Installation device for work in hoistways

Abstract

To provide an installation device for a work in a hoistway that is able to reduce occurrences of rattling and overturning.SOLUTION: The present application relates to the technical field of a work, in particular to an installation device for a work in a hoistway, comprising: a base; a linear motion mechanism disposed on the base; and a mounting member disposed on the base, wherein the linear motion mechanism has a plurality of first points of application when coming into contact with a hoistway wall, the plurality of first points of application form a first plane; the mounting member has at least one point of contact with the hoistway wall when working, and a distance between the point of contact and the first plane is equal to or less than a first threshold. Accordingly, when a work such as boring a hole in the hoistway, inserting an anchor bolt, or fixing a guide rail, is needed, occurrences of rattling and overturning due to a rotational torque during the work can be reduced.SELECTED DRAWING: Figure 3B

Description

[Technical field]

[0001] The present application belongs to the field of work technology and in particular relates to an installation device for work in a hoistway. [Background technology]

[0002] In the construction industry, installing components typically required for work within a hoistway in a building, such as an elevator hoistway, can result in high wear and / or high costs.

[0003] For example, installing an elevator guide rail in an elevator hoistway of a building requires a technician or installer to drill holes in the hoistway wall, insert anchor bolts, and secure the guide rail.

[0004] In the prior art, in order to maintain the construction capacity to work in the hoistway when the labor force is reduced, installation equipment capable of automatically or semi-automatically performing work steps in the hoistway was used to perform the work. For example, the installation equipment can automatically perform tasks such as drilling holes in the hoistway wall, inserting anchor bolts, clamping gaskets, and fixing guide rails.

[0005] However, conventional installation equipment can wobble when performing tasks such as drilling holes in the hoistway wall, inserting anchor bolts, clamping gaskets, and fixing guide rails. For example, the installation equipment can wobble when drilling holes. Summary of the Invention

[0006] In order to solve such problems, the present application provides an installation device for work in an elevator shaft that can reduce the occurrence of rattling or tipping caused by rotational torque received during work that requires drilling holes in the elevator shaft wall, inserting anchor bolts, and fixing guide rails.

[0007] In a first aspect, an embodiment of the present application provides an installation device comprising a base portion, a linear motion mechanism provided on the base portion, and a mounting member provided on the base portion, wherein the linear motion mechanism has a plurality of first points of application when in contact with the hoistway wall, the plurality of first points of application forming a first plane, and the mounting member has at least one contact point with the hoistway wall during operation, and the distance between the contact point and the first plane is equal to or less than a first threshold value.

[0008] In one possible embodiment of the first aspect above, the linear motion mechanism is extendable and retractable in a first direction to contact the hoistway wall.

[0009] In one possible embodiment of the above first aspect, the linear motion mechanism includes at least three linear motion parts, at least two of which are disposed on opposite sides of the base portion to provide a supporting force against the base portion.

[0010] In one possible embodiment of the first aspect, the mounting member includes at least one robot arm, the robot arm having at least one contact point with the hoistway wall during operation, and a moment experienced by the contact point being balanced relative to a moment experienced by the plurality of first application points.

[0011] In one possible embodiment of the first aspect above, the at least one robot arm includes a free end that moves to abut against the elevator shaft wall at an abutment point such that a plane perpendicular to the gravity direction of the base portion is parallel to the first plane.

[0012] In one possible embodiment of the first aspect above, the at least one robotic arm includes a first robotic arm including a plurality of joints and a connecting rod connected by the plurality of joints.

[0013] In one possible embodiment of the first aspect above, the at least one robotic arm includes a second robotic arm, the second robotic arm including a connecting rod, the connecting rod being extendable and rotatable about a predetermined axis.

[0014] In one possible embodiment of the first aspect, the first robot arm is disposed at a first position on the base including one side of the direction of gravity.

[0015] In one possible implementation of the first aspect, the second robot arm is positioned at a second location on the base that includes a side opposite to the direction of gravity.

[0016] In one possible embodiment of the above first aspect, the base portion further comprises a frame portion.

[0017] In one possible embodiment of the first aspect, the frame portion includes at least one robot arm, the robot arm having at least one contact point with the hoistway wall during operation, and a moment experienced by the contact point being balanced relative to a moment experienced by the plurality of first application points.

[0018] In one possible embodiment of the first aspect above, the at least one robotic arm includes a third robotic arm including a plurality of joints and a connecting rod connected by the plurality of joints.

[0019] In one possible embodiment of the first aspect above, the at least one robotic arm includes a fourth robotic arm, the fourth robotic arm including a connecting rod, the connecting rod being extendable and rotatable about a predetermined axis.

[0020] In one possible implementation of the first aspect above, the third robot arm is provided at a third location on the frame portion, including on the inside or outside of the frame portion.

[0021] In the invention of the first aspect, the fourth robot arm is provided at a fourth position on the base portion including the side opposite to the direction of gravity.

[0022] In one possible embodiment of the above first aspect, the installation device further comprises a position acquisition member for acquiring a displacement of the installation device or a distance of its current position within the hoistway from the bottom of the hoistway or a distance from the hoistway wall. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 illustrates an exemplary structure of an elevator hoistway, according to some embodiments of the present application. [Figure 2A] FIG. 2 is a schematic structural diagram of an installation device 02 according to some embodiments of the present application. [Figure 2B] FIG. 2B is a cross-sectional view of the installation device 02 of FIG. 2A in the MM direction according to some embodiments of the present application. [Figure 3A] FIG. 2 is a schematic structural diagram of an installation device 02 according to some embodiments of the present application. [Figure 3B] FIG. 3B is a cross-sectional view of the installation device 02 of FIG. 3A in the MM direction according to some embodiments of the present application. [Figure 4A] FIG. 1 is a schematic structural diagram of an installation device 02 including four linear parts according to some embodiments of the present application. [Figure 4B] FIG. 4B is a cross-sectional view of the installation device 02 of FIG. 4A in the MM direction according to some embodiments of the present application. [Figure 5A] FIG. 2 is a schematic diagram of a mounting device 02 abutting a hoistway wall 001 according to some embodiments of the present application. [Figure 5B] FIG. 5B is a cross-sectional view of the installation device 02 of FIG. 5A in the MM direction according to some embodiments of the present application. [Figure 6] FIG. 2 is a schematic diagram of a specific process in which the installation device 02 works with one robotic arm in a hoistway, according to some embodiments of the present application. [Figure 7A] 1 is a schematic structural diagram of an installation device 02 in which a linear motion mechanism 203 includes three linear motion parts and a mounting member 300 includes two robot arms according to some embodiments of the present application. [Figure 7B] FIG. 7B is a cross-sectional view of the installation device 02 of FIG. 7A in the MM direction according to some embodiments of the present application. [Figure 8A] 1 is a schematic structural diagram of an installation device 02 in which a linear motion mechanism 203 includes four linear motion parts and a mounting member 300 includes two robot arms according to some embodiments of the present application. [Figure 8B] FIG. 8B is a cross-sectional view of the installation device 02 of FIG. 8A in the MM direction according to some embodiments of the present application. [Figure 9A] FIG. 2 is a schematic diagram of an installation device 02 including two robotic arms, one of which abuts against a hoistway wall 001, according to some embodiments of the present application. [Figure 9B] FIG. 9B is a cross-sectional view of the installation device 02 of FIG. 9A in the MM direction according to some embodiments of the present application. [Figure 10A] 1 is a schematic structural diagram of an installation device 02 in which a base portion 100 further has a frame portion 100a according to some embodiments of the present application. [Figure 10B] FIG. 10B is a cross-sectional view of the installation device 02 of FIG. 10A in the MM direction according to some embodiments of the present application. [Figure 11] FIG. 2 is a schematic diagram of a specific process in which the installation device 02 works with two robotic arms in a hoistway, according to some embodiments of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Exemplary embodiments of the present application include, but are not limited to, an installation apparatus for work in a hoistway.

[0025] The installation device for work in a hoistway according to the embodiment of the present application can reduce rattling of the installation device caused by rotational torque during work such as drilling holes in the hoistway, inserting anchor bolts, and fixing guide rails.

[0026] In addition, although the installation device according to the present application is used for work in elevator hoistways, it may also be used for work in hoistways of smoke exhaust wells, wind exhaust wells, positive pressure wells, low-voltage wells, water supply wells, new wind wells, high-voltage wells, etc.

[0027] In addition, the shape of the hoistway may be various shapes such as a circle, a square, a pentagon, etc., and the present application is not limited thereto.

[0028] To make the objectives, solutions and advantages of the present application clearer, the embodiments of the present application are described in more detail below, taking an elevator hoistway as an example, with reference to the accompanying drawings.

[0029] FIG. 1 is a diagram showing an exemplary structure of an elevator hoistway according to some embodiments of the present application. As shown in FIG. 1, the elevator hoistway 01 includes four hoistway walls 001 (only two are shown in FIG. 1), a ceiling 002, and a displacement member 003. The four hoistway walls 001 face each other in pairs to form a hoistway space. As shown in FIG. 1, the direction parallel to the hoistway walls 001 is the Z-axis direction, and the direction parallel to the hoistway bottom (not shown) is the X-axis direction. The displacement member 003 is disposed at a holding position on the ceiling 002 of the elevator hoistway 01 to assist a worker or a necessary device to move in the elevator hoistway 01 in a direction parallel to the Y-axis or X-axis. Two landings L1 and L2 in the elevator hoistway 01 are also shown in FIG. 1. Also, there may be any number of landings in the elevator hoistway 01.

[0030] In some cases, the installation of the elevator guide rail in the elevator hoistway 01 may be performed automatically or semi-automatically by an installation device within the elevator hoistway 01, for example by drilling holes in the hoistway wall, inserting anchor bolts, clamping gaskets, fastening the guide rail, etc. For example, FIG. 1 shows elevator guide rail 400, which is a portion of the elevator guide rail to be installed.

[0031] In some embodiments, the installation apparatus includes a base portion, a support member, and a mounting member, the mounting member being movable relative to the hoistway wall 001 and disposed on the base portion to be positioned at different heights of the hoistway wall 001. The support member is disposed on the base portion to provide a support moment to be fixed at a predetermined position in the hoistway via the support member, thereby mounting the mounting member.

[0032] 2A shows the installation device 02, and FIG. 2B is a cross-sectional view of the installation device 02 in the MM direction. The installation device 02 includes a base unit 100, a support member 200, and a mounting member 300. In some embodiments, the support member 200 includes rollers 201a, 201b, and a support frame 202, and the support frame 202 and the rollers 201 are disposed on opposite sides of the base unit 100. The mounting member 300 may be a robot arm 301.

[0033] In addition, the base unit 100 may include a wire rope 104 for supporting the base unit 100, which is connected to a displacement member 003 on the ceiling of the elevator hoistway 01. During the movement of the installation device 02, the installation device 02 can move in the elevator hoistway 01 without falling, with the wire rope 104 cooperating with the displacement member 003. After the installation device 02 is moved to a preset position in the elevator hoistway 01, the support frame 202 and the rollers 201 respectively provide a supporting force to the base unit 100, so that the base unit 100 forms a moment balance and ensures the stability of the installation device. Then, the mounting member 300 can perform specific work processes such as drilling holes in the hoistway wall 001, inserting anchor bolts, clamping washers, and fixing guide rails.

[0034] However, since the installation device is a lightweight device and the tensile force of the rope is small, when the mounting member performs work outside the plane formed by the free end of the robot arm 301 and the support force of the support member, as shown in FIG. 2B, for example, the reaction force due to the work may upset the balance of the support moment, causing the base to wobble or tip over.

[0035] For example, FIG. 2A and FIG. 2B show a schematic diagram of the moment of the base unit 100 when the free end of the robot arm 301 makes a hole at point H of the elevator shaft wall 001. The elevator shaft wall 001 includes a concrete beam 001a and a brick 001b. When the robot arm 301 makes a hole in the elevator shaft wall 001, the reaction force of the elevator shaft wall 001 against the robot arm 301 is transmitted to the base unit 100, and the base unit 100 receives a moment O1N due to a new resultant force N with O1 as the center of force. The center of force is the point of action of the resultant force of the forces received by each part of the base unit 100. In addition, in the coordinate system shown in the drawings, the projected component of the moment O1N on the Z axis is Nz, the projected component of the moment O1N on the Y axis is Ny, and the projected component of the moment O1N on the X axis is Nx. In addition, the resultant support force provided by the support member is a moment along the Y axis, and the rotational moment on the XOZ plane cannot be balanced. Since the reaction force of the robot arm 301 during operation and the current support force on the base unit by the support member are not on the same plane, a rotational moment is generated on the XOZ plane, and the base unit 100 vibrates or rotates in the direction of this rotational moment, causing the base unit to rattle or tip over.

[0036] In order to solve the problem that the installation device rattles or overturns when subjected to a rotational moment during operation, the present application provides an installation device including a base part, a linear motion mechanism, and a mounting member. The linear motion mechanism is provided on the base part to provide a supporting force. The mounting member is provided on the base part and is used for specific work processes such as drilling holes, inserting anchors, clamping spacers, and fixing guide rails. The linear motion mechanism has a plurality of points of application that contact the hoistway wall, and the plurality of points of application may constitute a first plane. The mounting member has at least one contact point when contacting the hoistway wall during operation, and the contact point is on the first plane.

[0037] In addition, the range of being on the first plane in this application also includes a case where the contact point is on the first plane, but is not completely on the first plane, and is approximately on the first plane due to installation error (for example, the distance between the contact point and the first plane is a predetermined threshold, for example, 5 mm or less). This application does not specifically limit this, and the limitation of being on the first plane will not be described again later.

[0038] In addition, when the mounting member is performing its work, the contact point with the elevator shaft wall is on the first plane. Therefore, at this time, the external load including the tensile force of the rope received by the mounting seat and the supporting force provided by the linear motion mechanism can be balanced with the reaction force of the elevator shaft wall, thereby preventing the installation device from wobbling due to the generation of rotational moment, and preventing problems such as wobbling and tipping over of a lightweight installation device.

[0039] In some embodiments, the linear motion mechanism may be extendable. When it is detected that the position of the base part is horizontally deviated from the initially set position after the linear motion mechanism contacts the hoistway wall, for example, when the deviation from the initially set coordinate position in the X-axis direction is larger than the error range, for example, when the deviation from the initially set coordinate position in the X-axis direction is 10 mm, 5 mm larger than the error range, the extension length of the linear motion mechanism is adjusted so that the error of the coordinate position of the base part falls within the error range, thereby facilitating the operation of the mounting member at the preset working position on the hoistway wall. In some embodiments, the linear motion mechanism is extendable along a first direction, which is a straight line direction away from the base part, so that the linear motion mechanism has a plurality of points of action with the hoistway wall, and the plurality of points of action form a first plane.

[0040] Also, in some embodiments, the linear motion mechanism includes at least three linear motion parts required to form a plane, and at least two linear motion parts are disposed on either side of the base part so as to provide a relative supporting force to the base part to stabilize the base part.

[0041] In addition, each linear motion portion also includes a pressing portion, and the contact area of ​​each pressing portion is larger than the projected area of ​​the rod on the hoistway wall. For example, the pressing portion may have a structure including a gasket for contacting the hoistway wall to form a contact surface.

[0042] Also, in some embodiments, the attachment member may be a robotic arm, for example including multiple joints and a connecting rod connected by the multiple joints, and in another example, the robotic arm includes an extendable connecting rod, which is rotatable based on a pre-set axis to enable a variety of possible attachment processes.

[0043] Fig. 3A is a diagram showing an example configuration of an installation device 02 according to some embodiments of the present application. Fig. 3B is a cross-sectional view in the MM direction in Fig. 3A.

[0044] As shown in FIG. 3A, the installation device 02 includes a base unit 100, a linear motion mechanism 203, and a mounting member 300. The base unit 100 has a loading function. The linear motion mechanism 203 is provided on the base unit 100, and the mounting member 300 is provided on the base unit 100. The linear motion mechanism 203 includes a linear motion unit 203a, a linear motion unit 203b, and a linear motion unit 203c. The linear motion unit 203a and the linear motion unit 203c are located on one side of the base unit 100, and the linear motion unit 203b is located on the other opposing side of the base unit 100. The linear motion unit 203a further includes a pressing unit 2003a, the linear motion unit 203b further includes a pressing unit 2003b, and the linear motion unit 203c further includes a pressing unit 2003c. When the linear motion parts expand and contract in a first direction, for example, linear motion parts 203a and 203c expand and contract in the positive direction of the X-axis, and linear motion part 203b expands and contracts in the negative direction of the X-axis, pressing parts 2003a, 2003b, and 2003c come into contact with the elevator shaft wall 001, forming three action points A, B, and C, respectively. At this time, action points A, B, and C form a first plane.

[0045] In some embodiments, the mounting member 300 may be a robot arm 301 with one end connected to the base 100 and the other end being a free end, which may be a drill, a clamp, or the like, to accommodate different tasks. In some embodiments, the robot arm 301 includes a plurality of joints and a connecting rod connected by the plurality of joints. As shown in FIG. 3B, the hoistway wall 001 includes a concrete beam 001a and a brick 001b. During work, the free end of the robot arm 301 contacts the hoistway wall 001, and the contact point K is on the first plane when, for example, drilling a hole. At this time, the robot arm 301 receives a reaction force from the hoistway wall 001, and even after the reaction force is transmitted to the base 100, the contact point K is on the first plane, so that the moment received by the base 100 remains relatively balanced, and rattling during work is avoided. Furthermore, when the linear motion mechanism includes only three linear motion parts, the space occupied by the linear motion parts in the hoistway is reduced, and the span angle member can move over a wide range in the hoistway space.

[0046] FIG 4A shows a mounting device 02 including four linear parts according to some embodiments of the present application. FIG 4B is a cross-sectional view of the mounting device 02 of FIG 4A in the MM direction.

[0047] As shown in FIG. 4A, in comparison with FIG. 3A, the linear motion mechanism 203 further includes a linear motion unit 203d, and the linear motion unit 203d further includes a pressing unit 2003d. At this time, the linear motion unit 203d expands and contracts in the negative direction parallel to the X-axis, and the pressing unit 2003d and the elevator shaft wall 001 have a point of action D. At this time, the points of action A, B, C, and D form a first plane. Also, as shown in FIG. 4B, in comparison with FIG. 3B, at this time, the contact point K between the robot arm 301 and the elevator shaft wall 001 is on the first plane formed by the points of action A, B, C, and D.

[0048] Furthermore, if the base portion is inclined, the mounting member can be abutted against the elevator shaft wall 001 to apply a small force to the base portion and fine-tune its posture. For example, it can be tilted slightly up and down from the beginning, and then fine-tuned to be horizontal.

[0049] Fig. 5A is a schematic diagram of the installation device 02 abutting against the elevator shaft wall 001. Fig. 5B is a cross-sectional view of the installation device 02 of Fig. 5A in the MM direction.

[0050] 5A, the free end of the robot arm 301 has an abutment portion 301a at abutment point G of the elevator shaft wall 001, the abutment portion 301a being shifted a certain distance from a first plane consisting of application points A, B, C, and D. When the robot arm 301 is in slight contact with the elevator shaft wall 001 at the abutment point G, the base unit 100 can receive a small rotational moment transmitted by the robot arm 301, and the base unit 100 can adjust its posture from an initial inclined state to a state parallel to the first plane, for example.

[0051] Also, in some embodiments, the installation device may be attached to the base unit or may be placed at another position in the elevator hoistway 01 independently of the installation device, and further includes a position acquisition member that fixes the installation device to the hoistway wall and enables accurate positioning of each member when the installation member is operating. For example, the position acquisition member can be used to obtain the displacement of the installation device, or the distance of its current position in the hoistway from the bottom of the hoistway, or the distance from the hoistway wall. Also, in some embodiments, the position acquisition member is attached to the base unit 100, and by setting a coordinate system with itself as the relative origin and the horizontal plane on which the position acquisition member is located as the X-axis and Y-axis, it is possible to obtain the coordinate display of each member, and also to obtain the distance between each member in the installation device and the hoistway wall. In other embodiments, when the position acquisition member is independent of the installation device 02, the position acquisition member acquires the coordinates of the current position of the installation device 02 with the placement position as the relative origin to achieve accurate positioning of the installation device 02 when it is fixed or moved.

[0052] The position acquisition member may also be a position sensor with an accuracy of 1mm, 2mm, ... 5mm, etc.

[0053] The installation device is also provided with a control device that controls the operations of each member within the installation device.

[0054] 6 is a diagram showing a specific process of the installation device 02 working with one robot arm in the hoistway according to some embodiments of the present application. The control device on the installation device 02 performs the overall control. The specific process is as follows:

[0055] S601 acquires specific position information on the horizontal plane where the installation device 02 is located within the hoistway based on the position information detected by the position acquisition member.

[0056] Also, in some embodiments, the position acquisition member may be attached to an arbitrary position of the installation device 02, and the position of a specific fixed portion of the base unit 100 is detected, and the position of the specific fixed portion of the base unit 100 is acquired as specific position information of the horizontal plane where the installation device 02 is located in the hoistway. The specific position information may be, for example, coordinates, etc.

[0057] S602 specifies the extension length of the linear motion mechanism 203 based on the obtained specific position information on the horizontal plane, and brings the linear motion mechanism 203 into contact with the elevator shaft wall 001 according to the extension length.

[0058] In addition, in some embodiments, after the installation device 02 obtains specific position information in the horizontal plane located within the hoistway, the distance between the installation device 02 and the hoistway wall 001 is obtained to determine the extension length of the linear motion mechanism 203, for example, the amount by which each linear motion part of the linear motion mechanism 203 extends and retracts in a direction away from the base part 100, and the linear motion mechanism 203 can be controlled to contact the hoistway wall 001.

[0059] In step S603, it is determined whether or not the position error of the installation device 02 is within a predetermined error value. If it is determined that the position error of the installation device 02 is within the predetermined error value, the process proceeds to step S604, where the movement position of the robot arm 301 is specified, and if not, the process proceeds to step S602, where the linear motion mechanism 203 is controlled to perform adjustment.

[0060] In some embodiments, after the linear motion mechanism 203 comes into contact with the elevator shaft wall 001 and the installation device is fixed, the position coordinates of the installation device (for example, the position coordinates of a fixed part on the base unit 100 detected by a position acquisition member) do not necessarily match the set position coordinates, so it is necessary to determine whether the error between the position of the installation device 02 and the set position is within a predetermined error value. If it is within the range, proceed to S604 to identify the movement vector of the robot arm 301. If the position error is equal to or greater than the predetermined error value, it is necessary to control the linear motion mechanism 203 to adjust the extension length so that the position error of the installation device 02 is within the predetermined error value.

[0061] In addition, by continuously adjusting the telescopic length of the linear motion mechanism, it is ensured that the position error of the installation device 02 is within a predetermined error value, thereby ensuring that the subsequent operation of the robot arm 301 is not hindered.

[0062] For example, if the position error of the installation device 02 is 3 mm and the predetermined error value is 5 mm, it is determined that the position error of the installation device 02 is within the predetermined error value, and the process proceeds to S604 where the movement position of the robot arm 301 is identified.

[0063] Also, for example, if the position error of the installation device 02 is 15 mm and the predetermined error value is 5 mm, it is determined that the position error of the installation device 02 is not within the predetermined error value, and the process proceeds to S602, where the linear motion mechanism 203 is controlled and adjustment is performed.

[0064] S604 specifies the movement vector of the robot arm 301 based on specific position information of the installation device 02 and specific position information of the installation work on the hoistway wall.

[0065] In addition, since the robot arm 301 can include multiple degrees of freedom, the movement vector of the robot arm 301 can be divided into single vectors corresponding to each degree of freedom, making it easier to control the displacement of the robot arm 301 in multiple degrees of freedom.

[0066] In some embodiments, the specific position information of the installation device 02 corresponds to the current position of the robot arm 301, so that the movement vector of the robot arm 301 can be determined based on the specific position information of the installation device 02 and the specific position information of the mounting operation on the hoistway wall.

[0067] S605 controls the movement of the robot arm 301 to a work position based on the movement vector, and performs the work.

[0068] In some embodiments, the robotic arm 301 moves towards the hoistway wall 001 to drill holes, insert anchors, clamp plates, and the like.

[0069] Next, an embodiment in which the mounting member is provided with two robot arms will be described.

[0070] Fig. 7A is a schematic structural diagram of an installation device 02 according to some embodiments of the present application, in which the linear motion mechanism 203 of the installation device 02 includes three linear motion parts, and the mounting member 300 includes two robot arms. Fig. 7B is a cross-sectional view of the installation device 02 in Fig. 7A in the MM direction.

[0071] As shown in FIG. 7A, with reference to FIG. 3A and FIG. 3B above, the mounting member 30 further includes a robot arm 302. The robot arm 302 is attached to the base unit 100. In some embodiments, the robot arm 302 includes a connecting rod, which is extendable and rotatable based on a predetermined axis. For example, the robot arm 302 can rotate 360 ​​degrees along a working axis and move along the axis after rotating to any angle. As another example, when the robot arm 302 rotates parallel to the X-axis or Y-axis, it can extend, retract, and move in that direction.

[0072] The robot arm 301 includes a plurality of joints and a connecting rod connected by the plurality of joints. As shown in FIG. 3B, the robot arm 301 is disposed at a first position on the base unit 100, and the robot arm 302 is disposed at a second position on the base unit 100, the first position includes a side along the direction of gravity, and the second position includes a side away from the direction of gravity. The robot arm 301 and the robot arm 302 can perform a cooperative operation. As shown in FIG. 7B, the elevator shaft wall 001 includes a concrete beam 001a and a brick 001b, and the free end of the robot arm 301 clamps a gasket 500 having a through hole, and clamps the gasket 500 at a first mounting position in contact with the elevator shaft wall 001, for example, the through hole of the gasket 500 is at point K. The free end of the robot arm 301 has a drill bit, and the free end of the robot arm 301 moves to the through hole of the gasket 500, and a hole is drilled through the through hole.

[0073] FIG. 8A is a schematic structural diagram of an installation device 02 according to some embodiments of the present application, in which the linear motion mechanism 203 of the installation device 02 includes four linear motion parts, and the mounting member 300 includes two robot arms. FIG. 8B is a cross-sectional view of the installation device 02 in FIG. 8A in the MM direction. In addition, the installation device 02 shown in FIG. 8A and FIG. 8B has one more linear motion part 203d than the installation device 02 shown in FIG. 7A and FIG. 7B. Note that the specific connection relationship and positional relationship of the linear motion part 203d can be referred to in FIG. 4A and FIG. 4B described above, and therefore description thereof will be omitted here.

[0074] Fig. 9A shows an installation device 02 including two robot arms, one of which abuts against a hoistway wall 001. Fig. 9B is a cross-sectional view of the installation device 02 in Fig. 9A in the MM direction. Note that the specific process in which the robot arm 301 abuts against the hoistway wall 001 can be seen in Figs. 5A and 5B described above, and therefore will not be described here.

[0075] Additionally, in some embodiments, robotic arm 301 and robotic arm 302 can operate in concert.

[0076] In some embodiments, the base portions 100 may also cooperate for operation.

[0077] In another embodiment, the base portion further includes a frame portion.

[0078] Fig. 10A shows an installation device 02, and the base portion 100 in the installation device 02 is shown to have a structure further including a frame portion 100a. Fig. 10B is a cross-sectional view of the installation device 02 in Fig. 10A in the MM direction.

[0079] 10A, the frame unit 100a is provided with a robot arm 301 at a third position of the frame unit 100a including one side of the direction of gravity, and a robot arm 302 at a fourth position of the frame unit 100a including the opposite side of the direction of gravity. In some embodiments, the third position is an inner or outer surface of the frame unit 100a along the direction of gravity. The fourth position is an outer surface of the frame unit 100a opposite the direction of gravity.

[0080] FIG. 11 is a diagram showing a specific process of the installation device 02 working with two robot arms in the hoistway according to some embodiments of the present application. The controller on the installation device 02 performs the overall control. The specific process is as follows:

[0081] S1101 acquires specific position information on the horizontal plane where the installation device 02 is located within the hoistway, based on the position information detected by the position acquisition member.

[0082] This step is similar to step S601 above, so the explanation will be omitted here.

[0083] S1102 specifies the extension length of the linear motion mechanism 203 based on the obtained specific position information on the horizontal plane, and brings the linear motion mechanism 203 into contact with the elevator shaft wall 001 according to the extension length.

[0084] This step is similar to step S602 described above, and therefore will not be described here.

[0085] In step S1103, it is determined whether or not the position error of the installation device 02 is within a predetermined error value. If it is determined that the position error of the installation device 02 is within the predetermined error value, the process proceeds to step S1104, where the movement positions of the robot arms 301 and 302 are specified, and if not, the process proceeds to step S1102, where the linear motion mechanism 203 is controlled to perform adjustment.

[0086] This step is similar to step S603 described above, and therefore the description will be omitted here.

[0087] In step S1104, the movement vectors of the robot arm 301 and the robot arm 302 are determined based on specific position information of the installation device 02 and specific position information of the installation work on the hoistway wall.

[0088] In addition, since the robot arm 301 and the robot arm 302 can include multiple degrees of freedom, the movement vectors of the robot arm 301 and the robot arm 302 can be divided into single vectors corresponding to each degree of freedom, facilitating control of the displacement of the multiple degrees of freedom of the robot arm 301 and the robot arm 302.

[0089] In some embodiments, the specific position information of the installation device 02 corresponds to the current positions of the robot arm 301 and the robot arm 302, respectively, so that the movement vectors of the robot arm 301 and the robot arm 302 can be determined based on the specific position information of the installation device 02 and the specific position information of the mounting operation on the hoistway wall.

[0090] In step S1105, the robot arms 301 and 302 are controlled to move to their respective work positions based on the movement vectors of the robot arms 301 and 302, thereby performing the work.

[0091] For example, the robot arm 302 clamps the gasket 500 and moves so that the hole in the gasket 500 contacts the hoistway wall 001 corresponding to the target opening point on the hoistway wall 001, and the robot arm 301 moves toward the hoistway wall 001 so that the drill bit of the robot arm 301 corresponds to the hole position for drilling.

[0092] The embodiments of the present application have been described by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed herein. Although the description of the present application is described in relation to some embodiments, this does not mean that the features of the present application are limited to the embodiments. Rather, the purpose of the description of the application related to the embodiments is to cover other options or modifications that can be expanded based on the claims of the present application. The present application can also be implemented without using these details. Furthermore, some specific details are omitted in the description to avoid confusing or obscuring the focus of the present application. It should be noted that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.

[0093] In the description of this application, it should be noted that orientations or positional relationships indicated by terms such as "center," "up," "down," "left," "right," "orthogonal," "horizontal," "outer," "inner," "circumferential," "radial," "axial," and the like, are based on orientations or positional relationships shown in the drawings, are shown for the purpose of explanation and simplification of this application, and do not indicate or imply that devices or elements must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limitations of this application.

[0094] In the description of this application, the terms "dispose", "attach", "connect" and "attach" should be understood in a broad sense unless otherwise clearly specified and defined, and may refer to, for example, a fixed connection, a removable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or an internal connection between two elements. The specific meanings of the above terms in this application can be understood by those skilled in the art according to the specific circumstances.

[0095] It is obvious that those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Therefore, if these modifications and variations of the present application are within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations. [Explanation of symbols]

[0096] 01 elevator hoistway, 02 installation device, 001 hoistway wall, 001a concrete beam, 001b brick, 002 ceiling, 003 displacement member, 100 base portion, 104 wire rope, 400 elevator guide rail, 200 support member, 201a roller, 201b roller, 202 support frame, 300 mounting member, 301 robot arm, 302 robot arm, 203a linear motion mechanism, 203a linear motion portion, 203b linear motion portion, 203c linear motion portion, 203d linear motion portion, 2003a pressing portion, 2003b pressing portion, 2003c pressing portion, 500 gasket

Claims

1. A base portion; A linear motion mechanism provided on the base portion; A mounting member provided on the base portion, the linear motion mechanism has a plurality of first points of application when in contact with the hoistway wall, the plurality of first points of application forming a first plane; The installation device is characterized in that the mounting member has at least one contact point with the elevator shaft wall during operation, and a distance between the contact point and the first plane is equal to or less than a predetermined threshold value for the contact point to be approximately on the first plane due to an installation error.

2. 2. The installation device according to claim 1, The installation device, wherein the linear motion mechanism is extendable and retractable in a first direction to contact the elevator shaft wall.

3. 3. The installation device according to claim 2, The linear motion mechanism includes at least three linear motion parts, At least two of the linear motion parts are disposed on opposite sides of the base part to provide a supporting force against the base part.

4. 4. The installation device according to claim 3, the mounting member comprises at least one robotic arm; The installation device, characterized in that the robot arm has at least one contact point with the elevator shaft wall during operation, and a moment applied to the contact point is kept relatively balanced with a moment applied to the multiple first application points.

5. 5. The installation device according to claim 4, The at least one robot arm includes a free end portion that moves and abuts against the elevator shaft wall at an abutment point so that a plane perpendicular to the gravity direction of the base portion is parallel to the first plane.

6. 5. The installation device according to claim 4, The installation apparatus, wherein the at least one robot arm includes a first robot arm, the first robot arm including a plurality of joints and a connecting rod connected by the plurality of joints.

7. 5. The installation device according to claim 4, 11. The installation apparatus, wherein the at least one robot arm includes a second robot arm, the second robot arm including a connecting rod, the connecting rod being extendable and rotatable about a predetermined axis.

8. 7. The installation device according to claim 6, 13. An installation device, comprising: a base portion having a first robot arm disposed on one side of a direction of gravity;

9. 8. The installation device according to claim 7, The installation device, characterized in that the second robot arm is provided at a second position of the base portion including a side opposite to a direction of gravity.

10. 3. The installation device according to claim 2, The installation device, wherein the base portion further includes a frame portion.

11. The installation device according to claim 10, the frame portion includes at least one robotic arm; The installation device, characterized in that the robot arm has at least one contact point with the elevator shaft wall during operation, and a moment applied to the contact point is kept relatively balanced with a moment applied to the multiple first application points.

12. 12. The installation device according to claim 11, The installation apparatus, wherein the at least one robot arm includes a third robot arm, the third robot arm including a plurality of joints and a connecting rod connected by the plurality of joints.

13. 12. The installation device according to claim 11, 2. The installation apparatus, wherein the at least one robot arm includes a fourth robot arm, the fourth robot arm including a connecting rod, the connecting rod being extendable and rotatable about a predetermined axis.

14. 13. The installation device according to claim 12, The installation apparatus, wherein the third robot arm is provided at a third position on the frame portion, including an inner side or an outer side of the frame portion.

15. 14. The installation device according to claim 13, The installation device, wherein the fourth robot arm is provided at a fourth position on the base portion, the fourth position including the side opposite to the direction of gravity.

16. The installation device according to any one of claims 1 to 15, The installation device is characterized in that it further comprises a position acquisition member for acquiring the displacement of the installation device, or the distance of its current position within the hoistway from the bottom of the hoistway, or the distance from the hoistway wall.

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