Working device

Abstract

The purpose of the present invention is to provide a work device that can implement a wide range of work in a lifting channel and can implement complicated work. The work device (1) is lifted and lowered in a lifting channel (100) to perform work in the lifting channel (100), and is provided with: a housing provided with a support column (11); a horizontal movement mechanism (12) which is provided to the pillar (11) or the housing and which can move on a horizontal plane; a working mechanism (13) provided to the horizontal movement mechanism (12) and having a plurality of rotating shafts; and a work assistance mechanism (14) that assists the work performed by the work mechanism (13) and that is provided to the horizontal movement mechanism (12).

Description

Technical Field

[0001] The present invention relates to an operating device for automating the operations in the lifting passage of an elevator. Background Art

[0002] In the elevator installation project, heavy objects such as work platforms are lifted from the upper part of the elevator shaft. In the past, workers on work platforms performed construction work such as opening holes in the walls of the elevator shaft and fixing components (anchors, etc.), but there was a risk of accidents such as workers falling from the work platforms or coming into contact with falling objects or devices. Therefore, in recent years, there have been work devices that allow machines or robots installed on the work platforms to automatically perform part of the construction work in the elevator shaft.

[0003] Regarding this type of operation system, there is a technology described in Patent Document 1, for example. Patent Document 1 describes an elevator installation device that detects the angle at which the wall surface of the elevator passage intersects with the axis of a hole punching tool, and adjusts the inclination of the hole punching tool according to the detected angle, thereby performing a hole punching vertically on the wall surface. Furthermore, Patent Document 1 describes that, with this elevator installation device, a hole for fixing a bracket can be vertically formed on the wall surface of the elevator passage without being affected by the measurement data of the shape of the wall surface of the elevator passage.

[0004] In the technology described in Patent Document 1, vertical multi-joint robots are arranged horizontally on two floors, and the two robots are used to work simultaneously to hold a bracket and keep it at a specified position on the wall surface of the lifting passage, and to tighten screws to fix the bracket. The wall surface between adjacent robots is the work object. The bracket fixation in the lifting passage needs to be implemented on four walls, but since it is impossible to work on other walls, some automated work remains. In addition, since there are two vertical multi-joint robots, the system as a whole is expensive, and the operating cost of each operation becomes high, leaving the issue of low cost. Therefore, a low-cost operation system with a wide operating range and the ability to perform complex operations is required.

[0005] As a prior art with low cost and wide operating range, there is a technology described in Patent Document 2, for example. Patent Document 2 describes a robot system and a robot operating method that can move a robot and improve the accuracy of the operation. In addition, Patent Document 2 describes a technology that performs a predetermined operation in a state where a robot arm that performs an operation on a workpiece is set at a position above the workpiece on a substrate that can move at least in a horizontal direction.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2020-7095

[0009] Patent Document 2: Japanese Patent No. 7101942 Summary of the invention

[0010] Problems to be solved by the invention

[0011] However, although Patent Document 2 describes a technology related to expanding the moving range of a robot arm, it is limited to operations that can be performed by a single robot arm and does not describe a technology for performing more complex operations such as fixing a bracket in an elevator channel.

[0012] An object of the present invention is to provide a working device which has a wide working range in a lifting passage and is capable of performing complex work.

[0013] Means for solving problems

[0014] In order to achieve the above-mentioned purpose, the working device of the present invention is lifted and lowered in the lifting channel to perform the work in the lifting channel, and is characterized in that it comprises: a shell, which has a support; a horizontal moving mechanism, which is arranged on the support or the shell and can move in the horizontal plane; a working mechanism, which has multiple rotating axes and is arranged on the horizontal moving mechanism to perform work in the lifting channel; and a work assisting mechanism, which assists the work performed by the working mechanism and is arranged on the horizontal moving mechanism.

[0015] Effects of the Invention

[0016] According to the present invention, it is possible to provide a working device which has a wide working range in a working hoistway and is capable of performing complicated work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a perspective view of the working device 1 according to the first embodiment of the present invention.

[0018] Figure 2 It is a perspective view of the horizontal moving mechanism 12 according to the first embodiment of the present invention.

[0019] Figure 3 It is a top view of the horizontal moving mechanism 12 according to the first embodiment of the present invention.

[0020] Figure 4 It is a perspective view of the working mechanism 13 according to the first embodiment of the present invention.

[0021] Figure 5 It is a front view of the work assisting mechanism 14 according to the first embodiment of the present invention.

[0022] Figure 6It is a perspective view of the position fixing mechanism 17 according to the first embodiment of the present invention.

[0023] Figure 7 It is a plan view showing a state in which the working device 1 is fixed to the wall 101 of the hoistway 100 .

[0024] Figure 8 This is a front view showing a state in which the working device 1 is fixed to the wall 101 of the elevator passage 100 .

[0025] Fig. 9 It is a side view showing a state where the working device 1 is fixed to the wall 101 of the lifting passage 100 .

[0026] Fig.10 This is a schematic configuration diagram of the control device 23 according to the first embodiment of the present invention.

[0027] Fig.11 It is a schematic side view of the working device 1 raised in the hoistway.

[0028] Fig.12 It is a side view showing a plurality of examples of the horizontal moving mechanism 12 according to the second embodiment of the present invention.

[0029] Fig.13 It is a perspective view of the support column 11 provided in the working device 1 according to the third embodiment of the present invention.

[0030] Fig.14 This is a schematic diagram of the structure of the control device 23 according to the third embodiment of the present invention.

[0031] Fig.15 It is a perspective view of the position fixing mechanism 17 according to the fourth embodiment of the present invention.

[0032] Fig.16 It is a perspective view of the position fixing mechanism 17 according to the fifth embodiment of the present invention.

[0033] Fig.17 It is a side view of the working device 1 in the lifting passage 100 according to the fifth embodiment of the present invention.

[0034] Explanation of symbols

[0035] 1: working device; 11: support; 11a: outer frame; 11b: inner frame; 11c: telescopic mechanism; 12: horizontal movement mechanism; 12a, 12b, 12c: connecting rod; 12d, 12e, 12f, 12g: rotating mechanism; 12h: linear movement mechanism; 13: working mechanism; 13a, 13b, 13c, 13d, 13e, 13f: rotating mechanism; 13g: manual tool disassembly and assembly mechanism; 13h: manual tool; 14: working auxiliary mechanism ; 14a: connecting mechanism; 14b: linear movement mechanism; 14c, 14d: rotating mechanism; 14e, 14f: holding mechanism; 15: position fixing mechanism; 15a: rotating mechanism; 15e: contact mechanism; 15g, 15h: contact member; 15k, 15l: driven wheel; 16: position fixing mechanism; 16g, 16h: contact member; 16k, 16l: driven wheel; 17: position fixing mechanism; 17a: rotating mechanism; 17b: transmission mechanism; 17c: fitting mechanism; 17d: linear movement mechanism; 17e, 17f: contact mechanism; 17g, 17h: contact member; 17i, 17j: rotation mechanism; 17k, 17l: driven wheel; 18: position fixing mechanism; 18a: rotation mechanism; 18e: contact mechanism; 18g, 18h: contact member; 18k, 18l: driven wheel; 21: upper housing; 22: lower housing; 23: control device; 25: height detection device Position; 51~63: rotating shaft; 81: information recording unit; 82: work control unit; 83: sensor acquisition unit; 84: control unit for lifting mechanism; 85: control unit for horizontal moving mechanism; 86: control unit for working mechanism; 87: control unit for working auxiliary mechanism; 88: control unit for position fixing mechanism; 89: control unit for support; 100: lifting channel; 101: wall; 103a, 103b: lifting mechanism; 104a, 104b: lifting rope. DETAILED DESCRIPTION

[0036] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, for the same elements, the same reference numerals are marked in principle in all the drawings. In addition, for parts having the same functions, description is omitted. In addition, the structures described below are merely embodiments, and the embodiments of the present invention are not intended to be limited to the following specific methods.

[0037] [Example 1]

[0038] Embodiment 1 of the working device 1 of the present invention will be described. Figure 1 It is a perspective view of the working device 1 according to the first embodiment of the present invention.

[0039] The working device 1 is mainly composed of a support column 11 , a horizontal moving mechanism 12 , a working mechanism 13 , a working auxiliary mechanism 14 , position fixing mechanisms 15 , 16 , 17 , 18 , a casing (an upper casing 21 , a lower casing 22 ), and a control device 23 .

[0040] The support column is provided on the housing. In the present embodiment, an upper housing 21 is installed above the support column 11, and a lower housing 22 is installed below the support column 11. The support column 11 connects the upper housing 21 and the lower housing 22. A horizontal movement mechanism 12 is installed between the upper housing 21 and the lower housing 22. In the present embodiment, the horizontal movement mechanism 12 is installed on the support column 11, but it can also be installed on the upper housing 21 or the lower housing 22.

[0041] The horizontal moving mechanism 12 includes a working mechanism 13 and a working assisting mechanism 14 . The working mechanism 13 performs various operations (such as drilling holes, inserting bolts, and tightening bolts) in the lift path 100 . The working assisting mechanism 14 assists the various operations performed by the working mechanism 13 .

[0042] Position fixing mechanisms 15 and 16 are provided on the upper portion of the upper housing 21. Hoisting ropes 104a and 104b are attached to the upper housing 21, and the working device 1 is suspended from the lifting mechanisms 103a and 103b via the hoisting ropes 104a and 104b.

[0043] A control device 23 is provided at an upper portion of the lower housing 22 , and position fixing mechanisms 17 , 18 are provided at a lower portion of the lower housing 22 .

[0044] The position fixing mechanisms 15 , 16 , 17 , and 18 are provided to contact with the wall in the lifting passage 100 to fix the working device 1 .

[0045] Next, the structure of the horizontal moving mechanism 12 will be described. Figure 2 It is a perspective view of the horizontal moving mechanism 12 according to the first embodiment of the present invention. Figure 3 It is a top view of the horizontal moving mechanism 12 according to the first embodiment of the present invention.

[0046] The horizontal movement mechanism 12 is composed of three (plural) connecting rods 12a, 12b, and 12c. One end of the connecting rod 12a is set on the support 11, and the other end is connected to one end of the connecting rod 12b. In addition, it is set to a position close to the rotation axis 55 of the connecting rod 12a in the center of the base of the working mechanism 13. The other end of the connecting rod 12b is connected to one end of the connecting rod 12c, and the working auxiliary mechanism 14 is connected to the other end of the connecting rod 12c. The connecting rods 12a, 12b, and 12c are arranged in order from the support 11 side to the bottom, top, and bottom.

[0047] A rotating mechanism 12d is built into one end of the link 12a near the support 11 side, and a rotating mechanism 12e is built into the other end of the link 12a, which rotates around the respective rotation axes 51 and 52. That is, the link 12a can rotate around the rotation axis 51 relative to the support 11, and the link 12b can rotate around the rotation axis 52 relative to the link 12b.

[0048] A rotating mechanism 12f is built in near the connection portion of the link 12c with the link 12b, i.e., at one end, and a rotating mechanism 12g is built in near the connection portion of the link 12c with the work assist mechanism 14, i.e., at the other end, so as to rotate around the respective rotation axes 53 and 54. That is, the link 12c can rotate around the rotation axis 53 relative to the link 12b, and the work assist mechanism 14 can rotate around the rotation axis 54 relative to the link 12c.

[0049] As described above, the three (plural) connecting rods 12a, 12b, and 12c are rotatably connected via the rotating mechanism.

[0050] like Figure 3 As shown, when the rotating mechanism 12d rotates at a rotation angle θH1 on the rotating shaft 51, the link 12a rotates relative to the support 11. When the rotating mechanism 12e rotates at a rotation angle θH2 on the rotating shaft 52, the link 12b rotates relative to the link 12a. When the rotating mechanism 12f rotates at a rotation angle θH3 on the rotating shaft 53, the link 12c rotates relative to the link 12b. When the rotating mechanism 12g rotates at a rotation angle θH4 on the rotating shaft 54, the work assisting mechanism 14 rotates relative to the link 12c.

[0051] As the rotating mechanisms 12 d to 12 g rotate through the rotating shafts 51 to 54 , the postures of the links 12 a to 12 c , the position of the center of the base of the working mechanism 13 relative to the rotating shaft 51 , and the position of the working assisting mechanism 14 are determined.

[0052] If the axis 55 where the center position of the base of the working mechanism 13 is located is offset from the rotation axis 51 by a distance L1, the rotation mechanism 12d rotates around the rotation axis 51, thereby enabling the center position of the base of the working mechanism 13 to move on a circle with a radius of L1, and enabling a range wider than the working range of the working mechanism 13 by L1 to be used as the working range.

[0053] Figure 4 It is a perspective view of the working mechanism 13 according to the first embodiment of the present invention. Figure 4 FIG. 1 is a diagram showing the working mechanism 13 as viewed from below. The rotating shaft 55 of the base of the working mechanism 13 is Figure 2The same is true for the rotating shaft 55 shown. In the working mechanism 13, rotating mechanisms 13a to 13f are built in from the base side to the front end in sequence, and they rotate around the rotating shafts 55 to 60 respectively. A manual tool 13h (working tool) is detachably mounted at the front end of the working mechanism 13 via a manual tool disassembly mechanism 13g. The manual tool disassembly mechanism 13g, for example, utilizes air pressure to disassemble the manual tool 13h, and replaces it with other manual tools mounted on the working device 1 according to the work content performed by the working device 1. The manual tool 13h is, for example, a drilling tool, a casting tool, a fastening tool, etc. The rotation angle of each rotating mechanism 13a to 13f is θ1 to θ6, and the position and positive direction of the front end of the working mechanism 13 can be determined by independently controlling the angles. In this embodiment, a working mechanism 13 with 6 degrees of freedom is used, but the number of axes can also be changed according to the purpose of the work.

[0054] Next, the work assisting mechanism 14 will be described. Figure 5 This is a front view of the work assisting mechanism 14 of Example 1 of the present invention. The work assisting mechanism 14 is, for example, a gripping mechanism for a component. The work assisting mechanism 14 is connected to the connecting rod 12c of the horizontal moving mechanism 12 via the connecting mechanism 14a near the rotating shaft 54. That is, by rotating the rotating mechanism 12g, the connecting mechanism 14a rotates, and the facing direction of the work assisting mechanism 14 changes. A linear moving mechanism 14b is connected below the connecting mechanism 14a, and a gripping mechanism 14e and a gripping mechanism 14f are connected via the rotating mechanisms 14c and 14d, respectively.

[0055] The rotating mechanism 14c and the rotating mechanism 14d rotate independently, so that the positions of the holding mechanisms 14e and 14f are changed in the directions of the arrows in the figure respectively through the linear moving mechanism 14b. Therefore, the width of the matching component changes the distance between the holding mechanism 14e and the holding mechanism 14f, and then changes the positions of the holding mechanism 14e and the holding mechanism 14f in the direction of the component, so that the component can be held. It is also possible to mount a camera or the like on the operation auxiliary mechanism 14 to detect the arrival of the component, or a sensor to detect the reception of the component on the holding mechanisms 14e and 14f. Here, the case of the holding mechanism is studied, but it may also be a structure that can change the front end of part of the connecting mechanism 14a in the same way as the operation mechanism 13. In this case, for example, the operation mechanism 13 can also be used to implement the disassembly and assembly of the tool of the operation auxiliary mechanism 14.

[0056] In the present embodiment, the working mechanism 13 and the working auxiliary mechanism 14 are connected to different links 12 a and 12 c , respectively, and have different rotation axes 55 and 54 , respectively, so as to be rotatably supported on the horizontal moving mechanism 12 .

[0057] An example of the operation in the horizontal moving mechanism 12, the working mechanism 13, and the working auxiliary mechanism 14 is shown. For example, the description is made when a component is installed on a wall. First, the base position of the working mechanism 13 and the position of the working auxiliary mechanism 14 are moved by the horizontal moving mechanism 12. The front end of the working mechanism 13 is mounted with a manual tool for holding arranged on the lower shell 22, and the component arranged on the lower shell 22 is similarly held. While changing the posture of the working mechanism 13, the bracket held by the working mechanism 13 is brought close to the working auxiliary mechanism 14 from the lower side of the working auxiliary mechanism 14. In order to be able to hold the component, the working auxiliary mechanism 14 makes the distance between the holding mechanism 14e and the holding mechanism 14f long enough in advance. When the component reaches the specified position by the working mechanism 13, the rotating mechanism 14c and the rotating mechanism 14d are rotated to shorten the distance between the holding mechanism 14e and the holding mechanism 14f and close them to the specified interval.

[0058] After that, the operating mechanism 13 stops the holding of the component by the manual tool for holding installed at the front end, and hands it over to the work auxiliary mechanism 14. The operating mechanism 13 detaches the manual tool for holding, and adsorbs the manual tool for drilling. By changing the posture of the horizontal moving mechanism 12, it moves to the base position of the operating mechanism 13 and the position where the work auxiliary mechanism 14 performs the operation. The work auxiliary mechanism 14 is in a state of pressing the held component against the wall, and the operating mechanism 13 performs drilling on the hole located in the component. In addition, similarly, the operating mechanism 13 changes the manual tool each time according to the content of the operation, performs the operation on the component pressed against the wall, and finally installs the component on the wall.

[0059] As described above, by using the work assisting mechanism 14 to assist the work performed by the work mechanism 13, a more complicated work that cannot be performed by the work mechanism 13 alone can be achieved. In addition, by using the horizontal moving mechanism 12 to move the base position of the work mechanism 13 and the work assisting mechanism 14, the work can be performed to a range where the work mechanism 13 alone cannot perform the work.

[0060] Next, the structure of the position fixing mechanism 17 will be described. Figure 6 It is a perspective view of the position fixing mechanism 17 according to the first embodiment of the present invention.

[0061] The lower housing 22 is provided with a rotating mechanism 17a, and a transmission mechanism 17b is connected to the rotating mechanism 17a. The front end of the linear moving mechanism 17d to which the fitting mechanism 17c fitted with the transmission mechanism 17b is provided is provided with contact mechanisms 17e and 17f facing the wall 101 in the lifting passage 100. The contact mechanisms 17e and 17f are provided with contact parts 17g and 17h respectively contacting the wall 101.

[0062] If the rotating mechanism 17a rotates around the rotating shaft 61 parallel to the z-axis direction in the figure, the transmission mechanism 17b also rotates, and the linear moving mechanism 17d moves along the y-axis direction in the figure via the interlocking mechanism 17c. The positive direction of the y-axis is the direction in which the linear moving mechanism 17d extends, and the negative direction is the direction in which the linear moving mechanism 17d retracts. The contact mechanisms 17e and 17f located at the front end of the linear moving mechanism 17d extend toward the wall 101 in the lifting passage 100, and when the contact parts 17g and 17h contact the wall, the rotating mechanism 17a stops rotating. As a stopping method, for example, the rotation angle of the rotating mechanism 17a is predetermined in a manner consistent with the size of the lifting passage 100, and the rotating mechanism 17a stops when it rotates to the angle. The rotation angle considers a potentiometer or an encoder. In addition, force sensors can also be set in the contact mechanisms 17e and 17f, and the rotation of the rotating mechanism 17a is stopped when the reaction force from the wall exceeds a threshold. Furthermore, in this embodiment, the contact mechanisms 17e and 17f are moved toward the wall by the linear movement mechanism, but the contact mechanisms 17e and 17f may be moved toward the wall by the rotation mechanism. The same applies to the other position fixing mechanisms 15, 16, and 18.

[0063] Next, use Figure 7 to Figure 9 , a state in which the working device 1 is fixed to the wall 101 of the lifting passage 100 by the position fixing mechanisms 15 to 18 will be described.

[0064] Figure 7 It is a plan view showing a state in which the working device 1 is fixed to the wall 101 of the hoistway 100 . Figure 8 This is a front view showing a state in which the working device 1 is fixed to the wall 101 of the elevator passage 100 . Fig. 9 It is a side view showing a state where the working device 1 is fixed to the wall 101 of the lifting passage 100 . Figure 7 to Figure 9 The entrance and exit sides are the lower side, the front side, and the left side in the figure. Figure 7 to Figure 9 In the figure, the position fixing mechanisms 15~18 lifted by the lifting ropes 104a and 104b are in a state of extending toward the entrance and exit sides and the inner side, and the contact parts 15g, 15h, 16g, 16h, 17g, 17h, 18g, and 18h ​​are in contact with the wall 101 respectively, and the working device 1 is fixed relative to the wall 101 of the lifting passage 100.

[0065] exist Figure 7 , Figure 8In the figure, the right side is the position of the work object, and the base position of the work mechanism 13 and the work auxiliary mechanism 14 are positioned by the horizontal moving mechanism 12, and the work mechanism 13 performs work on the wall. The work device 1 hoisted by the hoisting ropes 104a and 104b swings greatly due to the reaction force from the wall generated by the work of the work mechanism 13, so it cannot continue to work, and the work efficiency is reduced. As in this embodiment, by using the position fixing mechanisms 15 to 18 to fix the position relative to the wall 101 in the lifting channel 100, the swing caused by the reaction force can be reduced, and the continuation of stable work and the reduction of work efficiency can be suppressed.

[0066] In such Figure 8 As shown in the figure, when the working device 1 is fixed to the wall at the portion with the opening of the entrance, the interval between the contact member 15g and the contact member 15h in the position fixing mechanism 15 is set to be larger than the opening of the entrance. In addition, in this embodiment, the position fixing mechanisms 15 to 18 are operated with respect to the wall in the entrance-inside direction, but the position fixing mechanisms 15 to 18 may also be operated with respect to the wall in the left-right direction.

[0067] Next, the configuration of the control device 23 will be described. Fig.10 1 is a schematic diagram of the control device 23 of Example 1 of the present invention. The control device 23 is composed of an information recording unit 81, a work control unit 82, a sensor acquisition unit 83, a lifting mechanism control unit 84, a horizontal movement mechanism control unit 85, a work mechanism control unit 86, a work assist mechanism control unit 87, and a position fixing mechanism control unit 88.

[0068] The information recording unit 81 records information related to the work in the lifting channel 100. Regarding the work in the working device 1, the lifting mechanisms 103a and 103b, the horizontal moving mechanism 12, the working mechanism 13, the working auxiliary mechanism 14, and the position fixing mechanisms 15 to 18 work sequentially or in cooperation with each other for each work.

[0069] In the information recording unit 81, the instructions for each operation are recorded as the operation sequence of each mechanism. For example, the position instructions for the height in the lifting channel 100 are listed in the lifting mechanisms 103a and 103b, the angle instructions for the rotation angles θH1 to θH4 are listed in the horizontal moving mechanism 12, the angle instructions for the rotation angles θ1 to θ6 and the manual tool assembly and disassembly instructions are listed in the working mechanism 13, the rotation angle instructions for the rotation mechanisms 14c and 14d are listed in the working auxiliary mechanism 14, and the rotation angle instructions for the rotation mechanisms 15a to 18a are listed in the position fixing mechanisms 15 to 18.

[0070] The operation control unit 82 sends instructions to each unit based on the operation order of each unit and the instructions to each unit managed by the information recording unit 81. Fig.11 The height detection device 25 shown measures the height H0 from the lower side of the lifting passage 100 and transmits it to the operation control unit 82.

[0071] The lifting mechanism control unit 84 sends lifting commands to the lifting mechanisms 103 a and 103 b until the position command with respect to the height matches the measured height H0 .

[0072] The horizontal moving mechanism control unit 85 sends a rotation command to the horizontal moving mechanism 12 until the rotation angles θH1 to θH4 substantially match the angle command.

[0073] The working mechanism control unit 86 sends a rotation command to the working mechanism 13 until the rotation angles θ1 to θ6 substantially match the angle command. In the case of a hand tool removal command, a removal command is sent to the working mechanism 13 until the hand tool is completely removed.

[0074] The work assisting mechanism control unit 87 sends a rotation command to the rotation mechanisms 14c and 14d until the rotation angles of the rotation mechanisms 14c and 14d substantially match the rotation angle command.

[0075] The position fixing mechanism control unit 88 sends a rotation command until the rotation angle of the rotation mechanisms 15 a to 18 a substantially matches the angle command.

[0076] The operation of the working device 1 in the lifting path 100 will be described. Fig.11 It is a schematic side view of the working device 1 raised in the hoistway.

[0077] A height detection device 25 for measuring the height (position) of the working device 1 from the bottom surface of the elevator passage is provided below the working device 1. The height detection device 25 irradiates a laser toward the bottom surface of the elevator passage, for example, and receives reflected light reflected from the bottom surface of the elevator passage to measure the height (position) of the working device 1.

[0078] The working device 1 controls and moves the lifting mechanisms 103a and 103b through the control device 23 until the height H0 measured by the height detection device 25 matches the height for the next operation. When the working device 1 moves to the height of the object, the control device 23 stops the movement based on the lifting mechanism, sends a rotation command to the position fixing mechanism 15 to 18, and moves the contact mechanisms 15e to 18e and 15f to 18f of the position fixing mechanism 15 to 18 toward the wall 101, thereby fixing the working device 1 relative to the wall 101. Then, as described above, the control device 23 sends various commands to the horizontal moving mechanism 12, the working mechanism 13, and the working auxiliary mechanism 14 to perform the operation.

[0079] When all operations at the height fixed to the wall 101 are completed, the control device 23 sends a rotation command to the position fixing mechanisms 15 to 18, so that the contact mechanisms 15e to 18e and 15f to 18f of the position fixing mechanisms 15 to 18 move away from the wall 101, thereby releasing the fixation relative to the wall 101. After that, the working device 1 moves through the lifting mechanisms 103a and 103b until the height H0 measured by the height detection device 25 matches the height for the next operation. This operation is performed until all operations in the lifting passage 100 are completed.

[0080] By configuring the working device 1 and operating it as described above, in the present embodiment, the working range in the hoistway can be expanded, and the work can be automatically and efficiently performed.

[0081] In the present embodiment, all of the position fixing mechanisms 15 to 18 are effectively utilized, but for example, the position fixing mechanism 15 and the position fixing mechanism 16, the position fixing mechanism 17 and the position fixing mechanism 18, the position fixing mechanism 15 and the position fixing mechanism 18, the position fixing mechanism 16 and the position fixing mechanism 17, etc., can obtain the same effect even if they are arranged on the upper side or the lower side or both sides of the working device 1, and on the left side or the right side or both sides of the working device 1.

[0082] In addition, the horizontal movement mechanism 12 is provided on the support column 11, but the same effect can be obtained by installing it on the upper shell 21 or the lower shell 22. Figure 2 As shown, the horizontal moving mechanism 12 is arranged on the upper side, the working mechanism 13 is arranged on the lower side, and the working auxiliary mechanism 14 is arranged on the lower side. Figure 2 The structure shown is reversed upside down, and is provided on the support column 11 or the lower case 22 in such a manner that the horizontal moving mechanism 12 is on the lower side, the working mechanism 13 is on the upper side, and the working auxiliary mechanism 14 is on the upper side.

[0083] [Example 2]

[0084] A second embodiment of the working device 1 of the present invention will be described. The same components as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. Fig.12 It is a side view showing a plurality of examples of the horizontal moving mechanism 12 according to the second embodiment of the present invention.

[0085] Fig.12 (a) is the same structure as in Example 1. Fig.12 In (a), the links 12a, 12b, and 12c are arranged in order from the left side, and the links 12a, 12b, and 12c are arranged in a down-up-down arrangement. Fig.12 In (b), the connecting rods 12a, 12b, and 12c are arranged in an upper, lower, and upper configuration. Fig.12 In the structure (b), the same effect as that of the first embodiment can be obtained.

[0086] Fig.12 In (c), the connecting rods 12a, 12b, and 12c are connected to the upper side respectively. Fig.12 In (c), unlike the first embodiment, the overall height of the horizontal moving mechanism 12 is increased, but since the positions of the links 12a, 12b, and 12c are different, mutual interference can be reduced.

[0087] Fig.12 (d) is related to Fig.12 (c) The opposite structure, the connecting rods 12a, 12b, 12c are connected to the lower side. Fig.12 In (d), unlike the first embodiment, the overall height of the horizontal moving mechanism 12 is increased, but since the positions of the links 12a, 12b, and 12c are different, mutual interference can be reduced.

[0088] Fig.12 In (e), the links 12a, 12b, and 12c are arranged at the same height, and the overall height of the horizontal moving mechanism 12 can be reduced.

[0089] Fig.12 (f) The posture is changed by the links 12a, 12b, 12c rotating about the rotation axes 51 to 53, respectively, but the work assisting mechanism 14 is moved in the direction of the arrow in the figure by the linear moving mechanism 12h built into the link 12c. Fig.12 In (f), unlike the first embodiment, the rotation axis 54 does not exist.

[0090] In the structure of the horizontal moving mechanism 12 as described above, the operation range in the lifting channel can also be expanded, and the operation can be automatically and efficiently performed. In this embodiment, the number of connecting rods of the horizontal moving mechanism 12 is set to 3, but it can also be changed according to the purpose. In addition, the method of using the rotating mechanism and the linear moving mechanism together is not limited to this.

[0091] [Example 3]

[0092] A third embodiment of the working device 1 of the present invention will be described. The same components as those of the first and second embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted. Fig.13 It is a perspective view of the support column 11 provided in the working device 1 according to the third embodiment of the present invention.

[0093] exist Fig.13 In the figure, the support 11 is composed of an outer frame 11a, an inner frame 11b, and a telescopic mechanism 11c. The outer frame 11a is connected to the upper shell 21, and the inner frame 11b is connected to the lower shell 22. The outer frame 11a and the inner frame 11b are connected via the telescopic mechanism 11c, so the support 11 can slide in the up-down direction as shown by the arrow in the figure. The support 11 slides in the up-down direction, so that the space between the upper shell 21 and the lower shell 22 becomes larger, and the range in which the operating mechanism 13 can operate becomes larger.

[0094] Fig.13 The working device 1 is placed on the ground. When the lifting ropes 104a and 104b are wound by the lifting mechanisms 103a and 103b, a tensile force is applied to the upper shell 21, so that the upper shell 21 moves upward in the figure. The outer frame 11a of the support 11 is connected to the upper shell 21, so the outer frame 11a moves upward together with the upper shell 21. Since the inner frame 11b is connected to the outer frame 11a via the telescopic mechanism 11c, the tensile force is not transmitted to the inner frame 11b before exceeding the movable range of the telescopic mechanism 11c, so the inner frame 11b does not move upward.

[0095] Only the outer frame 11a of the support column 11 moves upward, so the space between the upper shell 21 and the lower shell 22 becomes larger. When the moving distance exceeds the movable range of the telescopic mechanism 11c, the tension is transmitted to the inner frame 11b, and the outer frame 11a and the inner frame 11b move upward. In addition, the tension is transmitted to the lower shell 22 by the upward movement of the inner frame 11b, and the working device 1 is in a state of being hoisted.

[0096] As described above, the support column 11 is composed of an outer frame 11a, an inner frame 11b, and a telescopic mechanism 11c, so that as the working device 1 is lifted, the space between the upper shell 21 and the lower shell 22 is passively increased, thereby inexpensively expanding the operable range of the working mechanism 13.

[0097] The telescopic mechanism 11c can obtain the same effect even if it is switched to the linear movement method implemented by the position fixing mechanisms 15 to 18. In this case, it can be actively implemented by the control device 23 regardless of the lifting work of the working device 1. The structure of the support 11 is composed of an outer frame 11a, an inner frame 11b, a rotating mechanism, and a linear movement mechanism. The outer frame 11a is connected to the inner frame 11b via the linear movement mechanism, and the rotating mechanism is connected to the linear movement mechanism. The rotating mechanism rotates, so that the outer frame 11a moves upward relative to the inner frame 11b along the linear movement mechanism. Fig.14 The configuration of the control device 23 at this time is shown. Fig.14 This is a schematic diagram of the structure of the control device 23 according to the third embodiment of the present invention.

[0098] exist Fig.14 In, yes Fig.10 The structure is added with a support control unit 89. The support control unit 89 sends a rotation angle command to the rotation mechanism until the rotation angle of the rotation mechanism substantially matches the rotation angle command.

[0099] According to the present embodiment, since the telescopic mechanism 11 c that moves in the up-down direction is provided on the support column 11 , the operable range of the operating mechanism 13 can be increased, and the operability can be improved.

[0100] [Example 4]

[0101] A fourth embodiment of the working device 1 of the present invention will be described. The same components as those of the first to third embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted. Fig.15 1 is a perspective view of a position fixing mechanism 17 according to a fourth embodiment of the present invention. The following describes portions different from the first embodiment.

[0102] The position fixing mechanism 17 is provided with contact mechanisms 17e and 17f via rotating mechanisms 17i and 17j. The rotating mechanisms 17i and 17j rotate around the rotating shafts 62 and 63, so that the contact mechanisms 17e and 17f rotate relative to the position fixing mechanism 17. The rotating shafts 62 and 63 of the rotating mechanisms 17i and 17j are orthogonal to the wall in the lifting passage 100, so that the contact mechanisms 17e and 17f rotate in the up-down direction.

[0103] When the rotating mechanisms 17i and 17j rotate, the contact mechanisms 17e and 17f rotate about the y-axis as indicated by the arrows. The contact mechanisms 17e and 17f are provided with contact members 17h and 17g, respectively, which contact the wall 101 of the lift passage 100.

[0104] exist Fig.15In the left figure, the length direction of the contact mechanisms 17e and 17f is located in the vertical direction (z direction). When the contact mechanisms 17e and 17f are rotated in the horizontal direction by the rotating mechanisms 17i and 17j, respectively, as shown in FIG. Fig.15 As shown in the right figure, the longitudinal directions of the contact mechanisms 17e and 17f are located in a position facing the horizontal direction (x direction).

[0105] When the working device 1 is sent into the lifting passage 100, the working device 1 is sent in from the entrance and exit of the lifting passage 100. When the width of the position fixing mechanism 17 is wider than the entrance and exit of the lifting passage 100, it becomes difficult to send the working device 1 into the lifting passage 100. Therefore, in this embodiment, the longitudinal direction of the contact mechanisms 17e and 17f is located at a position ( z direction) facing the vertical direction ( z direction). Fig.15 ), the width of the position fixing mechanism 17 is made smaller than the width of the entrance and exit of the lifting passage 100, and the working device 1 is sent in from the entrance and exit of the lifting passage 100. In this way, the interference between the working device 1 and the entrance and exit of the lifting passage 100 can be suppressed.

[0106] After the working device 1 is put into the lifting channel 100, the contact mechanisms 17e and 17f are positioned so that their length directions face the horizontal direction (x direction). Fig.15 (right image). Fig.15 In the state of the right figure, the width of the position fixing mechanism 17 is larger than the width of the entrance and exit of the lifting passage 100, so that the contact parts 17h and 17g of the position fixing mechanism 17 can contact the wall 101 of the lifting passage 100. Although the description is omitted, the position fixing mechanisms 15, 16, and 18 are the same.

[0107] According to this embodiment, the workability of inserting the working device 1 into the lifting passage 100 can be improved, and after the working device 1 is inserted into the lifting passage 100 , the contact members 17 h and 17 g of the position fixing mechanism 17 can be brought into contact with the wall 101 of the lifting passage 100 .

[0108] [Example 5]

[0109] A fifth embodiment of the working device 1 of the present invention will be described. The same components as those of the first to fourth embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted. Fig.16 1 is a perspective view of a position fixing mechanism 17 according to a fifth embodiment of the present invention. The following describes portions different from the fourth embodiment.

[0110] In this embodiment, driven wheels 17k and 17l are provided in the contact mechanisms 17e and 17f, respectively. The driven wheels 17k and 17l are provided at positions outside the contact members 17h and 17g in the x-axis direction and protrude in the positive direction of the y-axis when the length direction of the contact mechanisms 17e and 17f is oriented in the horizontal direction (x-direction). That is, the driven wheels 17k and 17l are provided so as to protrude toward the wall 101 of the lift passage 100. In addition, the driven wheels 17k and 17l are connected to a suspension mechanism (not shown) and can imitate the unevenness of the wall 101 of the lift passage 100. However, if a strong load is applied in the negative direction of the y-axis, the driven wheels 17k and 17l are recessed in the negative direction of the y-axis and are accommodated. In this state, the contact members 17h and 17g protrude in the y-axis direction more than the driven wheels 17k and 17l.

[0111] After the working device 1 is sent into the lifting channel 100, if the contact mechanisms 17e and 17f move toward the wall 101, the driven wheels 17k and 17l initially contact the wall 101, but if the contact mechanisms 17e and 17f are further moved to apply a stronger load, the driven wheels 17k and 17l are recessed in the negative direction of the y-axis, and the contact parts 17h and 17g contact the wall 101.

[0112] Fig.17 1 is a side view of the working device 1 in the lifting passage 100 according to the fifth embodiment of the present invention. When the lifting ropes 104a and 104b are raised and lowered while the driven wheels 17k and 17l are in contact with the wall 101 of the lifting passage 100, the driven wheels 17k and 17l of the working device 1 are raised and lowered along the wall 101. In other words, the driven wheels 17k and 17l travel on the wall 101 in the lifting passage 100. Therefore, the working device 1 can reduce the swing generated when it is raised and lowered. Then, when the working device 1 moves to the target height, the position fixing mechanism 17 further presses the contact mechanisms 17e and 17f against the wall 101, and applies the reaction force from the wall 101 to the driven wheels 17k and 17l. The driven wheels 17k and 17l receive the reaction force from the wall 101, are stored in the contact mechanisms 17e and 17f, and the contact members 17h and 17g contact the wall 101 to fix the working device 1. Although the description is omitted, the same applies to the driven wheels 15k, 15l, 16k, 16l, 18k, and 18l.

[0113] According to this embodiment, the swing of the working device 1 can be suppressed when the working device 1 is lifted in the lifting channel 100, the time waiting for the swing to stop after lifting and the time for correcting the position deviation caused by the swing can be shortened, the work performed by the working mechanism 13 can be started in advance, and the working efficiency can be improved.

[0114] In addition, the present invention is not limited to the above-mentioned embodiments, and includes various modified examples. For example, the above-mentioned embodiments are examples that are described in detail in order to easily explain the present invention, and are not necessarily limited to having all the structures described. In addition, a part of the structure of a certain embodiment can be replaced with the structure of another embodiment, and in addition, the structure of another embodiment can be added to the structure of a certain embodiment. In addition, with respect to a part of the structure of each embodiment, other structures can be added, deleted, or replaced.

Claims

1. A working device that is raised and lowered in a lifting channel to perform work in the lifting channel, characterized in that: have: a housing having a support column; A horizontal movement mechanism, which is disposed on the support or the housing and is capable of moving in a horizontal plane; An operating mechanism, which has a plurality of rotating shafts and is arranged on the horizontal moving mechanism to perform operations in the lifting channel; as well as The work assisting mechanism assists the work performed by the work mechanism and is provided on the horizontal moving mechanism.

2. The working device according to claim 1, characterized in that: The horizontal movement mechanism is composed of a plurality of connecting rods. The plurality of connecting rods are rotatably connected via a rotating mechanism. The working mechanism and the working assisting mechanism are arranged on different links.

3. The working device according to claim 1 or 2, characterized in that: The housing is composed of an upper housing and a lower housing. The upper shell and the lower shell are connected by the support column.

4. The working device according to claim 3, characterized in that: The horizontal movement mechanism is rotatably provided on the support column.

5. The working device according to claim 1, characterized in that: The housing is provided with a position fixing mechanism that contacts a wall in the lifting passage to fix the working device.

6. The working device according to claim 1, characterized in that: A working tool is detachably connected to the working mechanism.

7. The working device according to claim 6, characterized in that: An auxiliary tool is detachably connected to the work assisting mechanism.

8. The working device according to claim 3, characterized in that: The support column is provided with a telescopic mechanism that is telescopic in the height direction.

9. The working device according to claim 5, characterized in that: The position fixing mechanism includes: a contact mechanism facing the wall in the lifting passage; and a rotation mechanism having a rotation axis orthogonal to the wall in the lifting passage and rotating the contact mechanism via the rotation axis.

10. The working device according to claim 9, characterized in that: The contact mechanism includes a contact member that contacts a wall in the lift passage.

11. The working device according to claim 10, characterized in that: The contact mechanism is provided with driven wheels, and when the working device is raised or lowered in the lifting passage, the driven wheels run on the wall in the lifting passage.

12. The working device according to claim 11, characterized in that: The driven wheels are provided with a suspension mechanism.

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