure which took out only the rail positioning apparatus 200 from FIG. FIG. 2 is a schematic view of FIG. 2 viewed from above. It is a front enlarged view of the inclination detection apparatus 100 which concerns on Example 1. FIG. It is a top view of FIG. It is a front enlarged view of the light receiving part A which concerns on Example 1. FIG. It is a schematic block diagram of the rail positioning system 250 which concerns on Example 1. FIG. It is a system block diagram of the rail positioning system 250 which concerns on Example 1. FIG. It is a figure which shows the attitude control loop of the inclination detection apparatus 100 when vertically irradiating the laser beam which concerns on Example 1. FIG. It is a figure which shows the attitude control loop of the laser irradiation part 101 when following the movement of the light receiving part A105 which accompanies the inclination of the hoistway which concerns on Example 1. FIG. It is a figure which shows the posture control loop of the rail positioning apparatus 200 which concerns on Example 1. FIG. It is a flowchart which shows the flow of the rail installation method using the rail positioning system which concerns on Example 1. FIG. It is a front enlarged view of the inclination detection device 100 which concerns on Example 2. FIG.

Hereinafter, the rail positioning device of the present invention and the rail positioning method for the rail positioning device will be described based on the illustrated examples. In each figure, the same components are designated by the same reference numerals, and if the description is duplicated, the description may be omitted. In each embodiment of the present invention, the directions described in the drawings are defined as front-back, up-down, left-right.

The various components of the present invention do not necessarily have to be independent of each other, and one component is composed of a plurality of members, a plurality of components are composed of one member, and a certain component is different. It is allowed that a part of one component overlaps with a part of another component.

[Overall configuration of rail installation system 400]
First, the overall configuration of the rail installation system 400 will be described with reference to FIG. FIG. 1 is a schematic view of a rail installation system 400 including the rail positioning device 200 according to the first embodiment. Here, in the first embodiment, the following items are assumed. The installation position of the elevator has already been determined in the hoistway 1, and the rails 5 from the bottom to the top are carried in and connected to the hoistway 1 and exist in a state where they are not fixed to the wall surface 2 by brackets 8. , It is suspended from the upper part of the hoistway 1 by a wire 6 or the like. Further, in the first embodiment, it is assumed that the lowermost part of the rail is installed on the pit base 4. The rail installation system 400 is mainly composed of two devices, a rail fixing device 300 and a rail positioning device 200.
[Structure of rail fixing device 300]
The role of the rail fixing device 300 is to carry the rail positioning device 200 to a predetermined height, attach the rail 5 to a predetermined position on the wall surface 2, drill holes in the wall surface, place anchors, and attach brackets, etc., which are necessary at that time. To do. Therefore, the rail fixing device 300 includes the robot arm 301, an end effector 302 that is replaced according to each work, a tool stand 303 that stores tools to be attached to the end effector 302, and a work floor 14 on which the robot arm 301 is installed. A winder 11 attached to the suspension beam 3 to raise and lower the work floor 14, a sling 13 to which the winder rope 12 of the winder 11 is connected, and a wireless communication device B202 are provided.
[Structure of rail positioning device 200]
Next, the detailed structure of the rail positioning device 200 will be described with reference to FIGS. 1 to 3. FIG. 2 is a view in which only the rail positioning device 200 is taken out from FIG. 1, and FIG. 3 is a schematic view of FIG. 2 as viewed from above.

Since the rail positioning device 200 itself does not have an elevating function, the rail positioning device 200 is placed on a pedestal 15 installed on the work floor 14 to elevate and elevate the rail positioning device 200. When raising and lowering the rail positioning device 200, the rail positioning device 200 is placed on the pedestal 15 of the work floor 14 and the winder 11 is operated. The winder 11 winds up or lowers the winder rope 12 and stops when the rail positioning device 200 moves to a predetermined position. Then, when the rail positioning device 200 completes the tension to the wall surface 2, the winder 11 operates and the work floor 14 moves so as to be in a position below the rail positioning device 200.

The rail positioning device 200 is a device for moving and holding the rail 5 to a predetermined position. The rail fixing device 300 fixes the rail 5 held by the rail positioning device 200 to the wall surface 2. Therefore, the rail positioning device 200 holds the rail 5 until the rail fixing device 300 fixes the rail 5 to the wall surface 2.

The rail positioning device 200 includes a wireless communication device B202, a rail gauge 203, a rail grip portion 204, a front-rear position adjusting portion 205, a left-right position adjusting portion 206, a base 207, and a wall surface contact portion 208 (contact portion). It is composed of a positioning control unit 209, a light receiving unit B210 that detects the position of the rail, and a force sensor 211 (tension force detection unit) that detects the tension force. The front-rear position adjusting unit 205 and the left-right position adjusting unit 206 have a function as a rail position adjusting unit that moves the rail 5 gripped by the rail gripping unit 204 to the rail fixed position. The positioning control unit 209 controls this rail position adjustment unit.

The wireless communication device B202 wirelessly communicates with the wireless communication device C107 of the inclination detection device 100, which will be described later.

The rail gauge 203 is used to match the distance between two opposing rails 5.

The rail gripping portions 204 are provided on the left and right sides of the rail gauge 203, and grip the two opposing rails 5.

The base 207 rotatably supports the central portion of the rail gauge 203 in the left-right direction by the fulcrum A214.

The left-right position adjusting portion 206 is provided on the base 207, comes into contact with the wall surface 2, and can be expanded and contracted in the left-right direction.

The wall surface contact portion 208 is connected to the left and right of the left / right position adjusting portion 206, and is in contact with and pressed against the wall surface by the tension force generated by the left / right position adjusting portion 206. A rotation shaft 212 is provided between the wall surface contact portion 208 and the left / right position adjusting portion 206 so that the wall surface contact portion 208 follows the wall surface 2 according to the inclination.

The front-rear position adjusting portions 205 are provided on the left and right sides of the base 207, respectively, and are rotatably connected to each of the left and right sides of the rail gauge 203 by a fulcrum B215 and can be expanded and contracted in the front-rear direction.

The base 207 is formed with an elongated hole 207a that allows the fulcrum A214 to move in the front-rear direction in accordance with the expansion / contraction operation of the front-rear position adjusting portion 205. The front-rear position adjusting unit 205 and the left-right position adjusting unit 206 in the first embodiment are linear actuators that use electric, hydraulic, pneumatic, or the like as driving force and generate a force by a piston portion that expands and contracts.

The force sensor 211 is arranged between the left-right position adjusting portion 206 and the wall surface contact portion 208, and detects a tension force (reaction force from the wall surface).

Laser light 108 is used to detect the position of the rail. As shown in FIG. 1, two laser irradiation units 101 are installed in the lower part of the hoistway 1, and two laser beams 108 irradiated in the vertical direction from the laser irradiation unit 101 are used as reference cores. The laser beam 108 is detected by a light receiving unit B210 (position detection unit) such as a four-quadrant photodetector attached to the rail gauge 203 via the light receiving unit mounting plate 213. The light receiving unit B210 detects the position of the rail gauge 203.

Then, the positioning control unit 209 has a rail position adjusting unit (front-rear position adjusting unit 205, left-right position adjusting) so that the light receiving unit B210 receives the laser light 108 emitted between the laser irradiation unit 101 and the light receiving unit A105. Unit 206) is controlled.
[Structure of tilt detection device 100]
The configuration of the tilt detection device 100 will be described with reference to FIGS. 1, 4 and 5. FIG. 4 is an enlarged front view of the inclination detection device 100 according to the first embodiment, and FIG. 5 is a top view of FIG.

The pit base 4 is provided with an inclination detection device 100. The inclination detection device 100 includes two laser irradiation units 101 that irradiate upward with a laser beam that serves as a reference when installing the rail 5, an attitude detection unit 102 that detects the posture of the laser irradiation unit 101, and a laser irradiation unit 101. Based on the information of the attitude changing unit 103 (103a, 103b) that changes the attitude, the wireless communication C107 that performs wireless communication between the wireless communication device A106 and the wireless communication device B202, and the information of the wireless communication device C107 and the attitude detection unit 102. The attitude control unit 104 that controls the operation of the attitude change unit 103, and the light receiving unit A105 that is installed above the hoistway 1 and receives the laser beam 108 from the laser irradiation unit 101 are provided. The configuration of the light receiving unit A105 will be described later.

The laser irradiation unit 101 is supported by the gimbal frame 115 by the rotation shaft 120a, and the laser irradiation unit 101 can rotate in the left-right direction. Further, the gimbal frame 115 is supported by the support base 118 by the rotating shaft 120b, and the gimbal frame 115 can rotate in the front-rear direction. One end of the rotating shaft 120a is connected to the posture changing unit 103a, and the posture changing unit 103a adjusts the angle of the laser irradiation unit 101 in the left-right direction. One end of the rotating shaft 120b is connected to the posture changing portion 103b, and the posture changing portion 103b adjusts the angle of the gimbal frame 115 in the front-rear direction. By adjusting the angle of the gimbal frame 115 in the front-rear direction, the angle of the laser irradiation unit 101 in the front-rear direction is adjusted.
[Structure of light receiving unit A105]
Next, the configuration of the light receiving unit A105 will be described with reference to FIG. FIG. 6 is an enlarged front view of the light receiving portion A according to the first embodiment.

The light receiving portion A105 is provided on the suspended beam 3. The light receiving portion A105 is arranged in the tubular housing 112 attached to the suspended beam 3, the objective lens 110 provided in the lower opening of the housing 112, and above the objective lens 110. The image-side lens 111, which is located in the lens 110 and focuses the laser beam 108 from the objective lens 110, and the laser of the image-side lens 111, which is located in the housing 112 and is located above the image-side lens 111 and is focused on the image-side lens 111. It includes an optical position sensor 113 that receives light 108, and an optical filter 114 (disturbance light suppressing means) that is arranged below the objective lens 110 and suppresses the transmission of ambient light other than the laser light 108. The objective lens 110 and the image-side lens 111 constitute a beam compressor 109 (laser light converging means) for reconverging the laser light 108 spread in the distance. In the first embodiment, the detection accuracy of the laser beam 108 can be improved by providing the beam compressor 109.

The light receiving unit A105 receives the laser beam 108 and transmits the coordinate data of the laser position to the wireless communication device A106 (FIG. 1).
[Operation of rail positioning system 250]
Next, the operation of the rail positioning system 250 will be described with reference to FIGS. 7 to 12. FIG. 7 is a schematic configuration diagram of the rail positioning system 250 according to the first embodiment. FIG. 8 is a system configuration diagram of the rail positioning system 250 according to the first embodiment. FIG. 9 is a diagram showing a posture control loop of the tilt detection device 100 when vertically irradiating the laser beam according to the first embodiment. FIG. 10 is a diagram showing a posture control loop of the laser irradiation unit 101 when following the movement of the light receiving unit A105 due to the inclination of the hoistway according to the first embodiment. FIG. 11 is a diagram showing a posture control loop of the rail positioning device 200 according to the first embodiment. FIG. 12 is a flowchart showing a flow of a rail installation method using the rail positioning system according to the first embodiment.

In the first embodiment, the rail positioning system 250 is composed of the light receiving unit A105, the wireless communication device A106, the inclination detection device 100, and the rail positioning device 200.

Conventionally, when installing a rail in the hoistway, a method of hanging the piano wire downward from the suspended beam at the upper part of the hoistway, fixing the lower end of the piano wire to the pit base, and using the fixed piano wire as the reference core. Has been used. When the piano wire is used as the reference core, the piano wire is constantly swinging due to the wind and vibration of the building, so the installation position of the rail is likely to vary depending on the operator, and the equipment to be carried in interferes with the piano wire for work. The sex was bad. In order to solve this, a method of installing a rail that uses a laser beam as a reference core has come to be used.

As shown in FIG. 7, the building may tilt in response to the sunshine 10. In FIG. 7, the building is tilted from the original hoistway position 9 so that the upper part of the hoistway 1 is located on the right side. In the rail installation method using the piano wire as the reference core, the piano wire follows the inclination of the building, so the reference core can be used as it is, but in the rail installation method using the laser beam as the reference core, the laser beam is used in the building. Since it does not follow the inclination, the reference core of the laser beam cannot be used as it is. A method for solving this problem will be described below with reference to the flowchart of FIG.

The tilt detection device 100 irradiates the laser beam 108 from the laser irradiation unit 101 in the vertical direction (upward) (step S1: a step of irradiating the laser beam 108 in the vertical direction). The attitude control unit 104 controls the attitude change unit 103 based on the detection value of the attitude detection unit 102 that detects the attitude angle of the laser irradiation unit 101, and operates the laser irradiation unit 101 so that the laser beam 108 emits light vertically. .. The movement of the laser irradiation unit 101 is detected by the attitude detection unit 102 and fed back to the attitude control unit 104 (FIG. 9). In this way, the laser irradiation unit 101 is operated so that the laser light 108 emits light vertically.

Next, the position of the light receiving unit A105 is adjusted so that the light receiving unit A105 receives the laser beam 108 (step S2: step of adjusting the position of the light receiving unit A). The optical position sensor 113 of the light receiving unit A105 acquires the laser position coordinate data, and transmits the laser position coordinate data from the wireless communication device A106 to the wireless communication device C107 of the inclination detection device 100. This determines the reference core.

The laser position coordinate data received by the wireless communication device C107 is transmitted to the attitude control unit 104, and the attitude control unit 104 controls the attitude change unit 103 so that the laser beam 108 is received by the light receiving unit A105. That is, the attitude control unit 104 controls the attitude change unit 103 so that the laser irradiation unit 101 follows the coordinate position of the light receiving unit A105 (step S3: step of turning on the mode for following the laser beam 108). As shown in FIG. 7, when the building is tilted, the laser position coordinate data of the light receiving unit A105 is changed. The optical position sensor 113 of the light receiving unit A105 acquires the changed laser position coordinate data, and transmits the laser position coordinate data from the wireless communication device A106 to the wireless communication device C107 of the inclination detection device 100. The changed laser position coordinate data is fed back to the attitude control unit 104 (FIG. 10), and the attitude control unit 104 controls the attitude change unit 103 so that the laser irradiation unit 101 follows the position of the light receiving unit A105.

In the first embodiment, since the attitude control unit 104 controls the attitude change unit 103 so that the laser irradiation unit 101 follows the light receiving unit A 105, when the building is tilted and the position of the light receiving unit A is changed. Even so, the reference core is changed (followed) according to the inclination of the building, and it is possible to prevent the rail installation position from fluctuating.

Next, the operation of the rail positioning device 200 will be described. As described above, since the rail positioning device 200 itself does not have an elevating function, the rail positioning device 200 is placed on a pedestal 15 installed on the work floor 14 to elevate and elevate the rail positioning device 200. In raising and lowering the rail positioning device 200, the rail positioning device 200 is placed on the pedestal 15 of the work floor 14 and the winder 11 is operated (step S4: step of moving the work floor 14 up and down). The winder 11 winds up or lowers the winder rope 12 and stops when the rail positioning device 200 moves to a predetermined position. Then, the positioning of the rail 5 is started (step S5: the step of starting the positioning of the rail 5).

The positioning control unit 209 calculates based on a calculation unit (not shown), a storage unit in which a control program or the like is stored, a control program stored in the storage unit, a detection value of the light receiving unit B210, and a detection value of the force sensor 211. It is equipped with a calculation unit that performs the above.

The left-right position adjusting portion 206 extends the expanding and contracting piston portion, presses the wall surface contact portion 208 against the wall surface 2, and stretches and fixes the rail positioning device 200 against the wall surface 2 (step S6: a step of stretching the rail positioning device 200 against the wall surface). ). When the rail positioning device 200 completes the tension to the wall surface 2, the winder 11 operates and the work floor 14 moves so as to be in a position below the rail positioning device 200. The positioning control unit 209 controls the rail positioning device 200 wall surface 2 so that the tension force is equal to or higher than a predetermined value based on the detected value of the force sensor 211.

The positioning control unit 209 controls the front-rear position adjustment unit 205 and the front-rear position adjustment unit 205 based on the detection value of the light receiving unit B210 and the detection value of the force sensor 211 to move the rail gauge 203 to the installation position of the rail 5. Let me.

The rails 5 are installed in the hoistway 1 in pairs so as to sandwich the car (not shown). The two rails 5 are gripped by the rail grip portion 204 of the rail positioning device 200 (step S7: step of gripping the rail 5). The rail grip portion 204 is provided with a clamp mechanism for gripping the rail 5, and is attached to both ends of the rail gauge 203. Since the length of the rigid body portion of the rail gauge 203 is equal to the predetermined distance between the rails and the rail gripping surfaces are parallel, when the rail 5 is gripped by the rail gripping portion 204, two pairs are formed. The mechanism is parallel to the distance between the rails.

The laser irradiation unit 101 irradiates the light receiving unit A105 with the laser beam 108 which is the reference core. The laser position coordinate data of the light receiving unit A105 is transmitted from the wireless communication device A106 to the wireless communication device B202 via the wireless communication device C107. The laser position coordinate data of the light receiving unit A105 is received by the wireless communication device B202 and transmitted from the wireless communication device B202 to the positioning control unit 209.

The positioning control unit 209 detects the position where the light receiving unit B210 receives the laser beam 108 from the laser position coordinate data of the light receiving unit A105, and operates the rail gauge 203 (step S8: the light receiving unit B210 detects the laser position). Process).

The rail 5 fixed to the rail gauge 203 is translated by the front-rear position adjusting unit 205 and the left-right position adjusting unit 206 (step S9: step of performing the rail positioning operation). A front-rear position adjusting portion 205 that can be expanded and contracted in the front-rear direction is connected to the rail gauge 203 via a fulcrum B213, and the front-rear position adjusting portion 205 is attached to a base 207. Further, a left-right position adjusting portion 206 that can be expanded and contracted in the left-right direction is attached to the base 207, and is generated when the wall surface contact portion 208 of the left-right tip portion of the left-right position adjusting portion 206 is pressed against the opposite wall surface 2. By using the reaction force, the rail 5 is moved back and forth and left and right to move it to a predetermined position. A force sensor 211 is provided between the left / right position adjusting unit 206 and the wall surface contact portion, and the force sensor 211 detects a tension force (reaction force) against the wall surface and moves the left / right position adjusting unit 206. Used for control. In order to prevent the rail positioning device 200 from falling, it is necessary for the positioning control unit 209 to control the tension force of the left / right position adjusting unit 206 so as to be equal to or higher than a predetermined value. Since it is necessary to consider the own weight of the rail positioning device 200 and the rigidity of the rail 5 as the tension force, the positioning control unit 209 considers these factors and calculates a predetermined value of the tension force. As described above, in the first embodiment, a plurality of rails 5 from the bottom to the top are carried in and connected to the hoistway 1 and exist in a state where they are not fixed to the wall surface 2 by the bracket 8. On the rail 5 gripped by the rail grip portion 204, a pressing force and a pulling force are generated on the other plurality of rails 5 not fixed by the bracket 8. The rigidity of the rail 5 in the first embodiment means a pressing force and a pulling force. The left-right position adjusting unit 206 moves in the left-right direction to determine the left-right position for fixing the rail 5 while maintaining the tension force at a predetermined value or more (step S10: step of completing the rail positioning).

Next, by adjusting the amount of movement of the two front-rear position adjusting portions 205, the twist of the rail 5 can also be corrected. The two front-rear position adjusting portions 205 and the rail gauge 203 are rotatably connected via the fulcrum B113, and the rail gauge 203 is rotatably connected to the base 207 via the fulcrum A214. The load on the front-rear position adjusting unit 205 is reduced.

When the rail positioning is completed, the rail fixing device 300 is operated, the wall surface 2 of the hoistway 1 is drilled, and the anchor bolts are driven (step S11: a step of starting the rail fixing work by the rail fixing device 300). Then, the bracket 8 is attached to the anchor bolt driven into the wall surface 2, the rail 5 is fixed to the bracket 8, and the rail fixing work is completed (step S12: step of completing the rail fixing work).

When the rail fixing work is completed, the winder 11 is operated to wind up the winder rope 12, and the rail positioning device 200 is placed on the pedestal 15 of the work floor 14. When the mounting of the rail positioning device 200 is completed, the left / right position adjusting unit 206 is operated in the direction of contraction to release the tension force and the left / right position adjusting unit 206 is minimized (step S13: the left / right position adjusting unit 206 is shortened). Process to change). When the shortening of the left-right position adjusting portion 206 is completed, the rail grip portion 204 is operated to release the grip of the rail 5 (step S14: step of releasing the rail grip portion 204). When the grip of the rail 5 is released, the entire load of the rail positioning device 200 is transferred to the rail fixing device 300. After releasing the grip of the rail 5, the front-rear position adjusting unit 205 is operated in the direction of contraction to minimize the front-rear position adjusting unit 205 (step S15: step of minimizing the front-rear position adjusting unit 205). Then, the rail installation process is completed.

According to the first embodiment, it is possible to provide a rail positioning device capable of accurately determining the rail installation position according to the fluctuation of the tension force accompanying the rail positioning operation and the state of the wall surface and automating the rail positioning work. ..

Further, according to the first embodiment, since the attitude control unit 104 controls the attitude change unit 103 so that the laser irradiation unit 101 follows the light receiving unit A 105, the building is tilted and the position of the light receiving unit A is positioned. Even if it is changed, the reference core is changed according to the inclination of the building, and it is possible to prevent the rail installation position from fluctuating.

Next, Example 2 of the present invention will be described with reference to FIG. FIG. 13 is an enlarged front view of the inclination detection device 100 according to the second embodiment. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The difference between the second embodiment and the first embodiment is that the optical path changing unit 116 for changing the irradiation direction of the laser beam 108 is provided.

In the second embodiment, the inclination detection device 100 changes the postures of the laser irradiation unit 101, the optical path changing unit 116 that changes the irradiation direction of the laser beam 108 emitted from the laser irradiation unit 101, and the optical path changing unit 116. The optical path control unit 117 that controls the operation of the attitude changing unit 103 based on the information of the unit 103 (103a, 103b), the wireless communication C107 that performs wireless communication with the wireless communication device A106 and the wireless communication device B202, and the wireless communication device C107. And a light receiving unit A105 which is installed in the upper part of the hoistway and receives the laser light 108 changed by the optical path changing unit 116. Further, although not shown, the inclination detection device 100 includes an attitude detection unit that detects the attitude of the optical path changing unit 116. The laser irradiation unit 101 is arranged sideways so that the irradiation direction of the laser beam 108 is the left-right direction (horizontal direction).

The optical path changing portion 116 is supported by the gimbal frame 115, and can be rotated in the left-right direction by the attitude changing portion 103a attached to the gimbal frame 115. Further, it is supported by the gimbal frame 115 support base 118, and the gimbal frame 115 can be rotated in the front-rear direction by the posture changing portion 103b.

The posture changing unit 103a changes the angle so that the laser beam 108 irradiated in the left-right direction (horizontal direction) from the laser irradiation unit 101 faces in the vertical direction. The posture changing unit 103b changes the angle so that the laser beam 108 irradiated in the left-right direction (horizontal direction) from the laser irradiation unit 101 is directed in the front-rear direction. Then, the optical path control unit 117 controls the posture changing units 103a and 103b to irradiate the light receiving unit A105 with the laser beam 108.

Then, the optical path control unit 117 adjusts the rail position (front-rear position adjustment unit 205, left-right position adjustment) so that the light-receiving unit B210 receives the laser beam 108 emitted between the optical path change unit 116 and the light-receiving unit A105. Unit 206) is controlled. The operation of the rail positioning device 200 is the same as that of the first embodiment.

In Example 2, in addition to the action and effect of Example 1, the following action and effect can be obtained. According to the second embodiment, since the laser irradiation unit 101 is arranged so as to be sideways, the height direction of the inclination detection device 100 can be reduced, and the degree of freedom in installing the inclination detection device 100 is expanded. be able to.

The present invention is not limited to the above-described examples, and includes various modifications. The above-described examples have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations.

1 ... hoistway, 2 ... wall surface, 3 ... hanging beam, 4 ... pit base, 5 ... rail, 6 ... wire, 8 ... bracket, 9 ... original hoistway position, 10 ... sunshine, 11 ... winder, 12 ... Winder rope, 13 ... sling, 14 ... work floor, 15 ... pedestal, 100 ... tilt detection device, 101 ... laser irradiation unit, 102 ... attitude detection unit, 103, 103a, 103b ... attitude change unit, 104 ... attitude control unit, 105 ... light receiving unit A, 106 ... wireless communication device A, 107 ... wireless communication device C, 108 ... laser light, 109 ... beam compressor, 110 ... objective lens, 111 ... image side lens, 112 ... housing, 113 ... optical position Sensor, 114 ... Optical filter, 115 ... Gimbal frame, 116 ... Optical path change unit, 117 ... Optical path control unit, 118 ... Support base, 120a, 120b ... Rotating shaft, 200 ... Rail positioning device, 202 ... Wireless communication device B, 203 ... Rail gauge, 204 ... Rail gripping part, 205 ... Front and rear position adjustment part, 206 ... Left and right position adjustment part, 207 ... Base, 207a ... Long hole, 208 ... Wall contact part, 209 ... Positioning control unit, 210 ... Light receiving part B , 211 ... force sensor, 212 ... rotating shaft, 213 ... light receiving part mounting plate, 214 ... fulcrum A, 215 ... fulcrum B, 250 ... rail positioning system, 300 ... rail fixing device, 301 ... robot arm, 302 ... end effector , 303 ... Tool stand, 400 ... Rail installation system

Claims (10)

In a rail positioning system that positions rails in the hoistway
Equipped with an inclination detection device and a rail positioning device,
The tilt detection device is
A laser irradiation unit that is installed in the lower part of the hoistway and irradiates a laser beam upward, a posture change unit that changes the attitude of the laser irradiation unit, and an attitude control unit that controls the operation of the attitude change unit. A light receiving portion A, which is installed on the upper part of the hoistway and receives the laser beam, is provided.
The rail positioning device is
A rail gripping portion that grips the rail, a rail position adjusting portion that moves the rail gripped by the rail gripping portion to a rail fixed position, a positioning control unit that controls the rail position adjusting portion, and receiving the laser beam. The light receiving unit B and the light receiving unit B are provided.
The attitude control unit controls the operation of the attitude change unit so that the laser beam can be received by the light receiving unit A.
The rail positioning control unit moves the rail position adjusting unit so that the light receiving unit B receives the laser light emitted between the laser irradiation unit and the light receiving unit A. Positioning system. In claim 1,
The rail positioning system is characterized in that the light receiving unit A includes a laser light converging means for converging the laser light. In claim 1 or 2,
The rail positioning system is characterized in that the light receiving unit A includes an disturbance light suppressing means for suppressing transmission of disturbance light other than the laser light. In claim 1 or 2,
The rail position adjusting portion is characterized in that it is composed of a left-right position adjusting portion that expands and contracts in the left-right direction and contacts the wall surface of the hoistway to generate a tension force, and a front-rear position adjusting portion that expands and contracts in the front-rear direction. Rail positioning system. In claim 1 or 2,
The wireless communication device A that acquires the laser position coordinate data of the light receiving unit A and wirelessly transmits the laser position coordinate data, and the laser position coordinate data transmitted from the wireless communication device A are received to control the attitude. Equipped with a wireless communication device C that transmits to the unit
The attitude control unit is a rail positioning system characterized in that the attitude control unit controls the attitude change unit so that the laser irradiation unit receives light from the light receiving unit A based on the laser position coordinate data. In claim 5,
A wireless communication device B for receiving the laser position coordinate data is provided, and the wireless communication device B transmits the laser position coordinate data to the positioning control unit.
The rail positioning control unit is a rail positioning system that controls the rail position adjustment unit so that the light receiving unit B receives the laser beam based on the laser position coordinate data. In a rail positioning system that positions rails in the hoistway
Equipped with an inclination detection device and a rail positioning device,
The tilt detection device is
A laser irradiation unit that is installed under the hoistway and irradiates a laser beam in the left-right direction, an optical path changing unit that changes the irradiation direction of the laser beam, and an attitude changing unit that changes the posture of the optical path changing unit. And the posture control unit that controls the operation of the posture change unit,
A light receiving unit A, which is installed in the upper part of the hoistway and receives the laser beam changed by the optical path changing unit, is provided.
The rail positioning device is
A rail gripping portion that grips the rail, a rail position adjusting portion that moves the rail gripped by the rail gripping portion to a rail fixed position, a positioning control unit that controls the rail position adjusting portion, and receiving the laser beam. The light receiving unit B and the light receiving unit B are provided.
The attitude control unit controls the operation of the attitude change unit so that the laser beam can be received by the light receiving unit A.
The positioning control unit moves the rail position adjusting unit so that the light receiving unit B receives the laser beam emitted between the front optical path changing unit and the light receiving unit A. Positioning system. In claim 7,
The rail position adjusting portion is characterized in that it is composed of a left-right position adjusting portion that expands and contracts in the left-right direction and contacts the wall surface of the hoistway to generate a tension force, and a front-rear position adjusting portion that expands and contracts in the front-rear direction. Rail positioning system. In claim 7 or 8,
The wireless communication device A that acquires the laser position coordinate data of the light receiving unit A and wirelessly transmits the laser position coordinate data, and the laser position coordinate data transmitted from the wireless communication device A are received to control the attitude. Equipped with a wireless communication device C that transmits to the unit
The attitude control unit is a rail positioning system characterized in that the attitude control unit controls the attitude change unit so that the laser irradiation unit receives light from the light receiving unit A based on the laser position coordinate data. In claim 9.
A wireless communication device B for receiving the laser position coordinate data is provided, and the wireless communication device B transmits the laser position coordinate data to the positioning control unit.
The rail positioning control unit is a rail positioning system that controls the rail position adjustment unit so that the light receiving unit B receives the laser beam based on the laser position coordinate data.

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