Guide rail installation method and connection clamp

Abstract

To provide a connection clamp for guide rail installation capable of achieving highly accurate mounting of a guide rail with a simple device configuration, and a guide rail mounting method using the connection clamp.SOLUTION: A guide rail mounting method comprises the steps of: attaching a connection clamp (100) having an introduction part (110) and a holding part (120) to a first guide rail previously fixed and to a connection plate previously fixed to an upper end of a back surface of the first guide rail via a first fastening member, the holding part (120) clamping the first guide rail and the connection plate; suspending a second guide rail above the first guide rail to insert the second guide rail into the introduction part (110), and the introduction part (110) using the second guide rail for guiding it to above the first guide rail and aligning it with the first guide rail; and fastening the second guide rail and the connection plate using the second fastening member.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a guide rail mounting method and a connection clamp for mounting guide rails, for example, for automatically mounting elevator structural members such as guide rails in an elevator hoistway. [Background technology]

[0002] The construction industry is exploring automation to maintain production capacity amid a shrinking workforce, and this is also true in the area of ​​installing guide rails inside elevator shafts.

[0003] The guide rail connection device of Patent Document 1 comprises a first guide rail gripping mechanism that grips a conventional guide rail, a second guide rail gripping mechanism that grips the guide rail to be lifted, and a third guide rail gripping mechanism that can move in the front-to-back direction between a position directly above the second guide rail gripping mechanism and a position directly above the first guide rail gripping mechanism, and that grips the lower part of the guide rail when the guide rail gripped by the second guide rail gripping mechanism is lifted by a wire, and that moves on the same axis as the guide rail that is erected along the wall surface in the elevator shaft. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3034960 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned Patent Document 1 requires many gripping mechanisms (auxiliary devices), making the overall device structure complex and increasing costs. Furthermore, a third guide rail gripping mechanism is installed directly above the second guide rail gripping mechanism that grips the lifted guide rail, limiting the position to which the guide rail can be lifted. Furthermore, when the guide rail installation device disclosed in Patent Document 1 installs the guide rail, play occurs in the front-to-rear direction of the guide rail, making it difficult to accurately position the guide rail.

[0006] The present invention has been proposed to solve the above problems, and aims to provide a connection clamp for mounting guide rails that can achieve high-precision mounting of guide rails with a simple device configuration, and a method for mounting guide rails using said connection clamp. [Means for solving the problem]

[0007] According to a first aspect of the present invention, a guide rail installation method for installing a guide rail in an elevator shaft includes the steps of: attaching a connection clamp having an introduction portion and a holding portion to a pre-fixed first guide rail and to a connection plate pre-fixed to the upper end of the back surface of the first guide rail via a first fastening member, so that the holding portion clamps the first guide rail and the connection plate; suspending a second guide rail above the first guide rail to insert the second guide rail into the introduction portion, and using the introduction portion to guide the second guide rail above the first guide rail and align it with the first guide rail; and fastening the second guide rail and the connection plate using the second fastening member.

[0008] In a possible realization of the first aspect, the attachment of the connection clamp and the fastening of the second guide rail and the connection plate are performed by a manipulator.

[0009] A possible realization of the first aspect further includes a step of installing an imaging device in front of the manipulator, identifying and deriving the position of the first fastening member from an image captured by the imaging device, and generating an operation command that guides the operation of the manipulator based on the position, thereby causing the manipulator to attach the connection clamp to the attachment position.

[0010] A possible realization of the first aspect described above further includes the steps of: installing an imaging device in front of the manipulator; identifying and judging whether the second guide rail is in a position where it can be inserted into the introduction section based on an image captured by the imaging device; if the horizontal tilt angle of the second guide rail relative to the first guide rail is below a specified angle and the distance the second guide rail has shifted forward relative to the first guide rail is below a specified distance, judging that the second guide rail is in a position where it can be inserted into the introduction section, thereby inserting the second guide rail into the introduction section; if the horizontal tilt angle of the second guide rail relative to the first guide rail is equal to or greater than a specified angle or the distance the second guide rail has shifted forward relative to the first guide rail is equal to or greater than a specified distance, judging that the second guide rail is not in a position where it can be inserted into the introduction section, thereby adjusting the posture of the second guide rail.

[0011] A possible realization of the first aspect described above further includes a step of installing an imaging device in front of the manipulator and observing whether the second guide rail is seated above the first guide rail based on an image captured by the imaging device.

[0012] A possible realization of the first aspect further includes a step of, when the second guide rail is seated above the first guide rail, identifying and deriving the positions of through holes for inserting the second fastening member installed in the second guide rail and the connecting plate from the image captured by the photographing device, and generating an operation command for guiding the operation of the manipulator based on the positions, thereby causing the manipulator to insert the second fastening member into the through holes of the second guide rail and the connecting plate.

[0013] In a possible implementation of the first aspect, the manipulator may further include a step of using a second fastening member to fasten the second guide rail and the connecting plate, and then retrieving the connecting clamp.

[0014] According to a second aspect of the present invention, there is provided a connection clamp for connecting a first guide rail and a second guide rail that are pre-fixed in an elevator shaft, the connection clamp comprising an introduction section and a holding section, the introduction section having a guide passageway and used to guide the second guide rail from a direction or position away from the first guide rail to above the first guide rail and align it with the first guide rail, the holding section being installed below the introduction section, the connection clamp clamping the first guide rail and the connection plate when attached to the first guide rail and the connection plate, the connection plate being pre-fixed to the upper end of the back surface of the first guide rail via a first fastening member.

[0015] In a possible realization of the second aspect, the introduction section comprises two introduction blocks, which are installed on both the left and right sides of the introduction port of the guide passage, and the sides of the introduction blocks facing each other across the introduction port each form a shape that slopes away from each other as it goes up, and the rear sides of the introduction blocks each form a shape that slopes forward as it goes up.

[0016] In a possible realization of the second aspect, the introduction portion has a plurality of openings, and when the connection clamp is attached to the first guide rail and the connection plate, the openings correspond to the positions of through holes for inserting the second fastening members installed in the second guide rail and the connection plate.

[0017] In a possible realization of the second aspect, when the holding portion clamps the first guide rail and the connecting plate, it simultaneously presses the front surface of the first guide rail and both the left and right sides of the rear surface of the connecting plate.

[0018] In a possible realization of the second aspect, the holding portion has two arms that can extend and retract as a movable mechanism, and the arms can press both the left and right sides of the rear surface of the connecting plate by retracting.

[0019] In a possible realization of the second aspect, the holding portion has a recess, and when the connecting clamp is attached to the first guide rail and the connecting plate, the head of the first fastening member is engaged in the recess.

[0020] In a possible realization of the second aspect, the holding portion has a storage portion that is connected to the guide passage in the vertical direction, and when the connection clamp is attached to the first guide rail and the connection plate, the first guide rail is inserted into the storage portion.

[0021] In a possible realization of the second aspect, the holding portion comprises two holding blocks, which are installed on both the left and right sides of the accommodating portion, and the sides of the holding blocks facing each other across the accommodating portion form a shape that slopes away from each other as they go rearward. [Effects of the Invention]

[0022] According to the present invention, there are provided a connection clamp for mounting a guide rail that can achieve high-precision mounting of a guide rail with a simple device configuration, and a method for mounting a guide rail using the connection clamp. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a schematic diagram of the structure of the guide rail and the connection manner between the guide rails; [Figure 2] FIG. 1 is a diagram illustrating the overall layout of the guide rail mounting device in the elevator hoistway. [Figure 3] FIG. [Figure 4] FIG. [Figure 5] FIG. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] FIG. 10 is a plan view of the connection clamp attached to the first guide rail and the connection plate. DETAILED DESCRIPTION OF THE INVENTION

[0024] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in more detail below in conjunction with the drawings and embodiments. It should be understood that the specific implementation manner described herein is only used to interpret the present invention, and does not limit the protection scope of the present invention.

[0025] The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for descriptive purposes only and are not to be construed as limiting this application, as they do not indicate or suggest that the devices or components shown must be in a particular orientation, or that they must be configured and operated in a particular orientation.

[0026] In the description of this application, it is necessary to explain that unless otherwise clearly specified and limited, the terms "installation," "mounting," "connection," and "engagement" should be understood in a broad sense. For example, they may mean fixedly connected, detachably connected, or integrally connected, mechanically connected, or electrically connected. They may also mean directly connected to each other, or indirectly connected to each other via an intermediate medium. They may also mean internal communication between two components. A person of ordinary skill in the art can understand the specific meaning of the above terms in this application according to specific circumstances.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art of the present invention. The terms used in the present specification are for the purpose of describing specific embodiments only and are not intended to be limiting of the present specification. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0028] "Guide rail structure and connection method between guide rails" To better understand the present invention, the elevator guide rail structure and the connection method between the guide rails in this embodiment will be described first. As shown in Figure 1, the guide rail includes multiple guide rail sections connected to each other one by one along the vertical direction from the bottom of the hoistway, and each guide rail section includes a fixed section 12 with a "-" shaped cross section and a sliding rail section 11 with a "|" shaped cross section, and the fixed section 12 is connected to the sliding rail section 11 to form a "T" shaped cross section.

[0029] A support frame (bracket) is provided on the back surface of the fixed portion 12 opposite the slide rail portion 11, and the guide rail section is fixed to the inner wall of the elevator shaft or a cross beam in the elevator shaft via the support frame.

[0030] A connecting plate 3 is installed at a joining portion A between the upper fixed guide rail section 1 (referred to as the "first guide rail" in this embodiment) and the lower guide rail section 2 (referred to as the "second guide rail" in this embodiment), and the connecting plate 3 is joined to the upper part of the fixed portion 12 of the upper fixed guide rail section 1 and the lower part of the fixed portion 12 of the lower guide rail section 2 via fastening members (e.g., bolts, etc.), and is located on the back surface of both fixed portions 12. For ease of explanation, the fastening member fastening the upper fixed guide rail section 1, i.e., the first guide rail, to the connecting plate 3 will be referred to as the "first fastening member," and the fastening member fastening the lower guide rail section 2, i.e., the second guide rail, to the connecting plate 3 will be referred to as the "second fastening member."

[0031] "Overview of the elevator shaft" Next, the overall layout of the guide rail mounting device in the elevator hoistway in this embodiment will be described. As shown in Figure 2, the entire guide rail mounting device can be easily divided into a traction unit and a robot unit.

[0032] The towing section is located above the guide rail mounting device and typically includes a towing device such as a winch, which is used to lift the guide rail section.

[0033] The robot unit is located below the guide rail installation device and is equipped with an automated mechanical device such as an installation robot equipped with a manipulator, and many steps in the method of the present invention are performed via the manipulator, such as installing the connecting clamps 100 to connect the guide rail sections, fastening the guide rail sections to the connecting plate 3, and retrieving the connecting clamps 100, thereby achieving automatic installation of the guide rail. Specific details will be described in detail later.

[0034] "Connection Clamp 100" Next, the structure of the connection clamp 100 used in the guide rail mounting method of this embodiment will be described in detail with reference to FIGS.

[0035] FIG. 3 is a front perspective view of the connection clamp 100, and FIG. 4 is a rear perspective view of the connection clamp 100. FIG. 5 is a front view of the connection clamp 100, FIG. 6 is a right side view of the connection clamp 100, and FIG. 7 is a rear view of the connection clamp 100. FIG. 8 is a plan view of the connection clamp 100 attached to the first guide rail and the connection plate 3. Using FIG. 5 as a reference, the upper side in the figure is the upward direction, the lower side in the figure is the downward direction, the left side in the figure is the leftward direction, the right side in the figure is the rightward direction, the outward direction perpendicular to the figure is the forward direction, and the inward direction perpendicular to the figure is the rearward direction. Furthermore, in the present invention, the up-down direction, the vertical direction, and the direction of gravity have the same meaning, and the front side of the connection clamp 100 is also referred to as the front, and the rear side of the connection clamp 100 is also referred to as the rear.

[0036] 3, 5, and 6, the connecting clamp 100 can be functionally roughly divided into an introduction section 110 and a holding section 120. The introduction section 110 is used to guide the insertion of the second guide rail, thereby seating the second guide rail on the first guide rail and aligning it with the first guide rail. The holding section 120 is used to hold the connecting clamp 100, clamping the first guide rail and connecting plate 3 from three directions.

[0037] The introduction section 100 is located above the connection clamp 100, and has two openings 111 on each of the left and right sides, with the openings 111 on each side arranged in the vertical direction, for a total of four openings 111. The number of openings 111 only needs to correspond to the number of through holes, which are provided in the second guide rail and the connection plate 3 and through which the second fastening members are inserted, and is not limited to four.

[0038] For example, when the connecting clamp 100 is attached to the first guide rail and the connecting plate 3, the positions of the four openings 111 correspond to the positions of the through holes of the connecting plate 3 for inserting the second fastening members.

[0039] For example, if the second guide rail has already been inserted into the connection clamp 100, the positions of the four openings 111 correspond to the positions of the through holes for inserting the second fastening members of the connection guide rail. Therefore, when fastening the second guide rail and the connection plate 3 using the second fastening members, the second guide rail and the connection plate 3 can be fastened together while the second guide rail is inserted into the connection clamp 100 without having to remove the connection clamp 100. This reduces the number of installation steps and improves the installation efficiency of the guide rail sections.

[0040] As shown in Figure 4, the introduction section 110 has an opening facing rearward and upward, and a guide passage extending vertically. The guide passage has the function of guiding the movement of the slide rail portion 11 and the fixed portion 12 of the guide rail. A first introduction block 112 and a second introduction block 113 are installed on both sides of the introduction opening of the introduction section 110's guide passage. The side surfaces of the first introduction block 112 and the second introduction block 113 facing each other across the introduction opening are shaped to slope away from each other as they go up, and the rear side surfaces of the first introduction block 112 and the second introduction block 113 are shaped to slope forward as they go up. Specifically, the first introduction block 112 and the second introduction block 113 of the introduction section 110 each have multiple slopes that slope (expand) upward. For example, the first introduction block 112 has slopes indicated by arrows A and C, and the second introduction block 113 has slopes indicated by arrows B and C. Of these, the slope indicated by arrow A slopes upward to the left, the slope indicated by arrow B slopes upward to the right, and the slope indicated by arrow C slopes upward to the front. In other words, the introduction section 110 has a shape that slopes (expands) upward in at least three directions. Hereinafter, for convenience of description, the slope indicated by arrow A will be referred to as slope A, the slope indicated by arrow B will be referred to as slope B, and the slope indicated by arrow C will also be referred to as slope C.

[0041] For example, when the second guide rail is inserted into the connection clamp 100 from above, even if the slide rail portion 11 of the second guide rail is shifted horizontally by a certain distance to the left or right or tilted at a certain angle to the left or right, it will automatically be guided to the correct position by contacting the slope A of the first introduction block 112 or the slope B of the second introduction block 113. Furthermore, even if the fixed portion 12 of the second guide rail is shifted forward or backward by a certain distance, it will automatically be guided to the correct position by contacting the slope C of the first introduction block 112 and the second introduction block 113 when the second guide rail is inserted into the connection clamp 100 from above. As a result, when the second guide rail is inserted into the connection clamp 100, it can be automatically positioned by its own weight, and the posture of the second guide rail can be automatically adjusted, thereby achieving automatic alignment between the second guide rail and the first guide rail. This allows for highly accurate guide rail installation.

[0042] Although not all slopes of the introduction section 110 are indicated by arrows in the figure, it can be understood that any area that may come into contact with the guide passage of the introduction section 110 when the second guide rail is inserted into the introduction section 110 of the connection clamp 100 can have a slope that widens upward (opposite the insertion direction of the second guide rail).

[0043] The holding part 120 is located below the connection clamp 100 and has two arms on both the left and right sides that can extend and retract as movable mechanisms. Here, the arm located on the left side is referred to as the "first arm 121," and the arm located on the right side is referred to as the "second arm 122." The holding part 120 has, for example, a cylinder, and by opening an intake valve, air is let into the cylinder, thereby extending the movable mechanism, and by closing the intake valve and opening an exhaust valve, the air is released, thereby retracting the movable mechanism.

[0044] It is understood that the operating method of the movable mechanism of the holding part 120 is not limited to this, and includes any method that can extend and retract the first arm 121 and the second arm 122.

[0045] The holding part 120 also has an opening facing the rear and a passage that vertically communicates with the guide passage of the introduction part 110. This passage of the holding part 120 is used to accommodate the slide rail part 11 of the first guide rail when attaching the connection clamp 100 to the first guide rail and the connecting plate 3, and for this reason, this passage of the holding part 120 can also be called an accommodation part. A first holding block 124 and a second holding block 125 are installed on both the left and right sides of the accommodation part of the holding part 120, and the side surfaces of the first holding block 124 and the second holding block 125 that face each other across the accommodation part are shaped to slope in directions that move away from each other as they go rearward. Specifically, the edge of the opening adjacent to the rear of the storage unit has a slope that slopes left and right in the vertical direction. For example, first holding block 124 has a slope indicated by arrow D, and second holding block 125 has a slope indicated by arrow E, with the slope indicated by arrow D sloping toward the rear left and the slope indicated by arrow E sloping toward the rear right. In other words, holding unit 120 has a shape that slopes (expands) in at least two directions toward the rear. Hereinafter, for convenience of description, the slope indicated by arrow D will be referred to as slope D, and the slope indicated by arrow E will be referred to as slope E.

[0046] For example, even if the connection clamp 100 is shifted horizontally a certain distance to the left or right when it is attached to the first guide rail and connecting plate 3, the connection clamp 100 can be guided to the correct position by bringing the slope D of the first holding block 124 or the slope E of the second holding block 125 into contact with the slide rail portion 11 of the first guide rail. This allows for a certain amount of allowable space to exist left and right in the connection clamp 100 when it is attached to the first guide rail and connecting plate 3, making it easier to attach the connection clamp 100.

[0047] In the figure, not all of the slopes of the holding portion 120 are indicated by arrows, but it can be understood that any portion that may come into contact with the storage portion of the holding portion 120 when attaching the connection clamp 100 to the first guide rail and the connection plate 3 can have a slope that widens toward the rear (opposite the direction of movement of the connection clamp 100 when attaching the connection clamp 100).

[0048] 4 and 7, two more recesses 123 are provided on both the left and right sides of the rear surface of the holding part 120. The shape of the recesses 123 is, for example, approximately circular or elliptical, and preferably the edge of the opening adjacent to the rear of the recesses 123 is provided with an expanded diameter portion.

[0049] For example, when attaching the connection clamp 100 to the first guide rail and the connecting plate 3, the sliding rail portion 11 of the first guide rail is gradually inserted into the receiving portion of the holding portion 120. As the sliding rail portion 11 is further inserted, the two recesses 120 engage with the heads of the first fastening members on the surface of the first guide rail. This increases the contact area between the recesses 123 of the holding portion 120 and the first guide rail after installation, allowing for stronger pressure to be applied to the surface of the first guide rail. Furthermore, engaging the first fastening members with the recesses prevents the connection clamp 100 from sliding vertically and preventing the connection clamp 100 from falling off the first guide rail due to the downward force generated by the insertion of the second guide rail. This improves the reliability of the connection clamp 100.

[0050] In addition, the edge of the opening adjacent to the rear of the recess 123 is provided with an enlarged diameter portion, which makes it easier for the head of the first fastening member to engage with it, making it easier to attach the connection clamp 100.

[0051] 4 and 8, the end of the first arm 121 of the holder 120 adjacent to the rear is provided with a plurality of trapezoidal first claws 1211, and the end of the second arm 122 of the holder 120 adjacent to the rear is provided with a plurality of trapezoidal second claws 1221. For example, when the connecting clamp 100 is attached to the first guide rail and the connecting plate 3, the movable mechanism of the holder 120, i.e., the first arm 121 and the second arm 122, contract, and at this time, the plurality of first claws 1211 and the plurality of second claws 1221 clamp the left and right sides adjacent to the rear of the connecting plate 3. Therefore, when the connecting clamp 100 is attached to the first guide rail and the connecting plate 3, not only does the rear surface of the recess 123 of the holder 120 press against the front surface of the first guide rail, but the first claws 1211 and the second claws 1221 also clamp the left and right sides adjacent to the rear of the connecting plate 3. Because the connection clamp 100 clamps the first guide rail and connection plate 3 from three directions, the connection clamp 100 can be attached more firmly, which is advantageous for more accurately positioning (aligning) the second guide rail with respect to the first guide rail when the second guide rail is subsequently inserted into the connection clamp 100. This allows for highly accurate installation of the guide rails.

[0052] It can be understood that the shape of the first claw portion 1211 and the second claw portion 1221 is not limited to a trapezoidal shape, and may be any shape that can firmly hold the connection plate 3.

[0053] "Guide rail installation method" The following is a detailed description of a method for automatically installing a guide rail in an elevator shaft using the above-described connecting clamp 100. The method includes the following steps: Step S1: Identify the position of the first guide rail. Step S2: Check the attachment position of the connection clamp 100. In step S3, the manipulator grasps the connecting clamp 100 and attaches it to the first guide rail and the connecting plate 3. Step S4: The second guide rail is suspended above the first guide rail, and the second guide rail is lowered and moved to the mounting position. In step S5, the movement of the second guide rail is confirmed, and the posture of the second guide rail is adjusted. In step S6, the second guide rail is further lowered and inserted into the guide passage of the introduction section 110 of the connection clamp 100, and the second guide rail is automatically positioned (aligned) by its own weight within the connection clamp 100, thereby seating above the first guide rail. Step S7: fasten the second guide rail and the connecting plate 3 together. Step S8: The connection clamp 100 is collected.

[0054] The above steps are repeated to install other guide rail sections, in sequence, until a desired height within the elevator hoistway is reached.

[0055] The specific operations of each step will be described in detail below.

[0056] First, the specific operations of steps S1 and S2 will be described. For example, an RGB-D camera is attached to the upper front part of the manipulator, and the position of a first guide rail that does not have a second guide rail attached above it is searched for in real time using images captured by the camera.

[0057] It is understood that the type of imaging device is not limited to an RGB-D imaging device, and any imaging device that can realize functions such as identifying guide rail sections in real time using captured images will suffice.

[0058] After identifying the position of the first guide rail, the fastening position of the first guide rail and the connecting plate 3 is further found. When a bolt is used to act on the first fastening member, the fastening position is the position where the first guide rail is screwed into the connecting plate 3 via the bolt. In this case, the position where the first guide rail is screwed into the connecting plate 3 via the bolt is the installation position of the connecting clamp 100. The installation position is transmitted to the installation robot.

[0059] Next, the specific operation of step S3 will be described. After identifying the installation position of the connecting clamp 100, the connecting clamp 100 is installed in front of the manipulator, and the installation robot outputs an operation command to the manipulator based on the installation position, so that the manipulator grasps the connecting clamp 100 and moves to the installation position.

[0060] It should be noted that when attaching the connecting clamp 100, there is no need to remove the imaging device that has been previously attached to the front upper part of the manipulator, and both can be attached to the manipulator at the same time.

[0061] At this time, the movable mechanism of the connection clamp 100 is in an extended state. The connection clamp 100 continues to move toward the first guide rail, and the slide rail portion 11 of the first guide rail comes into contact with the slope D of the first holding block 124 or the slope E of the second holding block 125 on both sides of the receiving portion on the back of the holding portion 120 of the connection clamp 100, and the connection clamp 100 is guided into the receiving portion. As described above in the "Connection Clamp 100" section, this increases the contact area between the rear surface of the recess 123 of the holding portion 120 and the first guide rail, allowing for more firm pressure to be applied to the surface of the first guide rail. Furthermore, by engaging the head of the first fastening member with the recess, the connection clamp 100 is prevented from sliding vertically and from falling off the first guide rail due to the downward force generated by the insertion of the second guide rail. This improves the reliability of the connection clamp 100.

[0062] It can be understood that the slide rail portion 11 of the first guide rail may be accurately inserted directly into the receiving portion without contacting the inclined surface D of the first holding block 124 or the inclined surface E of the second holding block 125.

[0063] After the slide rail portion 11 of the first guide rail is inserted into the accommodation portion, the head of the bolt on the surface of the fixed portion 12 of the first guide rail engages with the recess 123 of the holding portion 120, then the movable mechanism contracts, the first arm 121 and the second arm 122 move toward the first guide rail, and finally the first claw portion 1211 of the first arm 121 and the second claw portion 1221 of the second arm 122 come into contact with both the left and right sides adjacent to the rear of the connecting plate 3, thereby clamping the connecting plate 3. This completes the installation of the connecting clamp 100, and the connecting clamp 100 is removed from the manipulator.

[0064] Next, the specific operations of steps S4 to S6 will be described. After completing the installation of the connection clamp 100, the traction device of the traction unit located above the robot unit where the manipulator is located suspends the second guide rail above the first guide rail to which the connection clamp 100 has just been installed. An RGB-D camera is then used to observe whether the center of the second guide rail (e.g., the slide rail portion 11 of the second guide rail) is directly facing the camera. At this time, the second guide rail is allowed to shift horizontally a certain distance to the left and right, or tilt at a certain angle to the left and right. In addition, the second guide rail is also allowed to shift forward a certain distance to the left and right. The certain distance to the left and right is, for example, 10 mm, and the certain forward shift is, for example, 15 mm, but these are not limited thereto and other appropriate distances are also possible. The certain angle to the left and right is preferably less than 45°, but is not limited thereto and other appropriate angles are also possible.

[0065] If the RGB-D imaging device observes that the deviation distance of the second guide rail exceeds the above distance, the position of the second guide rail can be further adjusted by the traction device, and if the RGB-D imaging device observes that the tilt angle of the second guide rail exceeds the above angle, the angle of the second guide rail can be adjusted by the rotation mechanism attached to the traction unit. In other words, the posture of the second guide rail can be adjusted by cooperation between the traction device and the rotation mechanism.

[0066] After adjusting the posture of the second guide rail, the traction device further lowers the second guide rail, and the sliding rail portion 11 and fixed portion 12 of the second guide rail come into contact with the slope of the first introduction block 112 or the second introduction block 113 of the introduction portion 110 of the connection clamp 100, and are guided into the guide passage. As explained above in the section on "connection clamp 100," this allows the second guide rail to be automatically positioned by its own weight when inserted into the connection clamp 100, and the posture of the second guide rail can be automatically adjusted, thereby achieving automatic alignment between the second guide rail and the first guide rail. This allows for highly accurate guide rail installation.

[0067] It can be understood that the slide rail portion 11 and the fixed portion 12 of the second guide rail may be accurately inserted directly into the guide passage without contacting the slope of the first introduction block 112 or the second introduction block 113.

[0068] After the second guide rail is inserted into the introduction portion 110 of the connecting clamp 100, the RGB-D imaging device is used to observe whether the second guide rail is seated above the first guide rail. For example, it can be observed whether the position of the through hole for inserting the second fastening member in the second guide rail corresponds to the position of the through hole for inserting the second fastening member in the connecting plate 3. When the position of the through hole for inserting the second fastening member in the second guide rail corresponds to the position of the through hole for inserting the second fastening member in the connecting plate 3, the positions of the through holes in the second guide rail and the connecting plate 3 are derived as the fastening positions between the second guide rail and the connecting plate 3 and output to the installation robot.

[0069] Next, the specific operation of step S7 will be described. The RGB-D imaging device is used to observe whether the position of the through-hole in the second guide rail for inserting the second fastening member corresponds to the position of the through-hole in the connecting plate 3 for inserting the second fastening member. That is, after the second guide rail is seated above the first guide rail, the installation robot outputs an operation command to the manipulator based on the fastening position of the second guide rail and the connecting plate 3. In response, the manipulator uses a power tool attached to the front of the manipulator to insert a second fastening member, such as a bolt, through the opening 111 of the guide portion 110 and screw the bolt into the through-hole in the second guide rail and the connecting plate 3. After the second guide rail and the connecting plate 3 are fastened together, the power tool is removed from the front of the manipulator.

[0070] There is no particular limitation on the type of power tool, as long as it is a tool that can screw second fastening members such as bolts into the through holes of the second guide rail and the connecting plate 3 with the bolts, and there is no particular limitation on the time for installing the power tool, as it can be understood that it can be installed immediately after removing the connection clamp 100 in step S3, or it can be installed before step S7. From the viewpoint of improving installation efficiency, it is preferable to install the power tool before the second guide rail is completely seated on the first guide rail in step S6.

[0071] Next, the specific operation of step S8 will be described. After the second guide rail is seated above the first guide rail and the second guide rail and the connecting plate 3 are fastened together, the manipulator is used to remove the connecting clamp 100 from the joint A between the first and second guide rails, thereby completing the recovery of the connecting clamp 100.

[0072] The above steps S1 to S8 are repeated until the installation of all guide rail sections is completed.

[0073] Based on the guide rail installation method of this embodiment, the installation between the guide rail sections is mainly achieved by using the connecting clamp 100 to hold the second guide rail without the need for complex devices or structures, so the lifting position of the second guide rail is not restricted by other structural components, and automatic installation of the guide rail sections can be achieved with simple devices and structures, thereby reducing the cost of the entire system.

[0074] Based on the guide rail installation method of this embodiment, the connection clamp 100 can firmly clamp the first guide rail and the connection plate 3, and can automatically position the second guide rail, so that the guide rail installation method of the connection clamp 100 can be used to perform high-precision guide rail installation work.

[0075] The above describes the implementation of the present application based on certain specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed herein. Although the description of the present application is introduced with embodiments, it does not represent that the features of the present application are limited to the implementation manner. In addition, some specific details have been omitted in the description to avoid confusing or obscuring the focus of the present application.

[0076] Obviously, those skilled in the art may make various modifications and changes to the present application without departing from the spirit and scope of the present application. Thus, if such modifications and changes of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and changes.

[0077] Although the embodiments of the present invention have been described above, they are merely examples and are not intended to limit the scope of the present invention. These embodiments and modifications thereof are within the scope and spirit of the present invention, and are also encompassed by the inventions set forth in the claims and their equivalents. [Explanation of symbols]

[0078] 1 Upper fixed guide rail section 2 Lower guide rail section 3 Connection plate A Connecting part 11 Slide rail part 12 Fixed part 100 Connection clamp 110 Introduction 111 Opening 112 First Introduction Block 113 Second Introduction Block 120 Holding part 121 First Arm 122 Second Arm 123 Recess 124 First Holding Block 125 Second Holding Block 1211 1st claw part 1221 2nd claw part

Claims

1. A guide rail installation method for installing a guide rail in an elevator hoistway, comprising: a step of attaching a connection clamp having an introduction portion and a holding portion to a first guide rail that has been fixed in advance and a connection plate that has been fixed in advance to an upper end of a rear surface of the first guide rail via a first fastening member, and clamping the first guide rail and the connection plate with the holding portion; a step of suspending a second guide rail above the first guide rail, inserting the second guide rail into the introduction section, and using the introduction section to guide the second guide rail above the first guide rail and align it with the first guide rail; and fastening the second guide rail and the connecting plate using a second fastening member.

2. 2. The guide rail mounting method according to claim 1, wherein the mounting of the connecting clamp and the fastening of the second guide rail and the connecting plate are performed by a manipulator.

3. The guide rail mounting method further comprises: The guide rail installation method described in claim 2, characterized in that it includes a step of installing an imaging device in front of the manipulator, identifying and deriving the position of the first fastening member from an image captured by the imaging device, and generating an operation command to guide the operation of the manipulator based on the position, thereby causing the manipulator to install the connection clamp at the installation position.

4. The guide rail mounting method further comprises: a step of installing an imaging device in front of the manipulator, and identifying and determining whether the second guide rail is in a position where it can be inserted into the introduction portion based on an image captured by the imaging device; When the angle of inclination of the second guide rail relative to the first guide rail in the horizontal direction is less than a specified angle and the distance of the second guide rail shifted forward relative to the first guide rail is less than a specified distance, it is determined that the second guide rail is in a position where it can be inserted into the introduction section, and thus the second guide rail is inserted into the introduction section; The guide rail installation method described in claim 2, characterized in that it includes a step of determining that the second guide rail is not in a position where it can be inserted into the introduction section if the horizontal angle of the second guide rail relative to the first guide rail is greater than a specified angle or the distance the second guide line is shifted forward relative to the first guide rail is greater than a specified distance, and thereby adjusting the posture of the second guide rail.

5. The guide rail mounting method further comprises: The guide rail installation method described in claim 2, characterized in that it includes a step of installing an imaging device in front of the manipulator and observing whether the second guide rail is seated above the first guide rail using images captured by the imaging device.

6. The guide rail mounting method further comprises:

6. The guide rail installation method of claim 5, further comprising the steps of: when the second guide rail is seated above the first guide rail, identifying and deriving the positions of the through holes for inserting the second fastening member installed on the second guide rail and the connecting plate from the images captured by the imaging device; generating an operation command for guiding the operation of the manipulator based on the positions; and causing the manipulator to insert the second fastening member into the through holes of the second guide rail and the connecting plate.

7. The guide rail mounting method further comprises: The method for installing a guide rail according to claim 1 , further comprising the step of: fastening the second guide rail and the connecting plate using the second fastening member, and then recovering the connecting clamp.

8. A connecting clamp for connecting a first guide rail and a second guide rail that are pre-fixed in an elevator shaft, The introduction and a holding portion, a connecting clamp characterized in that the introduction portion has a guide passage and guides the second guide rail from a direction or position away from the first guide rail to above the first guide rail and aligns it with the first guide rail, the holding portion is installed below the introduction portion, and when the connecting clamp is attached to the first guide rail and the connecting plate, it clamps the first guide rail and the connecting plate, and the connecting plate is pre-fixed to the upper end of the back surface of the first guide rail via a first fastening member.

9. 9. The connection clamp according to claim 8, wherein the introduction portion includes two introduction blocks, the introduction blocks being installed on both left and right sides of the introduction port of the guide passage, the sides of the introduction blocks facing each other across the introduction port being slanted upward in directions away from each other, and the rear sides of the introduction blocks being slanted forward in directions upward.

10. 9. The connection clamp of claim 8, wherein the introduction portion has a plurality of openings, and when the connection clamp is attached to the first guide rail and the connection plate, the openings correspond to the positions of through holes for inserting the second fastening members installed on the second guide rail and the connection plate.

11. The connection clamp according to claim 8, wherein the holding portion simultaneously presses the front of the first guide rail and both the left and right sides of the back of the connection plate when clamping the first guide rail and the connection plate.

12. The connection clamp according to claim 11, characterized in that the holding portion has two arms that can be extended and retracted as a movable mechanism, and the arms can be retracted to press both the left and right sides of the back surface of the connection plate.

13. The connection clamp according to claim 8, wherein the retaining portion has a recess, and when the connection clamp is attached to the first guide rail and the connection plate, the head of the first fastening member engages with the recess.

14. The connection clamp described in claim 8, characterized in that the holding portion has a storage portion that is connected to the guide passage in the vertical direction, and when the connection clamp is attached to the first guide rail and the connection plate, the first guide rail is inserted into the storage portion.

15. 15. The connection clamp according to claim 14, wherein the holding portion comprises two holding blocks, the holding blocks being installed on both left and right sides of the receiving portion, and the side surfaces of the holding blocks facing each other across the receiving portion are shaped to slope in directions that move away from each other toward the rear.

Images