Work device in hoistway

Abstract

To provide a work device in a hoistway capable of preventing damages due to operation errors.SOLUTION: The present invention comprises a main body which has a working part to work for work objects in a hoistway, and is capable of moving up / down in the hoistway and an input unit for moving up / down accepting input of ascending and descending commands to the main body. The main body does not move up / down and the working part stops working when there is an input to the input unit during the working at the working part.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an in-hoistway working device for performing work in an elevator hoistway. [Background technology]

[0002] Conventionally, an in-hoistway working device (hereinafter also simply referred to as "working device") has been known that automatically positions a guide rail (work object) when the elevator guide rail is installed in the hoistway (see Patent Document 1).

[0003] As shown in Figure 5, this working device 100 comprises a jig 101 that holds a pair of guide rails G at both ends, a jig holder 102 that presses both ends horizontally against mountable surfaces on opposing sides of the elevator shaft where the guide rails G can be installed, a positioning mechanism 103 that is arranged between the jig 101 and the jig holder 102 and electrically changes and fixes the relative position of the jig 101 with respect to the jig holder 102, and a control device 104 that automatically controls the positioning operation by the positioning mechanism 103 so that the jig 101 takes a predetermined relative position with respect to a reference installed in the elevator shaft.

[0004] When positioning the guide rail G (so-called centering work), this working device 100 is installed on a working platform 106 suspended from a crane 105 placed at the top of the elevator shaft. The crane 105 raises and lowers the working platform 106 to change the vertical position of the working platform 106, and with the working platform 106 stopped at this changed position, the working device 100 performs automatic positioning (centering work) of the guide rail G. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-142622 Summary of the Invention [Problem to be solved by the invention]

[0006] In the case of the above-mentioned working device 100, if the worker raises or lowers the work platform due to an operational error by the worker, such as operating the lifting machine 105 in an attempt to operate the working device 100 while the working device 100 is performing work, or operating the lifting machine 105 while forgetting that the working device 100 is performing work, the working device 100 or the work object may be damaged.

[0007] Therefore, an object of the present invention is to provide an in-hoistway working device that can prevent damage caused by operational errors. [Means for solving the problem]

[0008] The in-hoistway working device of the present invention is a main body having a working section that works on a work object in the hoistway and that can move up and down the hoistway; an input unit for raising and lowering the main body unit, When the input is received from the lifting input unit while the work unit is performing the work, the main body unit does not lift or lower and the work unit stops performing the work.

[0009] With this configuration, even if the working unit attempts to raise or lower the main body unit while it is working, the main body unit will not rise or fall and the working unit will stop the work, allowing the worker or other person to confirm whether to raise or lower the main body unit or operate the working unit, thereby preventing damage due to operating errors.

[0010] Further, in the in-hoistway working device, The working unit includes: an action portion that comes into contact with the work object during the work; a position change unit that can change the position of the action unit, When the working unit stops the work in response to the input to the lifting input unit, the action unit may move to a retracted position that is a position away from the work object.

[0011] With this configuration, the action part that comes into contact with the work object during work moves to an evacuation position (a position away from the work object), thereby preventing damage caused by the action part coming into contact with the work object when the work part is stopped.

[0012] Further, the in-hoistway working device is a detection unit capable of detecting that the action unit is in the retracted position, When the working unit stops working due to the input to the lifting input unit, if the detection unit detects that the action unit is in the retracted position, the main body unit may be raised or lowered based on the input to the lifting input unit.

[0013] With this configuration, the main body part rises and falls after it is detected that the working part is in the retracted position (i.e., that the working part is away from the work object), thereby reliably preventing damage to the working part or the work object when the main body part rises and falls after the working part has stopped.

[0014] Further, in the in-hoistway working device, The working unit may be in an inoperable state while the main body unit is ascending or descending, and may be in an operable state when the main body unit stops ascending or descending.

[0015] With this configuration, even if the working unit is operated by mistake while the main body unit is being raised or lowered, the working unit is unable to operate while being raised or lowered, thereby preventing damage to the working unit, etc.

[0016] Further, the in-hoistway working device is a work input unit for inputting instructions to the work unit, The working unit may be configured not to start the work unless there is an input from the work input unit after the main body unit stops moving up and down.

[0017] According to this configuration, the working unit will not start working until an input is received from the work input unit after the main body unit has stopped moving up and down, so that the working unit can perform work more safely.

[0018] Further, the in-hoistway working device is a lifting means for lifting and lowering the main body, The lifting means may lift the main body based on the input from the lifting input section.

[0019] In this way, by providing the lifting means separately from the main body, the structure of the main body can be simplified and made smaller. [Effects of the Invention]

[0020] As described above, according to the present invention, it is possible to provide an in-hoistway working device that can prevent damage due to operational errors. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a schematic diagram for explaining the configuration of an in-hoistway working device according to this embodiment. [Figure 2] FIG. 2 is a functional block diagram of the in-hoistway working device. [Figure 3] FIG. 3 is a flow chart showing the operation of the in-hoistway working device. [Figure 4] FIG. 4 is a functional block diagram of an in-hoistway working device according to another embodiment. [Figure 5] FIG. 5 is a schematic diagram for explaining the configuration of a conventional in-hoistway working device. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, one embodiment of the present invention will be described with reference to FIGS.

[0023] 1, the in-hoistway working device 1 according to this embodiment has a working robot (working unit) 3 that works on a work object in the hoistway S, and is equipped with a main body 2 that can move up and down the hoistway, and a lift controller (lift input unit) 6 that inputs up and down commands to the main body 2. The in-hoistway working device 1 of this embodiment performs work within the hoistway S, for example, fixing a guide rail to the wall surface of the hoistway with anchor bolts. In this work, the work object is the guide rail, rail brackets for fixing the guide rail to the wall surface of the hoistway S, anchor bolts, the wall surface of the hoistway S, etc.

[0024] Specifically, the in-hoistway working device 1 comprises a main body 2 that can move up and down within the hoistway S, a lifting means 5 that raises and lowers the main body, and a lifting controller 6 that operates the lifting means 5.

[0025] The main body 2 has a work robot 3 and a work floor 4 on which the work robot 3 is placed. The work floor 4 has a floor portion 41 that extends horizontally and a fence 42 that extends upward from the periphery of the floor portion 41.

[0026] The work robot 3 has an action unit 31 that comes into contact with the work object during work, a position change unit 32 that can change the position of the action unit 31, a control unit 33 that controls the work robot 3, etc., and a robot operation unit (work input unit) 34 that inputs instructions to the work robot 3. The work robot 3 also has a home position detection unit (detection unit) 35 that can detect when the action unit 31 is in the home position (retracted position).

[0027] The action part 31 is a jig, a gripping part, or the like, and is a part that comes into contact with and acts on a work object when the working robot 3 is working.

[0028] The position changer 32 includes a robot arm, an actuator, etc., and changes the position of the action unit 31. The position changer 32 of this embodiment is configured by a robot arm, and the action unit 31 is disposed at the tip of this robot arm.

[0029] The robot operation unit 34 is a controller or operation panel for operating the robot, and the robot operation unit 34 in this embodiment has a work start button 341.

[0030] The home position detector 35 outputs a detection signal when it detects that the action unit 31 is in a retracted position, which is a position away from the work object. In this embodiment, the retracted position is the initial position (home position) when the power is turned on and the work robot 3 is ready to work.

[0031] The control unit 33 is connected to the robot operation unit 34 and the lift controller 6, and controls the working robot 3 to perform a predetermined task (work movement) through input operations on the robot operation unit 34, and controls the lifting means 5 through input operations on the lift controller 6. In this embodiment, when there is an input to the lift controller 6 while the working robot 3 is working, the control unit 33 controls each component of the in-hoistway working apparatus 1 so that the main body 2 does not rise or fall and the working robot 3 stops working. The specific control of each component by this control unit 33 will be described later, along with the specific operation of the in-hoistway working apparatus 1 when working in the hoistway S.

[0032] The lifting means 5 is a lifting machine placed at the top of the hoistway S. This lifting means 5 raises and lowers the suspended working platform 4. The lifting means 5 in this embodiment is connected to the control unit 33 of the work robot 3, and receives an up signal or a down signal from the control unit 33 to perform lifting or lowering (i.e., raise or lower the working platform 4).

[0033] The lifting controller 6 is a controller for raising and lowering the work platform 4 by the lifting means 5, and has an up button and a down button. The lifting controller 6 of this embodiment continues to output an up command signal while the up button is pressed, and continues to output a down command signal while the down button is pressed.

[0034] Next, specific operations of the in-hoistway working device 1 will be described with reference to FIG.

[0035] When the worker inputs an instruction from the lift controller 6 (for example, presses the up button) while the work robot 3 is working in the elevator shaft S, the lift controller 6 outputs an up command signal to the control unit 33.

[0036] When the control unit 33 receives an up command signal from the lift controller 6 while the work robot 3 is working, i.e., when it detects an input from the lift controller 6 (step S1), it stops the work (movement for work) of the work robot 3 (step S2).

[0037] Next, the control unit 33 drives the position change unit 32 to return the acting unit 31 to the home position (step S3). Then, when the home position detection unit 35 detects that the acting unit 31 is at the home position (step S4: Yes), the control unit 33 controls the lifting means 5 to lift the work platform 4, that is, starts hoisting by the lifting machine (step S6). Note that the worker has been pressing the lift button on the lifting controller 6 since step S1.

[0038] On the other hand, when the home position detection unit 35 cannot detect that the action unit 31 is in the home position (step S4: No), the control unit 33 repeats steps S3 to S5 until a predetermined time has elapsed (step S5: No). Then, when the home position detection unit 35 cannot detect that the action unit 31 is in the home position (step S4: No) and the predetermined time has elapsed (step S5: Yes), the control unit 33 stops the in-hoistway working device 1.

[0039] When the work platform 4 starts to rise, the control unit 33 controls the lifting means 5 to continue raising the work platform 4 while the lift button on the lifting controller 6 is being pressed, i.e., while the control unit 33 is receiving a lift instruction signal from the lifting controller 6 (step S7: Yes), and when the work platform 4 reaches the desired height, the worker stops pressing the lift button on the lifting controller 6, i.e., when the output of the lift instruction signal by the lifting controller 6 stops (step S7: No), the control unit 33 controls the lifting means 5 to stop the work platform 4 (step S8).

[0040] In addition, in this embodiment, even if there is an input to the robot operation unit 34 while the work platform 4 is rising or falling, the control unit 33 does not accept this input (i.e., it keeps the work robot 3 stopped), but accepts this input when there is an input to the robot operation unit 34 after the rising or falling of the work platform 4 has stopped (i.e., it controls the work robot 3 to perform an action corresponding to the input).

[0041] After the work platform 4 stops, the control unit 33 keeps the work robot 3 stopped until the work start button 341 of the robot operation unit 34 is pressed (step S9: No), and when the work start button 341 of the robot operation unit 34 is pressed (step S9: Yes), the work robot 3 starts working (step S10).

[0042] The above-described in-hoistway working device 1 has a working robot (working unit) 3 that works on a work object in the hoistway S, and is equipped with a main body unit 2 that can move up and down the hoistway S, and a lifting controller (lifting input unit) 6 that inputs up and down commands to the main body unit 2. When an input is received from the lifting controller while the working robot 3 is working, the main body unit 2 does not move up or down and the working robot 3 stops working.

[0043] With this configuration, even if the work robot 3 attempts to raise or lower the main body 2 while it is working, the main body 2 will not rise or fall and the work robot 3 will stop working, allowing the worker to check whether they want to raise or lower the main body 2 or operate the work robot 3, thereby preventing damage to the work robot 3 or the work object due to an operating error. In other words, by stopping both the raising and lowering of the main body 2 and the work of the work robot 3, it is possible to check whether the worker operated the lift controller 6 despite intending to operate the work robot 3, or whether they operated the lift controller 6 forgetting that the work robot 3 was working.

[0044] Furthermore, in the elevator shaft work device 1 of this embodiment, the work robot (working unit) 3 has an action unit 31 that comes into contact with the work object during work, and a position change unit 32 that can change the position of the action unit 31, and when the work robot 3 stops working due to an input to the elevator controller (elevation input unit) 6, the action unit 31 moves to a home position (retracted position) that is away from the work object.

[0045] With this configuration, the action part 31 that comes into contact with the work object during work moves to the home position (a position away from the work object), thereby preventing damage to the work robot 3, the work object, etc. that would occur if the action part 31 came into contact with the work object when the work robot 3 was stopped.

[0046] The in-hoistway working device 1 of this embodiment also includes a home position detection unit (detection unit) 35 that can detect that the action unit 31 is in the home position (retracted position). When the work robot (working unit) 3 stops working due to an input to the lift controller (lift input unit), if the home position detection unit 35 detects that the action unit 31 is in the home position, the main body unit 2 moves up and down based on the input to the lift controller 6.

[0047] With this configuration, the main body 2 moves up and down after it is detected that the action part 31 is in the home position (i.e., that the action part 31 is located away from the work object), thereby reliably preventing damage to the work robot 3 or the work object when the main body 2 moves up and down after the work robot 3 has stopped.

[0048] Furthermore, in the in-hoistway working device 1 of this embodiment, the working robot (working unit) 3 is in a state where it cannot work while the main body unit 2 is rising or falling, and becomes able to work when the main body unit 2 stops rising or falling.

[0049] With this configuration, even if the work robot 3 is operated by mistake while the main body 2 is being raised or lowered, the work robot 3 is unable to work while being raised or lowered, thereby preventing damage to the work robot 3, etc.

[0050] In addition, the elevator shaft working device 1 of this embodiment is equipped with a work start button (work input unit) 341 for inputting instructions to the working robot (working unit) 3, and the working robot 3 will not start working unless there is input from the work start button 341 after the main body unit 2 has stopped rising and falling.

[0051] With this configuration, the work robot 3 will not start work until an input is made from the work start button 341 after the main body 2 has stopped moving up and down, making it possible for the work robot 3 to work more safely.

[0052] In addition, the elevator shaft working device 1 of this embodiment is equipped with a lifting means 5 that raises and lowers the main body 2, and the lifting means 5 raises and lowers the main body 2 based on input from an elevator controller (lifting input unit) 6.

[0053] In this way, by providing the lifting means 5 separately from the main body 2, the structure of the main body 2 can be simplified and made smaller.

[0054] The in-hoistway working device of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, the configuration of one embodiment can be added to the configuration of another embodiment, or part of the configuration of one embodiment can be replaced with the configuration of another embodiment. Furthermore, part of the configuration of one embodiment can be deleted.

[0055] The work objects of the in-hoistway work device 1 in the above embodiment are, but are not limited to, guide rails, rail brackets, anchor bolts, and the wall surface of the hoistway S. The work object may be anything that can be worked on in the hoistway, such as the building beams of the hoistway S, parts that make up the door devices at the landings on each floor, the car hoist, the counterweight guide rails, and other objects that are arranged in the hoistway.

[0056] Furthermore, in the in-hoistway working device 1 of the above embodiment, when an input is received from the lift input unit (lift controller in the above embodiment) 6 while the working unit (work robot in the above embodiment) 3 is working, the working unit 3 stops working (power is not cut off), but the present invention is not limited to this configuration and may be configured so that the power to the working unit 3 is cut off. In this configuration, the power to the working unit 3 must be turned on when the working unit 3 is to be moved again.

[0057] Furthermore, in the in-hoistway working device 1 of the above embodiment, when there is an input from the lift input unit 6 while the working unit 3 is working, the main body unit 2 moves up and down by continuing to input to the lift input unit 6 (in the example of the above embodiment, by continuing to press the up or down button) after the working unit 3 stops working, but this configuration is not limited. A configuration may also be adopted in which when there is an input from the lift input unit 6 while the working unit 3 is working, the main body unit 2 also remains stopped after the working unit 3 stops working.

[0058] Furthermore, in the in-hoistway working device 1 of the above embodiment, when an input is received from the lift input unit 6 while the working unit 3 is working, the working unit 3 stops working, and after the main body unit 2 has risen and fallen and stopped, the working unit 3 does not start working until the work start button 341 is pressed, but this configuration is not limited. The working unit 3 may also be configured to automatically start working when a predetermined time has passed after the main body unit 2 has risen and fallen and stopped.

[0059] Furthermore, although the working unit 3 in the above embodiment is a working robot in which the part that changes the position of the acting unit 31 is a robot arm (an arm with multiple joints), the present invention is not limited to this configuration. The working unit 3 may also be a working device (for example, a guide rail installation device) in which the part that changes the position of the acting unit 31 is configured with an actuator or the like. In other words, the working unit 3 may be any device that performs work on a work object in the hoistway S.

[0060] Furthermore, although the working unit 3 in the above embodiment is provided with one acting unit 31 and one position changing unit 32, the configuration is not limited to this. The working unit 3 may have a plurality of acting units 31 and a plurality of position changing units 32.

[0061] Furthermore, in the working unit 3 of the above embodiment, the retracted position to which the action unit 31 moves (towards) when an input is made to the lifting / lowering input unit 6 during work is the home position (initial position), but this is not limited to this configuration. The retracted position may be a position different from the home position and away from the work object. Note that in a configuration in which the power supply to the working unit 3 is cut off when an input is made to the lifting / lowering input unit 6 during work by the working unit 3, the action unit 31 may be configured to move to the retracted position by the elastic force of an elastic member such as a spring.

[0062] Furthermore, although the main body 2 in the above embodiment has the working unit 3 and the working floor 4, it is not limited to this configuration. The main body 2 may be configured such that the working unit (device that performs work) 3 and the working floor (part that is raised and lowered by the lifting means 5) 4 are integrated.

[0063] Furthermore, although the main body 2 in the above embodiment is raised and lowered by the lifting means 5 that is separate from the main body 2, the present invention is not limited to this configuration. The main body 2 may be provided with the lifting means 5 and may be self-propelled on guide rails or the like. Furthermore, when installing an elevator, a temporary car and a hoist for the car may be used as the working platform 4 and the lifting means 5.

[0064] Furthermore, in the in-hoistway working device 1 of the above embodiment, the lift input unit 6 and the robot operation unit 34 are arranged separately, but they may also be arranged integrally (on the same operation panel, for example).

[0065] Furthermore, in the in-hoistway working device 1 of the above embodiment, the lift input unit 6 is configured so that the main body 2 continues to rise or fall only while the up or down button is continuously pressed, but this configuration is not limited to this. For example, the lift input unit 6 may be configured so that pressing the up or down button once causes the main body 2 to start rising or falling, and pressing the stop button causes the main body 2 to stop rising or falling.

[0066] Furthermore, in the in-hoistway working device 1 of the above embodiment, the working unit 3 has the home position detection unit 35, but is not limited to this configuration. The working unit 3 does not necessarily have to have the home position detection unit 35.

[0067] The in-hoistway working device 1 may also have a lamp that lights up when it is detected that the action part 31 is in the retracted position (home position), allowing the worker or the like to recognize that the main body part 2 is ready to move.

[0068] The in-hoistway working device 1 may also have a lamp that lights up when the work start button 341 is not pressed after the main body 2 has stopped moving up and down. This makes it possible to prompt the worker or the like to operate the work start button 341 after the main body 2 has stopped moving up and down.

[0069] Furthermore, in the in-hoistway working device 1 of the above embodiment, the lifting / lowering input unit (lifting / lowering controller) 6 is connected to the control unit 33 of the working unit 3, and an up or down instruction signal from the lifting / lowering input unit 6 is transmitted to the lifting means 5 via the control unit 33 of the working unit 3, but this configuration is not limited thereto. For example, as shown in FIG. 4 , the lifting / lowering input unit (lifting / lowering controller) 6 of the in-hoistway working device 1A may be connected to the lifting means 5, and an up or down instruction from the lifting / lowering input unit 6 may be transmitted directly to the lifting means 5. In this case, when the lifting / lowering means 5 raises or lowers the main body 2 in response to an input from the lifting / lowering input unit 6, the lifting / lowering means 5 inquires of the control unit 33A of the working unit 3 whether or not the main body 2 can be raised or lowered. After the control unit 33A determines whether or not the main body 2 can be raised or lowered, the control unit 33A raises or lowers the main body 2 by receiving a permission signal from the control unit 33A. The lifting / lowering means 5 and the control unit 33A transmit and receive information or signals via wire or wirelessly. [Explanation of symbols]

[0070] DESCRIPTION OF SYMBOLS 1, 1A...working device in elevator shaft, 2...main body, 3...working robot (working unit), 31...action unit, 32...position change unit, 33, 33A...control unit, 34...robot operation unit (work input unit), 341...work start button, 35...home position detection unit (detection unit), 4...working floor, 41...floor unit, 42...fence, 5...lifting means, 6...lifting controller (lifting input unit), 100...working device, 101...jig, 102...jig receiver, 103...positioning mechanism, 104...control device, 105...lifting machine, 106...working floor, G...guide rail, S...elevator shaft

Claims

1. a main body having a working section that works on a work object in the hoistway and that can move up and down the hoistway; an input unit for raising and lowering the main body unit, When the input is received from the lifting input unit while the working unit is performing the work, the main body does not lift or lower and the working unit stops the work.

2. The working unit includes: an action portion that comes into contact with the work object during the work; a position change unit that can change the position of the action unit, The in-hoistway working device according to claim 1 , wherein when the input to the lifting input unit causes the working unit to stop the work, the action unit moves to a retracted position that is a position away from the work object.

3. a detection unit capable of detecting that the action unit is in the retracted position, 3. The in-hoistway working device according to claim 2, wherein when the input to the lifting input unit causes the working unit to stop working, and the detection unit detects that the action unit is in the retracted position, the main body unit lifts or lowers based on the input to the lifting input unit.

4. The in-hoistway working device according to claim 3 , wherein the working unit is in an inoperable state while the main body unit is ascending or descending, and is in an operable state when the main body unit stops ascending or descending.

5. a work input unit for inputting instructions to the work unit, The in-hoistway working device according to claim 4 , wherein the working unit does not start the work after the main body unit stops the lifting and lowering without an input from the work input unit.

6. a lifting means for lifting and lowering the main body, The in-hoistway working device according to any one of claims 1 to 5, wherein the lifting means lifts and lowers the main body based on the input from the lifting input section.

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