Work device

Abstract

To provide a work device capable of performing a wide range of work in a hoistway and of performing complex work.SOLUTION: A work device 1, which moves up and down within an elevator shaft 100 to perform work within the elevator shaft 100, comprises a housing with a support 11, a horizontal movement mechanism 12 that is provided on the support 11 or the housing and is movable on a horizontal plane, a work mechanism 13 that has a plurality of rotating shafts and is provided on the horizontal movement mechanism 12, and a work support mechanism 14 that supports work performed by the work mechanism 13 and is provided on the horizontal movement mechanism 12.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an operating device that automates work within an elevator hoistway. [Background technology]

[0002] During elevator installation work, heavy objects such as a work platform are lifted from the top of the elevator shaft. Conventionally, construction work such as drilling holes in the walls and fastening components (anchors, etc.) in the elevator shaft was performed by workers standing on the work platform, but because there is a risk of accidents such as workers falling from the work platform or coming into contact with falling objects or equipment, in recent years, work devices have been developed that allow machines or robots installed on the work platform to automatically perform some of the construction work in the elevator shaft.

[0003] For example, Patent Document 1 discloses a technology related to this type of work system. Patent Document 1 describes an elevator installation device that detects the angle at which the wall surface of the hoistway intersects with the axis of a drilling tool, and adjusts the inclination of the drilling tool based on the detected angle to drill a hole perpendicular to the wall surface. Patent Document 1 also describes that this elevator installation device can form a hole for fixing a bracket perpendicular to the wall surface of the hoistway, without being affected by measurement data of the wall surface shape of the hoistway.

[0004] In the technology described in Patent Document 1, two vertical articulated robots are arranged side by side on the floor, and the two robots simultaneously perform the tasks of grasping a bracket and holding it at a predetermined position on the wall of the elevator shaft, and fastening screws to fix the bracket, and the wall surface between the adjacent robots is the work target. Bracket fixing in the elevator shaft needs to be performed on all four walls, but since work cannot be performed on other walls, some work remains to be automated. In addition, since two vertical articulated robots are provided, the entire system is expensive, the operating cost per work is high, and cost reduction remains an issue. Therefore, a work system that can perform complex work at low cost with a wide range of work is required.

[0005] An example of a conventional technology with low cost and a wide range of operation is the technology described in Patent Document 2. Patent Document 2 describes a robot system and a robot operation method that can improve the accuracy of the operation while making the robot movable. Patent Document 2 also describes a technology in which a robot arm that performs an operation on a workpiece is mounted on a base material that is movable at least in the horizontal direction at a position above the workpiece and performs a predetermined operation. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2020-7095 A [Patent Document 2] Patent No. 7101942 Summary of the Invention [Problem to be solved by the invention]

[0007] However, although Patent Document 2 describes technology for expanding the range of movement of a single robot arm, it is limited to tasks that can be performed by the robot arm alone, and does not describe technology for performing more complex tasks such as fixing brackets inside an elevator shaft.

[0008] An object of the present invention is to provide a working device that can perform a wide range of work within a hoistway and can perform complex work. [Means for solving the problem]

[0009] In order to achieve the above-mentioned object, the present invention provides a work device that moves up and down within a hoistway to perform work within the hoistway, and is characterized by comprising a housing with a support pillar, a horizontal movement mechanism that is provided on the support pillar or the housing and can move on a horizontal plane, a work mechanism that has multiple rotating shafts and is provided on the horizontal movement mechanism to perform work within the hoistway, and a work support mechanism that supports work performed by the work mechanism and is provided on the horizontal movement mechanism. Effect of the Invention

[0010] According to the present invention, it is possible to provide a work device that can perform a wide range of work within a hoistway and can perform complex work. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a perspective view of a working device 1 according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view of a horizontal movement mechanism 12 according to the first embodiment of the present invention. [Diagram 3] FIG. 2 is a top view of the horizontal movement mechanism 12 according to the first embodiment of the present invention. [Figure 4] FIG. 2 is a perspective view of a working mechanism 13 according to the first embodiment of the present invention. [Diagram 5] FIG. 2 is a front view of the work support mechanism 14 according to the first embodiment of the present invention. [Figure 6] FIG. 2 is a perspective view of a position fixing mechanism 17 according to the first embodiment of the present invention. [Figure 7] 1 is a top view showing a state in which the working device 1 is fixed to a wall 101 of a hoistway 100. FIG. [Figure 8] 1 is a front view showing a state in which the working device 1 is fixed to a wall 101 of a hoistway 100. FIG. [Figure 9] 1 is a side view showing a state in which the working device 1 is fixed to a wall 101 of a hoistway 100. FIG. [Figure 10] 1 is a schematic configuration diagram of a control device 23 according to a first embodiment of the present invention. [Figure 11] FIG. 2 is a schematic side view of the working device 1 lifted in the hoistway. [Figure 12] 10A to 10C are side views showing several examples of a horizontal movement mechanism 12 according to a second embodiment of the present invention. [Figure 13] FIG. 11 is a perspective view of a support 11 installed on a working device 1 according to a third embodiment of the present invention. [Figure 14] FIG. 11 is a schematic configuration diagram of a control device 23 according to a third embodiment of the present invention. [Figure 15] FIG. 11 is a perspective view of a position fixing mechanism 17 according to a fourth embodiment of the present invention. [Figure 16] FIG. 11 is a perspective view of a position fixing mechanism 17 according to a fifth embodiment of the present invention. [Figure 17] FIG. 11 is a side view of a working device 1 in a hoistway 100 according to a fifth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In principle, the same elements are given the same reference numerals in all drawings. Furthermore, explanations of parts having the same functions will be omitted. Note that the configurations described below are merely examples, and it is not intended that the embodiment of the present invention is limited to the specific embodiments described below. EXAMPLES

[0013] A working device 1 according to a first embodiment of the present invention will be described below. Fig. 1 is a perspective view of the working device 1 according to the first embodiment of the present invention.

[0014] The working device 1 is mainly composed of a support column 11, a horizontal movement mechanism 12, a working mechanism 13, a working support mechanism 14, position fixing mechanisms 15, 16, 17, and 18, housings (upper housing 21, lower housing 22), and a control device 23.

[0015] The support pillar is provided on the housing. In this embodiment, an upper housing 21 is attached above the support pillar 11, and a lower housing 22 is attached below the support pillar 11. The support pillar 11 connects the upper housing 21 and the lower housing 22. A horizontal movement mechanism 12 is attached between the upper housing 21 and the lower housing 22. In this embodiment, the horizontal movement mechanism 12 is attached to the support pillar 11, but it may be attached to the upper housing 21 or the lower housing 22.

[0016] The horizontal movement mechanism 12 is equipped with a working mechanism 13 and a work support mechanism 14. The working mechanism 13 performs various works (drilling holes, inserting bolts, tightening bolts, etc.) in the hoistway 100. The work support mechanism 14 supports the various works performed by the working mechanism 13.

[0017] Position fixing mechanisms 15 and 16 are provided on the upper part of upper housing 21. Lifting ropes 104a and 104b are attached to upper housing 21, and working device 1 is suspended from lifting mechanisms 103a and 103b via lifting ropes 104a and 104b.

[0018] A control device 23 is provided on the upper part of the lower housing 22, and position fixing mechanisms 17 and 18 are provided on the lower part of the lower housing 22.

[0019] The position fixing mechanisms 15, 16, 17, and 18 are provided for fixing the working device 1 against a wall within the hoistway 100.

[0020] Next, a description will be given of the configuration of the horizontal movement mechanism 12. Fig. 2 is a perspective view of the horizontal movement mechanism 12 according to the first embodiment of the present invention. Fig. 3 is a top view of the horizontal movement mechanism 12 according to the first embodiment of the present invention.

[0021] The horizontal movement mechanism 12 is composed of three (plural) links 12a, 12b, and 12c. One end of the link 12a is attached to the support 11, and the other end is connected to one end of the link 12b. The link 12a is also attached so that the position of the rotation axis 55 is the center of the base of the working mechanism 13. The other end of the link 12b is connected to one end of the link 12c, and the other end of the link 12c is connected to the work support mechanism 14. The links 12a, 12b, and 12c are arranged in the order of bottom, top, and bottom from the support 11 side.

[0022] Rotation mechanism 12d is built into one end of link 12a near the support pillar 11, and rotation mechanism 12e is built into the other end of link 12a, which rotate around respective rotation shafts 51, 52. That is, link 12a is rotatable around rotation shaft 51 relative to support pillar 11, and link 12b is rotatable around rotation shaft 52 relative to link 12b.

[0023] A rotation mechanism 12f is built into one end of link 12c near the connection portion with link 12b, and a rotation mechanism 12g is built into the other end of link 12c near the connection portion with the work support mechanism 14, and they rotate around their respective rotation axes 53, 54. That is, link 12c can rotate around rotation axis 53 relative to link 12b, and the work support mechanism 14 can rotate around rotation axis 54 relative to link 12c.

[0024] As described above, the three (plural) links 12a, 12b, and 12c are each rotatably connected by a rotating machine.

[0025] 3, when the rotation mechanism 12d rotates on the rotation shaft 51 at a rotation angle θH1, the link 12a rotates with respect to the support 11. When the rotation mechanism 12e rotates on the rotation shaft 52 at a rotation angle θH2, the link 12b rotates with respect to the link 12a. When the rotation mechanism 12f rotates on the rotation shaft 53 at a rotation angle θH3, the link 12c rotates with respect to the link 12b. When the rotation mechanism 12g rotates on the rotation shaft 54 ​​at a rotation angle θH4, the work support mechanism 14 rotates with respect to the link 12c.

[0026] In this way, the rotation mechanisms 12d to 12g rotate about the rotation shafts 51 to 54, so that the attitude of the links 12a to 12c, the position of the base center of the working mechanism 13 relative to the rotation shaft 51, and the position of the work support mechanism 14 are determined.

[0027] If the axis 55 on which the base center position of the working mechanism 13 is located is an offset distance L1 away from the rotating axis 51, the rotating mechanism 12d can rotate around the rotating axis 51 to move the base center position of the working mechanism 13 along a circumference of radius L1, thereby making it possible to set a working range that is L1 wider than the working range of the working mechanism 13.

[0028] FIG. 4 is a perspective view of the working mechanism 13 according to the first embodiment of the present invention. FIG. 4 shows the working mechanism 13 from below. The rotation axis 55 of the base of the working mechanism 13 is the same as the rotation axis 55 shown in FIG. 2. The working mechanism 13 has built-in rotation mechanisms 13a to 13f in the order from the base side to the tip, and rotates around the rotation axes 55 to 60, respectively. A hand tool 13h (work tool) is detachably attached to the tip of the working mechanism 13 via a hand tool detachment mechanism 13g. The hand tool detachment mechanism 13g detaches the hand tool 13h using, for example, air pressure, and replaces it with another hand tool mounted on the working device 1 according to the work content performed by the working device 1. The hand tool 13h is, for example, a drill tool, a concrete driving tool, a fastening tool, etc. The rotation angles of the respective rotation mechanisms 13a to 13f are θ1 to θ6, and the position and positive direction of the tip of the working mechanism 13 can be determined by controlling the angles independently. In this embodiment, a working mechanism 13 with six degrees of freedom is used, but the number of axes may be changed depending on the work application.

[0029] Next, the work support mechanism 14 will be described. Fig. 5 is a front view of the work support mechanism 14 according to the first embodiment of the present invention. The work support mechanism 14 is, for example, a mechanism for gripping a member. The work support mechanism 14 is connected to the link 12c of the horizontal movement mechanism 12 by a connection mechanism 14a near the rotation axis 54. That is, the rotation mechanism 12g rotates, which causes the connection mechanism 14a to rotate, changing the facing direction of the work support mechanism 14. A linear motion mechanism 14b is connected below the connection mechanism 14a, and gripping mechanisms 14e and 14f are connected to the connection mechanism 14a via rotation mechanisms 14c and 14d, respectively.

[0030] The rotation mechanism 14c and the rotation mechanism 14d rotate independently, and the positions of the gripping mechanisms 14e and 14f are changed in the direction of the arrows in the figure by the linear motion mechanism 14b. Therefore, the distance between the gripping mechanism 14e and the gripping mechanism 14f is changed according to the width of the workpiece, and the gripping mechanism 14e and the gripping mechanism 14f are further changed in the direction of the workpiece to grip the workpiece. The work support mechanism 14 may be provided with a camera or the like to detect the arrival of the workpiece, or the gripping mechanisms 14e and 14f may be equipped with a sensor to detect the receipt of the workpiece. Here, the case of the gripping mechanism is considered, but the configuration may be such that the part destination of the connection mechanism 14a can be changed in the same way as the work mechanism 13. In this case, for example, the work mechanism 13 may be used to attach and detach the tool of the work support mechanism 14.

[0031] In this embodiment, the working mechanism 13 and the working support mechanism 14 are connected to different links 12a and 12c, respectively, and are further rotatably supported by the horizontal movement mechanism 12 via different rotation shafts 55 and 54, respectively.

[0032] An example of the work operation of the horizontal movement mechanism 12, the working mechanism 13, and the work support mechanism 14 will be described. For example, the case of attaching a member to a wall will be described. First, the horizontal movement mechanism 12 moves the base position of the working mechanism 13 and the position of the work support mechanism 14. The working mechanism 13 is equipped with a gripping hand tool arranged on the lower housing 22 at its tip, and grips a member also arranged on the lower housing 22. The bracket gripped by the working mechanism 13 is brought closer to the work support mechanism 14 from below while changing the attitude of the working mechanism 13. The work support mechanism 14 makes the distance between the gripping mechanism 14e and the gripping mechanism 14f sufficiently long in advance so that the member can be gripped, and when the member is brought to a predetermined position by the working mechanism 13, the rotation mechanism 14c and the rotation mechanism 14d are rotated to shorten the distance between the gripping mechanism 14e and the gripping mechanism 14f until they close to a predetermined distance.

[0033] After that, the working mechanism 13 stops gripping the component with the gripping hand tool attached to its tip, and hands it over to the work support mechanism 14. The working mechanism 13 detaches the gripping hand tool, and adsorbs the hole-drilling hand tool. The horizontal movement mechanism 12 changes its posture to move the base position of the working mechanism 13 and the work support mechanism 14 to the working position. The work support mechanism 14 is in a state where it presses the gripped component against the wall, and the working mechanism 13 performs drilling on the hole in the component. Similarly, the working mechanism 13 changes the hand tool each time according to the work content, performs work on the component pressed against the wall, and finally attaches the component to the wall.

[0034] As described above, by using the work support mechanism 14 to support the work performed by the working mechanism 13, it is possible to realize more complicated work that cannot be performed by the working mechanism 13 alone. In addition, by using the horizontal movement mechanism 12 to move the base position of the working mechanism 13 and the work support mechanism 14, it is possible to perform work in an area that cannot be performed by the working mechanism 13 alone.

[0035] Next, a description will be given of the configuration of the position fixing mechanism 17. Fig. 6 is a perspective view of the position fixing mechanism 17 according to the first embodiment of the present invention.

[0036] A rotation mechanism 17a is installed in the lower housing 22, and a transmission mechanism 17b is connected to the rotation mechanism 17a. Contact mechanisms 17e and 17f that face a wall 101 in the elevator shaft 100 are installed at the tip of a linear motion mechanism 17d to which a fitting mechanism 17c that fits with the transmission mechanism 17b is attached. The contact mechanisms 17e and 17f include contact members 17g and 17h that come into contact with the wall 101, respectively.

[0037] When the rotation mechanism 17a rotates around the rotation axis 61 parallel to the z-axis direction in the figure, the transmission mechanism 17b also rotates, and the linear motion mechanism 17d moves in the y-axis direction in the figure via the engagement mechanism 17c. The positive direction of the y-axis is the direction in which the linear motion mechanism 17d extends, and the negative direction is the direction in which the linear motion mechanism 17d contracts. The contact mechanisms 17e and 17f at the tip of the linear motion mechanism 17d extend toward the wall 101 of the elevator shaft 100, and when the contact members 17g and 17h come into contact with the wall, the rotation mechanism 17a stops rotating. As a stopping method, for example, the rotation angle of the rotation mechanism 17a is determined in advance to match the size of the elevator shaft 100, and the rotation mechanism 17a stops when it rotates to that angle. The rotation angle can be determined by a potentiometer or an encoder. Alternatively, a force sensor may be installed in the contact mechanisms 17e and 17f, and the rotation of the rotation mechanism 17a may be stopped when the reaction force from the wall exceeds a threshold value. Furthermore, in this embodiment, the contact mechanisms 17e and 17f are moved toward the wall by a linear motion mechanism, but the contact mechanisms 17e and 17f may be moved toward the wall by a rotation mechanism. The same applies to the other position fixing mechanisms 15, 16, and 18.

[0038] Next, a state in which the working device 1 is fixed to the wall 101 of the elevator shaft 100 by the position fixing mechanisms 15 to 18 will be described with reference to FIGS.

[0039] FIG. 7 is a top view showing a state in which the working device 1 is fixed to the wall 101 of the hoistway 100. FIG. 8 is a front view showing a state in which the working device 1 is fixed to the wall 101 of the hoistway 100. FIG. 9 is a side view showing a state in which the working device 1 is fixed to the wall 101 of the hoistway 100. The entrance / exit sides in FIG. 7 to FIG. 9 are the lower side, the front side, and the left side in the drawings, respectively. Also, in FIG. 7 to FIG. 9, the position fixing mechanisms 15 to 18 lifted by the lifting ropes 104a and 104b are extended to the entrance / exit side and the back side, and the contact members 15g, 15h, 16g, 16h, 17g, 17h, 18g, and 18h ​​are in contact with the wall 101, and the working device 1 is fixed to the wall 101 of the hoistway 100.

[0040] 7 and 8, the right side of the figure is the position of the work target, the horizontal movement mechanism 12 positions the base position of the working mechanism 13 and the work support mechanism 14, and the working mechanism 13 performs work on the wall. The working device 1 lifted by the lifting ropes 104a, 104b swings significantly due to the reaction force from the wall generated by the work by the working mechanism 13, making it impossible to continue work and reducing work efficiency. As in this embodiment, by fixing the position to the wall 101 in the hoistway 100 using the position fixing mechanisms 15-18, the swinging due to the reaction force is reduced, making it possible to continue stable work and suppressing a decrease in work efficiency.

[0041] 8, when the working device 1 is fixed to a wall in a portion where there is an entrance opening, the distance between contact members 15g and 15h in the position fixing mechanism 15 is set to be wider than the entrance opening. Also, in this embodiment, the position fixing mechanisms 15-18 are operated relative to the wall in the rear direction of the entrance, but the position fixing mechanisms 15-18 may be operated relative to the walls in the left and right directions.

[0042] Next, the configuration of the control device 23 will be described. Fig. 10 is a schematic configuration diagram of the control device 23 according to the first embodiment of the present invention. The control device 23 is composed of an information recording unit 81, an operation 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 support mechanism control unit 87, and a position fixing mechanism control unit 88.

[0043] The information recording unit 81 records information about work in the elevator shaft 100. Work in the working device 1 is carried out by the lifting mechanisms 103a and 103b, the horizontal movement mechanism 12, the working mechanism 13, the work support mechanism 14, and the position fixing mechanisms 15-18 operating sequentially or in cooperation with each other for each work.

[0044] The information recording unit 81 manages the operation sequences of each mechanism and records commands for each operation. For example, the lifting mechanisms 103a and 103b have position commands for the height in the elevator shaft 100, the horizontal movement mechanism 12 has angle commands for rotation angles θH1 to θH4, the working mechanism 13 has angle commands for rotation angles θ1 to θ6 and commands for attaching and detaching hand tools, the working support mechanism 14 has rotation angle commands for the rotation mechanisms 14c and 14d, and the position fixing mechanisms 15 to 18 have rotation angle commands for the rotation mechanisms 15a to 18a.

[0045] The operation control unit 82 transmits commands to each mechanism based on the operation sequence of each mechanism and the commands for each mechanism managed by the information recording unit 81. The sensor acquisition unit 83 receives height H0 from the lower side of the elevator shaft 100 measured by the height detection device 25 shown in FIG.

[0046] The lifting mechanism control unit 84 sends lifting commands to the lifting mechanisms 103a and 103b until the position command for height matches the measured height H0.

[0047] The horizontal movement mechanism control unit 85 transmits a rotation command to the horizontal movement mechanism 12 until the rotation angles θH1 to θH4 approximately match the angle command.

[0048] The working mechanism control unit 86 transmits a rotation command to the working mechanism 13 until the rotation angles θ1 to θ6 approximately match the angle command. In the case of a command to attach or detach a hand tool, the detachment command is transmitted to the working mechanism 13 until the attachment or detachment of the hand tool is completed.

[0049] The work support mechanism control unit 87 transmits rotation commands to the rotation mechanisms 14c and 14d until the rotation angles of the rotation mechanisms 14c and 14d approximately match the rotation angle commands.

[0050] The position fixing mechanism control unit 88 transmits rotation commands until the rotation angles of the rotation mechanisms 15a to 18a approximately match the angle commands.

[0051] The operation of the working device 1 in the hoistway 100 will now be described. Fig. 11 is a schematic side view of the working device 1 lifted in the hoistway.

[0052] A height detection device 25 for measuring the height (position) of the working device 1 from the bottom surface of the hoistway is provided below the working device 1. The height detection device 25 measures the height (position) of the working device 1 by, for example, irradiating a laser beam toward the bottom surface of the hoistway and receiving the light reflected from the bottom surface of the hoistway.

[0053] The control device 23 controls the lifting mechanisms 103a and 103b to move the working device 1 until the height H0 measured by the height detection device 25 roughly matches the height at which the next task will be performed. When the working device 1 moves to the target height, the control device 23 stops the movement by the lifting mechanisms, sends a rotation command to the position fixing mechanisms 15-18, and moves the contact mechanisms 15e-18e and 15f-18f of the position fixing mechanisms 15-18 toward the wall 101, thereby fixing the working device 1 to the wall 101. Then, as described above, the control device 23 sends each command to the horizontal movement mechanism 12, the working mechanism 13, and the work support mechanism 14 to perform the task.

[0054] When all work at the height fixed to the wall 101 is completed, the control device 23 sends a rotation command to the position fixing mechanisms 15-18 to move the contact mechanisms 15e-18e and 15f-18f of the position fixing mechanisms 15-18 away from the wall 101, thereby releasing the fixation to the wall 101. The working device 1 then moves by the lifting mechanisms 103a and 103b until the height H0 measured by the height detection device 25 roughly matches the height at which the next work will be performed. This operation is repeated until all work in the hoistway 100 is completed.

[0055] By configuring and operating the working device 1 as described above, in this embodiment, the working range within the hoistway can be expanded, and work can be performed automatically and efficiently.

[0056] In this embodiment, all of the position fixing mechanisms 15 to 18 are utilized, but the same effect can be obtained even if, for example, position fixing mechanisms 15 and 16, position fixing mechanisms 17 and 18, position fixing mechanisms 15 and 18, position fixing mechanisms 16 and 17, etc. are arranged above or below or both, and on the left or right side or both of the working device 1.

[0057] In addition, although the horizontal movement mechanism 12 is mounted on the support 11, the same effect can be obtained by mounting it on the upper housing 21 or the lower housing 22. Furthermore, in this embodiment, the horizontal movement mechanism 12 is mounted on the support 11 or the upper housing 21 so that the horizontal movement mechanism 12 is on the upper side, the working mechanism 13 is on the lower side, and the work support mechanism 14 is on the lower side as shown in Fig. 2, but the configuration shown in Fig. 2 may be inverted upside down and mounted on the support 11 or the lower housing 22 so that the horizontal movement mechanism 12 is on the lower side, the working mechanism 13 is on the upper side, and the work support mechanism 14 is on the upper side. EXAMPLES

[0058] A working apparatus 1 according to a second embodiment of the present invention will be described. Configurations common to those in the first embodiment are given the same reference numerals, and detailed descriptions thereof will be omitted. Fig. 12 is a side view showing several examples of the horizontal movement mechanism 12 according to the second embodiment of the present invention.

[0059] Fig. 12(a) shows the same structure as in Example 1. In Fig. 12(a), links 12a, 12b, and 12c are lined up in order from the left, with links 12a, 12b, and 12c arranged bottom, top, bottom. In Fig. 12(b), links 12a, 12b, and 12c are arranged top, bottom, top. With the configuration in Fig. 12(b), the same effect as in Example 1 can be obtained.

[0060] In Fig. 12(c), the links 12a, 12b, and 12c are connected to the upper side. In Fig. 12(c), unlike the first embodiment, the overall height of the horizontal movement mechanism 12 is large, but the positions of the links 12a, 12b, and 12c are different, so that interference between them can be reduced.

[0061] Fig. 12(d) shows a structure opposite to that of Fig. 12(c), in which the links 12a, 12b, and 12c are connected to the lower side. In Fig. 12(d), unlike the first embodiment, the overall height of the horizontal movement mechanism 12 increases, but the positions of the links 12a, 12b, and 12c are different, so that interference between them can be reduced.

[0062] In FIG. 12(e), links 12a, 12b, and 12c are arranged to be at the same height, so that the overall height of the horizontal movement mechanism 12 can be made low.

[0063] In Fig. 12(f), the links 12a, 12b, and 12c change their posture by rotating around the rotation axes 51 to 53, respectively, while the work support mechanism 14 moves in the direction of the arrow in the figure by the linear motion mechanism 12h built into the link 12c. In Fig. 12(f), unlike the first embodiment, there is no rotation axis 54.

[0064] With the above-mentioned configuration of the horizontal movement mechanism 12, the working range in the elevator shaft can be expanded, and the work can be performed automatically and efficiently. In this embodiment, the number of links of the horizontal movement mechanism 12 is three, but this may be changed according to the application. In addition, the method of using the rotation mechanism and the linear motion mechanism in combination is not limited to this. EXAMPLES

[0065] A working device 1 according to a third embodiment of the present invention will be described. The same components as those in the first and second embodiments are given the same reference numerals, and detailed descriptions thereof will be omitted. Fig. 13 is a perspective view of a support 11 installed in the working device 1 according to the third embodiment of the present invention.

[0066] In Fig. 13, the support 11 is composed of an outer frame 11a, an inner frame 11b, and an extension mechanism 11c. The outer frame 11a is connected to the upper housing 21, and the inner frame 11b is connected to the lower housing 22. Since the outer frame 11a and the inner frame 11b are connected via the extension mechanism 11c, the support 11 can slide up and down as shown by the arrow in the figure. By sliding the support 11 up and down, the space between the upper housing 21 and the lower housing 22 becomes larger, and the range in which the working mechanism 13 can work becomes larger.

[0067] It is assumed that the working device 1 in Fig. 13 is placed on the ground. When the lifting ropes 104a, 104b are wound by the lifting mechanisms 103a, 103b, a pulling force is applied to the upper housing 21, so that the upper housing 21 moves upward in the figure. Since the outer frame 11a of the support 11 is connected to the upper housing 21, the outer frame 11a moves upward together with the upper housing 21. Since the inner frame 11b is connected to the outer frame 11a via the telescopic mechanism 11c, no pulling force is transmitted to the inner frame 11b until it exceeds the movable range of the telescopic mechanism 11c, so that the inner frame 11b does not move upward.

[0068] Since only the outer frame 11a of the support 11 moves upward, the space between the upper housing 21 and the lower housing 22 becomes larger. When the moving distance exceeds the movable range of the extension mechanism 11c, a pulling force is transmitted to the inner frame 11b, and the outer frame 11a and the inner frame 11b move upward. Then, due to the upward movement of the inner frame 11b, a pulling force is transmitted to the lower housing 22, and the working device 1 is lifted.

[0069] As described above, since the support 11 is composed of the outer frame 11a, the inner frame 11b, and the extension mechanism 11c, the space between the upper housing 21 and the lower housing 22 passively increases as the working device 1 lifts, so that the working range of the working mechanism 13 can be expanded inexpensively.

[0070] The telescopic mechanism 11c can obtain the same effect even if a linear motion method implemented in the position fixing mechanisms 15 to 18 is used. In this case, it can be actively implemented by the control device 23 regardless of the lifting operation of the working device 1. The support 11 is configured with an outer frame 11a, an inner frame 11b, a rotation mechanism, and a linear motion mechanism. The outer frame 11a is connected to the inner frame 11b via the linear motion mechanism, and the rotation mechanism is connected to the linear motion mechanism. When the rotation mechanism rotates, the outer frame 11a moves upward relative to the inner frame 11b following the linear motion mechanism. The configuration of the control device 23 at this time is shown in FIG. 14. FIG. 14 is a schematic configuration diagram of the control device 23 according to the third embodiment of the present invention.

[0071] In Fig. 14, a control unit for the support pillar 89 is added to the configuration in Fig. 10. The control unit for the support pillar 89 transmits a rotation angle command to the rotation mechanism until the rotation angle of the rotation mechanism roughly matches the rotation angle command.

[0072] According to this embodiment, since the support 11 is provided with the telescopic mechanism 11c that moves in the vertical direction, the range in which the working mechanism 13 can work can be enlarged, and workability can be improved. EXAMPLES

[0073] A fourth embodiment of the working device 1 according to the present invention will be described. Configurations common to the first to third embodiments are given the same reference numerals, and detailed descriptions thereof will be omitted. Fig. 15 is a perspective view of a position fixing mechanism 17 according to the fourth embodiment of the present invention. Below, portions different from the first embodiment will be described.

[0074] Contact mechanisms 17e, 17f are installed on the position fixing mechanism 17 via rotation mechanisms 17i, 17j. The rotation mechanisms 17i, 17j rotate about rotation shafts 62, 63, and rotate the contact mechanisms 17e, 17f relative to the position fixing mechanism 17. The rotation shafts 62, 63 of the rotation mechanisms 17i, 17j are perpendicular to the wall in the elevator shaft 100, and rotate the contact mechanisms 17e, 17f in the vertical direction.

[0075] When the rotation mechanisms 17i and 17j rotate, the contact mechanisms 17e and 17f rotate around the y-axis as indicated by the arrows. The contact mechanisms 17e and 17f include contact members 17h and 17g that come into contact with the wall 101 of the elevator shaft 100, respectively.

[0076] In the left diagram of Fig. 15, the contact mechanisms 17e and 17f are positioned so that their longitudinal directions face the vertical direction (z direction). When the contact mechanisms 17e and 17f are rotated horizontally by the rotation mechanisms 17i and 17j, the contact mechanisms 17e and 17f are positioned so that their longitudinal directions face the horizontal direction (x direction) as shown in the right diagram of Fig. 15.

[0077] When the working device 1 is carried into the hoistway 100, the working device 1 is carried in through an entrance of the hoistway 100. If the width of the position fixing mechanism 17 is wider than the entrance of the hoistway 100, it becomes difficult to carry the working device 1 into the hoistway 100. Therefore, in this embodiment, the contact mechanisms 17e and 17f are positioned so that their longitudinal directions face the vertical direction (z direction) (left diagram of FIG. 15), and the width of the position fixing mechanism 17 is made smaller than the width of the entrance of the hoistway 100 so that the working device 1 is carried in through the entrance of the hoistway 100. This makes it possible to prevent the working device 1 from interfering with the entrance of the hoistway 100.

[0078] After the working device 1 is carried into the hoistway 100, it is positioned so that the longitudinal direction of the contact mechanisms 17e, 17f faces the horizontal direction (x direction) (right diagram in FIG. 15). In the state of the right diagram in FIG. 15, the width of the position fixing mechanism 17 becomes larger than the width of the entrance of the hoistway 100, so that the contact members 17h, 17g of the position fixing mechanism 17 can come into contact with the wall 101 of the hoistway 100. Although not explained, the same applies to the position fixing mechanisms 15, 16, 18.

[0079] According to this embodiment, the workability of loading the working device 1 into the elevator shaft 100 can be improved, and after the working device 1 is loaded into the elevator shaft 100, the contact members 17h, 17g of the position fixing mechanism 17 can be brought into contact with the wall 101 of the elevator shaft 100. EXAMPLES

[0080] A fifth embodiment of the working device 1 according to the present invention will be described. Configurations common to the first to fourth embodiments are given the same reference numerals, and detailed descriptions thereof will be omitted. Fig. 16 is a perspective view of a position fixing mechanism 17 according to the fifth embodiment of the present invention. Below, portions different from the fourth embodiment will be described.

[0081] In this embodiment, the contact mechanisms 17e and 17f are provided with driven wheels 17k and 17l, respectively. The driven wheels 17k and 17l are provided outward in the x-axis direction from the contact members 17h and 17g, respectively, with the longitudinal directions of the contact mechanisms 17e and 17f facing the horizontal direction (x-direction), and protrude in the positive direction of the y-axis. That is, the driven wheels 17k and 17l are provided so as to protrude toward the wall 101 of the elevator shaft 100. The driven wheels 17k and 17l are connected to a suspension mechanism (not shown) and can follow the unevenness of the wall 101 of the elevator shaft 100, but when a strong load is applied in the negative direction of the y-axis, they are recessed in the negative direction of the y-axis and stored. In this state, the contact members 17h and 17g protrude in the y-axis direction from the driven wheels 17k and 17l.

[0082] After the working device 1 is loaded into the elevator shaft 100, when the contact mechanisms 17e, 17f move toward the wall 101, the driven wheels 17k, 17l first come into contact with the wall 101. However, if the contact mechanisms 17e, 17f are moved further and a heavy load is applied, the driven wheels 17k, 17l will be recessed in the negative direction of the y-axis, and the contact members 17h, 17g will come into contact with the wall 101.

[0083] FIG. 17 is a side view of the working device 1 in the hoistway 100 according to the fifth embodiment of the present invention. When the lifting ropes 104a, 104b are raised and lowered in a state where the driven wheels 17k, 17l are in contact with the wall 101 of the hoistway 100, the working device 1 rises and falls while the driven wheels 17k, 17l follow the wall 101. In other words, the driven wheels 17k, 17l run on the wall 101 in the hoistway 100. Therefore, the working device 1 can reduce the swaying that occurs during the rise and fall. Then, when the working device 1 moves to the target height, the position fixing mechanism 17 further presses the contact mechanisms 17e, 17f against the wall 101, and applies a reaction force from the wall 101 to the driven wheels 17k, 17l. The driven wheels 17k, 17l receive a reaction force from the wall 101 and are housed in the contact mechanisms 17e, 17f, and the contact members 17h, 17g come into contact with the wall 101 to fix the working device 1. Although not described, the same applies to the driven wheels 15k, 15l, 16k, 16l, 18k, 18l.

[0084] According to this embodiment, the oscillation of the working device 1 when it is raised and lowered within the elevator shaft 100 can be suppressed, the time required to wait for the oscillation to stop after the lift and the time required to correct positional deviation due to the oscillation can be suppressed, and work by the working mechanism 13 can be started early, improving work efficiency.

[0085] The present invention is not limited to the above-mentioned embodiment, and various modifications are included. For example, the above-mentioned embodiment has been described in detail to easily explain the present invention, and is not necessarily limited to those including all of the configurations described. Also, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Also, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration. [Explanation of symbols]

[0086] 1...working device, 11...support, 11a...outer frame, 11b...inner frame, 11c...telescopic mechanism, 12...horizontal movement mechanism, 12a, 12b, 12c...link, 12d, 12e, 12f, 12g...rotation mechanism, 12h...linear motion mechanism, 13...working mechanism, 13a, 13b, 13c, 13d, 13e, 13f...rotation mechanism, 13g...hand tool detachment mechanism, 13h...hand tool, 14...work Support mechanism, 14a...Connection mechanism, 14b...Linear motion mechanism, 14c, 14d...Rotation mechanism, 14e, 14f...Gripping mechanism, 15...Position fixing mechanism, 15a...Rotation mechanism, 15e...Contact mechanism, 15 g,15h...contact member, 15k,15l...driven wheel, 16...position fixing mechanism, 16g,16h...contact member, 16k,16l...following wheel, 17...position fixing mechanism, 17a...rotation mechanism, 17 b...transmission mechanism, 17c...engagement mechanism, 17d...linear motion 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 positioning, 51 to 63...rotating shaft, 81...information recording unit, 82...motion control unit, 83...sensor acquisition unit, 84...lifting mechanism control unit, 85...horizontal movement mechanism control unit, 86...work mechanism control unit, 87...work support mechanism control unit, 88...position fixing mechanism control unit, 89...column control unit, 100...hoistway, 101...wall, 103a, 103b...lifting mechanism, 104a, 104b...lifting rope

Claims

1. A work device that ascends and descends in a hoistway to perform work in the hoistway, A housing having a support; a horizontal movement mechanism provided on the support or the housing and movable on a horizontal plane; a working mechanism having a plurality of rotation shafts and provided in the horizontal movement mechanism to perform work within the hoistway; a work support mechanism that supports a work performed by the working mechanism and is provided on the horizontal movement mechanism; A working device comprising:

2. The working device according to claim 1, The horizontal movement mechanism is composed of a plurality of links, The plurality of links are rotatably connected by a rotation mechanism, A working device, wherein the working mechanism and the work support mechanism are disposed on different links.

3. The working device according to claim 1 or 2, The housing is composed of an upper housing and a lower housing, The working device, wherein the upper housing and the lower housing are connected by the support.

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

5. The working device according to claim 1, The working device is characterized in that the housing is provided with a position fixing mechanism that fixes the working device in contact with a wall within the elevator shaft.

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

7. The working device according to claim 6, A working device characterized in that an assistance tool is detachably connected to the work assistance mechanism.

8. The working device according to claim 3, The work device is characterized in that the support pillar is provided with an extension mechanism that allows it to be extended and contracted in the height direction.

9. The working device according to claim 5, a rotation mechanism having a rotation axis perpendicular to the wall of the elevator shaft and configured to rotate the contact mechanism about the rotation axis, the rotation mechanism being ...

10. The working device according to claim 9, The working device, wherein the contact mechanism includes a contact member that contacts a wall within the elevator shaft.

11. The working device according to claim 10, The working device, characterized in that the contact mechanism is provided with a driven wheel that runs on a wall within the hoistway when the working device moves up and down within the hoistway.

12. The working device according to claim 11, A working device characterized in that the driven wheels are provided with suspension mechanisms.

Images