CN110683451B

CN110683451B - Elevator installation device

Info

Publication number: CN110683451B
Application number: CN201910568060.6A
Authority: CN
Inventors: 萩原高行; 荒川淳; 松家大介; 波田野利昭; 伊藤雅人; 八木伸明
Original assignee: Hitachi Building Systems Co Ltd
Current assignee: Hitachi Building Systems Co Ltd
Priority date: 2018-07-06
Filing date: 2019-06-27
Publication date: 2021-12-03
Anticipated expiration: 2039-06-27
Also published as: CN110683451A; JP2020007095A

Abstract

The invention provides an elevator installation device, which can vertically form a hole for fixing a bracket on a wall surface of an elevator shaft without being influenced by measurement data of the wall surface shape of the elevator shaft. The elevator installation device of the invention comprises: a boring tool inclination detecting device that detects an inclination of the boring tool; a tapping tool inclination adjusting device for adjusting the inclination of the tapping tool; and a control device that detects an angle at which the elevator hoistway wall surface intersects with an axis of the boring tool, the control device adjusting the inclination of the boring tool using the boring tool inclination adjustment device based on the detected angle, positioning the front end of the boring tool so that the axis of the boring tool is perpendicular to the elevator hoistway wall surface, and pressing the boring tool perpendicularly to the elevator hoistway wall surface.

Description

Elevator installation device

Technical Field

The present invention relates to an apparatus for automatically installing an elevator in an elevator shaft, and more particularly, to an apparatus comprising: the device is a device for automatically drilling holes on the wall surface of an elevator shaft in order to drive anchor bolts in the operation of fixing a guide rail or a door component of the elevator to the elevator shaft.

Background

The elevator lifts and lowers the car in the vertical direction along 2 guide rails vertically laid on the left and right sides of the elevator shaft. In order to improve the riding experience, the guide rail is positioned along the reference straight line with high precision and is installed in the elevator shaft. Landing doors for getting on and off the elevator are provided on each floor, and the landing doors are opened and closed in conjunction with the car doors of the car when the elevator is on the flat floor. The landing door is positioned and mounted with high accuracy so that the gap between the landing door and the car door converges within an allowable range.

The guide rails and landing doors are fixed to the hoistway by brackets at the designed positions. And the bracket is fixed on the reinforced concrete on the wall surface of the elevator shaft by using foundation bolts. At this time, the anchor bolts of the fixing bracket are vertically driven into the wall surface of the elevator shaft to be fixed at a position where the guide rail or the landing door cannot be moved. In a building site, an operator may obliquely drive an anchor bolt in order to avoid a reinforcing bar depending on the situation, and at this time, a portion of the anchor bolt exposed from concrete is hammered to be corrected to be vertical.

Conventionally, there is known an apparatus for automatically installing an elevator in an elevator shaft (for example, patent document 1). In this device, a mounting plane capable of adjusting the upper surface to be horizontal is provided on a table which is lifted and lowered, and a first linear device parallel to the side surface of the table is fixed to the mounting plane. In the first linear motion device, a second linear motion device is fixed with a direction changed by 90 degrees, and a support member holding the drilling tool is fixed to the second linear motion device.

Then, the work table is moved to a predetermined height to fix the bracket to the elevator shaft. Next, the hole-drilling tool is moved to a position where an anchor bolt is to be driven by the first linear motion device. Then, the second linear motion device is used for pressing the hole opening tool on the wall surface of the elevator shaft to open holes for driving anchor bolts.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 5-105362

Disclosure of Invention

Technical problem to be solved by the invention

Since the height of the elevator shaft can reach tens of meters, there is often a slight inclination in all directions within a range that does not hinder the function of the building. However, if the inclination is not included in the drawing information, the opening device cannot accurately open the opening to mount the guide rail to the elevator shaft. In this case, the operator must open the hole itself to the inclined portion of the elevator shaft.

On the other hand, in consideration of the fact that the operator measures the wall surface shape of the elevator shaft as much as possible and arranges the wall surface shape into three-dimensional data, and drives the holing device based on the three-dimensional data to vertically drive the anchor bolts into the elevator shaft wall surface, the installation position of the anchor bolts must be moved in the vertical, horizontal, and right directions, and therefore a large range of the elevator shaft wall surface must be measured. The amount of work for measurement becomes enormous, and the above method is not practical.

As described above, it is difficult to apply the mounting device of the elevator to the opening work for fixing the bracket to the elevator shaft. Therefore, an object of the present invention is to provide an elevator mounting apparatus capable of forming a hole for vertically fixing a bracket to a wall surface of an elevator shaft without being affected by measurement data of the wall surface shape of the elevator shaft.

Technical scheme for solving technical problem

In order to achieve the above object, the present invention provides an elevator installation apparatus including: a hole opening tool for opening a hole on the wall surface of the elevator shaft; and a support mechanism for supporting the boring tool, the support mechanism being provided on a work table that is raised and lowered in the elevator shaft, the elevator installation apparatus comprising: a boring tool inclination detection device that detects an inclination of the boring tool; a boring tool inclination adjusting device for adjusting inclination of the boring tool; and a control device that detects an angle at which the elevator hoistway wall surface intersects with an axis of the boring tool, the control device adjusting a tilt of the boring tool with the boring tool tilt adjusting device based on the detected angle, positioning a front end of the boring tool so that the axis of the boring tool is perpendicular to the elevator hoistway wall surface, and pressing the boring tool perpendicularly to the elevator hoistway wall surface.

Effects of the invention

According to the present invention, it is possible to provide an elevator installation apparatus capable of forming a hole for vertically fixing a bracket to a wall surface of an elevator shaft without being affected by measurement data of a wall surface shape of the elevator shaft.

Drawings

Fig. 1 is a perspective view showing a first embodiment of an elevator installation apparatus according to the present invention.

Fig. 2 is a perspective view showing a second embodiment of an elevator installation apparatus according to the present invention.

Fig. 3 is a perspective view of the interior of a hoistway showing the overall layout of an elevator installation apparatus of the present invention.

Fig. 4 is an example of a block diagram showing an overall configuration of a first embodiment of an elevator installation apparatus according to the present invention.

Fig. 5 is an example of a block diagram showing an overall configuration of a second embodiment of an elevator installation apparatus according to the present invention.

Fig. 6 is an example of a flowchart of the rail centering fixing work related to the present invention.

Fig. 7 is an example of a flowchart of the positioning operation of the boring tool of the present invention.

Fig. 8 is a diagram showing a positional relationship between the cross section of the elevator shaft and the work table, and a positional relationship between the work table, the articulated robot, and the support mechanism.

Fig. 9 is a perspective view showing a specific configuration of the boring tool inclination detecting device.

Fig. 10 is a diagram showing an example of obtaining the inclination of the boring tool with respect to the elevator shaft wall surface by the boring tool inclination detecting device configured by 3 displacement sensors.

Fig. 11 is a diagram showing an example of obtaining the inclination of the boring tool with respect to the elevator shaft wall surface by the boring tool inclination detecting device configured by 1 displacement sensor.

Detailed Description

Next, an embodiment of the elevator installation apparatus will be described with reference to the drawings. Fig. 1 is a perspective view showing the main structure thereof. The elevator installation device 1 includes: a tapping tool 2 (electric tool); a first linear motion device 4(4a, 4b, 4c) that presses the boring tool 2 against the hoistway wall surface 3; support mechanisms 5(5a, 5b) which can be deformed so as to fix the boring tool 2 at a predetermined position; a support mechanism drive motor 6(6a, 6b) for changing the shape of the support mechanism 5; a base positioning device 7 that moves the base of the support mechanism 5; a work table 9; a table height detecting device 42 for detecting the height position of the table 9; a laser irradiator 39 and a table position detector 41 for providing a reference line 40 for detecting the front, rear, left, and right positions of the table 9; a table inclination detector 43 for detecting the inclination of the table 9; and a control device 8, wherein the control device 8 controls the support mechanism driving motors 6(6a, 6b) and the base positioning device 7 of the support mechanism 5 based on positional information of each part and information of various detection devices provided in advance through drawings, measurement, and the like. Reference numeral 54 denotes a reflection plate.

The boring tool 2 is, for example, an electric hammer drill, and includes a dust collecting unit 10 that sucks the shavings. The first linear motion device 4 includes: a slider 4b to which the boring tool 2 is fixed, a linear guide 4a that guides the slider 4b in the same direction as the axis of the boring tool 2, and a drive motor 4c that moves the slider 4b straight.

The chuck 11 is provided on the slider 4b of the first linear actuator 4, and the drilling tool 2 is detachably fixed, so that it can be replaced with an impact wrench (not shown) when fastening work is performed with a bolt. Further, a boring tool reaction force detection device 48 for detecting a reaction force of the boring tool 2 is attached to the root portion of the chuck 11. As will be described later, in order to fix the brackets of the main guide rail and the counterweight guide rail (hereinafter referred to as "CWT guide rail"), the boring tool 2 needs to be freely positioned within a wide range in the left-right direction (y-axis direction). Therefore, there is a support mechanism base moving device 7 for moving the base of the support body.

In order to press the boring tool 2 against the hoistway wall surface 3, the support mechanism 5 needs to be largely deformed in the horizontal direction. On the other hand, since the table 9 can be moved up and down in the vertical direction (z-axis direction), the support mechanism 5 does not need to be deformed greatly in the vertical direction. Therefore, the support mechanism 5 includes a horizontal articulated arm 5a and a second linear motion stage 5b in the vertical direction (z-axis direction).

The boring tool inclination adjusting device 19 includes a rotation shaft 13V perpendicular to the pan head 17 and a horizontal supine axis 13H, the rotation shaft 13V is rotated by a rotation shaft driving motor 12a fixed to the front end of the horizontal articulated arm 5a, and the supine axis 13H is rotated by a supine axis driving motor 16c fixed to the pan head 17. A rotation shaft fixing brake 12b that fixes the rotation of the rotation shaft 13V is provided at the distal end of the horizontal articulated arm 5 a. Since the supination shaft 13H is rotated by a mechanism in which the tooth arc 16a and the worm wheel 16b are combined, a brake for fixing the supination shaft 13H is not required because a self-locking function acts on the supination shaft 13H.

In order to position the axis of the boring tool 2 vertically in the elevator hoistway wall surface 3 using the boring tool inclination adjusting device 19, the elevator installation apparatus 1 is provided with a boring tool inclination detecting device 14 for detecting the inclination of the boring tool 2 with respect to the elevator hoistway wall surface 3. In fig. 1, the parallelism to the facing elevator shaft wall surface 3 is measured using a two-dimensional displacement sensor (boring tool inclination detection device 14) which is disposed in the direction orthogonal to the axis of the boring tool 2 in front of the linear guide 4a of the first linear motion device 4 and measures the horizontal distance. The two-dimensional displacement sensor is originally used for measuring the sectional shape of a member, but when used toward the elevator shaft wall surface 3, it is possible to measure how much the partial section 15 of the elevator shaft is inclined with respect to the two-dimensional displacement sensor. The two-dimensional displacement sensor may be a known sensor. The piercing tool inclination detecting device 14 not using the two-dimensional displacement sensor will be described in detail later.

The control device 8 controls the support mechanism drive motor 6(6a, 6b), the second linear motion device 5b, and the boring tool inclination adjusting device 19 based on the information from the boring tool inclination detecting device 14, and positions the boring tool 2 vertically with respect to the elevator shaft wall surface 3.

The work table 9 includes a floor beam 9a, a floor 9b laid on the floor beam 9a, and a cross beam 9d on the side of the work table 9. After the mounting work of the main guide rail or the like, the work table 9 is directly used as a bottom plate of the elevator, and the bottom plate 9b is covered with the protective plate 9 c. Therefore, the support mechanism base moving device 7 is placed on the protection plate 9c and fixed to the cross beam 9d using the bolts 21. As will be described later, the support mechanism base moving device 7 is fixed to a predetermined position of the cross beam 9d in order to define the position of the base of the support mechanism 5 in the coordinate system provided on the work table 9.

In the elevator installation apparatus 1 shown in fig. 1, the support mechanism base moving device 7 is moved by the third linear motion device 700 and fixed to the cross beam 9d via a spacer (not shown) having a predetermined size. Then, the mark 22 is applied to the beam 9d and the third linear motion device 700, and the position of the mark 22 is aligned to obtain the position in the y-axis direction. Instead of using the mark 22, the dimensions of the end of the frame 9d and the end of the linear motion stage 7a may be measured to obtain the position in the y-axis direction.

Fig. 2 is a perspective view showing another embodiment of the support mechanism 5. The support mechanism 5 is constituted by a horizontal articulated arm 5a and a second linear motion device 5b that moves the horizontal articulated arm 5a in the vertical direction, and the drive function of the joints of the horizontal articulated arm 5a (fig. 1) by the support mechanism drive motor 6 is replaced by the function of an articulated robot drive motor provided in each joint of the vertical articulated robot 35.

As in fig. 1, the drilling tool 2 is, specifically, an electric hammer drill, and the drilling tool 2 is detachably fixed to the first linear actuator 4 by a chuck 11. Further, a boring tool inclination detecting device 14 is provided on the front surface of the first linear motion device 4. Further, a boring tool inclination adjusting device 19 is disposed between the first linear device 4 and the horizontal articulated arm 5 a.

Here, the support mechanism drive motor 6 is not provided in each joint of the horizontal multi-joint arm 5a, and only the support mechanism joint fixing brake 49b (fig. 1) is attached. Further, a coupling port 52 for coupling a rotary-type end effector (for example, a rotary shaft having a polygonal cross section) 50 attached to the distal end of the vertical articulated robot 35 is provided on the upper surface of the drilling tool 2. The coupling port 52 is a small hole (for example, a hole having a polygonal cross section) into which the rotary end effector 50 can be inserted, and a coupling port switch 55 is provided at the bottom of the small hole to detect the state in which the rotary end effector 50 is connected to the drilling tool 2.

The control device 8 controls the articulated robot driving motor 46, the second linear motion device 5b, and the boring tool inclination adjusting device 19 based on the information from the boring tool inclination detecting device 14, and vertically positions the boring tool 2 with respect to the elevator shaft wall surface 3. At this time, the rotation angle of the rotary end effector 50 at the tip of the vertical articulated robot 35 is controlled, the rotary end effector 50 is inserted into the coupling port 52 on the upper surface of the boring tool 2, and the rotation angle of the boring tool 2 about the z-axis is adjusted. In this state, the articulated robot drive motor 46 is controlled to translate the rotary end effector 50 perpendicular to the distal end of the articulated robot 35, thereby positioning the drilling tool 2 in the xy direction. In this case, since the rotation angle of the rotary shaft 13V of the drilling tool 2 can be adjusted, the rotary shaft driving motor 12a is not required, and only the rotary shaft fixing brake 12b is required.

In addition, an end camera 44 is attached to the distal end portion of the vertical articulated robot 35 in order to detect the position of the joint 54. The control device 8 performs image processing on the data captured by the end camera 44, detects the inclination of the joint port 54, and controls the vertical articulated robot 35 so as to connect the rotary-type end effector 50 to the joint port 54.

Fig. 3 is a perspective view showing the inside of the elevator shaft 23 in the guide rail centering fixing work as the object of the present invention. The guide rail 24 is composed of a main guide rail 24a and a CWT guide rail 24b, the guide rails are connected by a joint plate 25 and erected in the elevator shaft 23, and the guide rail 24a1 at the lowest stage is fixed to the base 27 of the pit 26 in a positioned state and fixed to the elevator shaft by a bracket 281 at the first stage. In addition, (L) represents the left side, and (R) represents the right side. For the sake of brevity, sometimes (L) and (R) are not distinguished, but reference numerals are used. 24a of_nAnd "n" of the etc. indicates the nth stage. Further, "a" indicates a structure related to the main guide rail, and "b" indicates a structure related to the CWT guide rail.

The bracket 28 is made up of 2 large and small members, and the large bracket 28L is fixed by anchor bolts 18 driven into the elevator shaft. The small bracket 28S is placed on the large bracket 28L in a state of being along the guide rail 24 positioned, and the guide rail 24 is fixed to the small bracket 28S and the small bracket 28S is fixed to the large bracket 28L at this position, thereby fixing the guide rail 24 to the elevator shaft 23. Uppermost guide rail 24a_nThe beams 29(29L, 29R) are temporarily fixed to the roof by steel wires 30a (L), 30a (R)).

The work table 9 is suspended by 2 wire ropes 31(31L, 32L) from work table lifting devices (cranes) 32(32L, 32R), and is lifted and lowered along the main guide rails 24a (L), 24a (R)) by guide shoes 33 (only 33R shown in fig. 3) disposed at the lower portion of the work table 9.

In the center of the work table 9, 2 vertical articulated robots 35 (35F: front; 35R: rear) mounted on the gantry 34 (34F: front; 34R: rear) are arranged. Since it is necessary to simultaneously perform the work of holding the bracket 28 at a predetermined position on the elevator shaft wall surface 3 and the work of fastening bolts for fixing the bracket 28, 2 vertical articulated robots 35(F) and 35(R) are used. When the elevator mounting apparatus 1 is initially introduced into the elevator shaft 23, the operator presses the platform 34 to move to an appropriate position on the working platform 9, and fixes the platform to the working platform 9 with the stopper 36. As described above, the vertical articulated robot 35 also serves as the support mechanism drive motor 6 (fig. 1) of the support mechanism 5.

Between the 2 vertical articulated robots 35, a table portion of a centering bracket 37a receiving the main guide rail 24a is disposed. The centering bracket 37a of the main guide rail 24a is fixed to the elevator shaft 23, and the work table 9 is lowered to secure the operation area of the vertical articulated robot 35 at the time when the positioning operation of the guide rail 24a by the guide rail centering bracket 37a is completed.

Further, the centering bracket 37b of the CWT guide rail 24b is retracted above the work table 9 in a state of gripping the CWT guide rail 24 b. The operation contents of the centering

brackets

37a and 37b of the main guide rail 24a and the CWT guide rail 24b are not directly related to the present invention, and therefore, the description thereof is omitted.

A support mechanism 5 for fixing the boring tool 2 at a predetermined position is disposed at a position facing the hoistway wall surface 3 of the fixed guide rail 24. As described above, the support mechanism 5 can be moved in the front-rear direction (y-axis direction) of the elevator shaft 23 by the support mechanism base moving device 7 fixed to the work table 9.

Here, the weight of the device on which the work table 9 can be placed is limited, and a vertical articulated robot 35 of 30kg to 80kg is used. Since the robot of this size cannot increase the size of the motor, the load-bearing capacity is reduced to about 10 to 20kg, and it is difficult to perform the operation of pressing the boring tool 2 against the elevator shaft wall surface 3 with a force of about 200N. Therefore, in the boring work to be performed by the present invention, the boring tool 2 is held at a predetermined position by the support mechanism 5, and the boring tool 2 is pressed against the elevator shaft wall surface 3 by the first linear motion device 4.

A laser irradiator 39 is fixed to the top of the elevator shaft 23, and a vertical reference line 40 is set. Fig. 3 shows an example in which a reference line 40 (40R for the former, 40D for the latter, 39R for the laser irradiator for the former, and 39D for the laser irradiator for the latter) is set in the vicinity of the main guide rail 24a and the vicinity of the entrance.

The reference line 40R near the main guide rail 24a is used for positioning the guide rail 24a with the guide rail centering bracket 37 a. The reference line 40D near the entrance is used to detect the position of the work table 9 in the front-rear direction and the left-right direction. Therefore, a table position detection device 41D (for example, a laser spot position sensor is used) is disposed near the entrance of the table 9.

In order to detect the position of the work table 9 in the height direction, a work table height detection device 42 (for example, using a laser range finder) is provided at the top of the elevator shaft 23, and the distance to the reflection plate 54 is measured, and the reflection plate 54 is placed at the same height as the bottom surface of the work table 9. Reference numeral 27(27a, 27b) denotes a base coupled to the lower end of the guide rail.

Next, in fig. 1, a description will be given of what device the control device 8 acquires information from, and how the control device controls. Fig. 4 is a block diagram showing an example of the overall structure of the elevator installation apparatus of fig. 1. In fig. 1, the support mechanism drive motor 6 corresponds to a motor provided in each joint of the support mechanism 5. In addition, the support mechanism 5 is not limited to the horizontal articulated type. Further, the control device 8 controls the support mechanism base positioning device 7 in advance, and moves the base of the support mechanism 5 so that the hole drilling operation can be performed at the position where the support mechanism 5 is attached to the bracket 28 (fig. 3). The processing performed by the control device 8 will be described below.

The control device 8 controls the work platform elevating device 32 based on information from the work platform height detecting device 42 provided in the elevator shaft 23 to elevate the work platform 9 to the height of the mounting bracket 28. The control device 8 calculates the position and inclination of the work platform in the elevator shaft 23 using a work platform position detection device 41D and a work platform inclination detection device 43 provided in the work platform 9.

The control device 8 controls the second linear motion device 5b of the support mechanism 5, the support mechanism drive motor 6, the rotary shaft drive motor 12a of the boring tool inclination adjusting device 19, and the supine shaft drive motor 16c based on preset information on the target position of the front end of the boring tool 2, information on the work table height detecting device 42, information on the work table position detecting device 41D, information on the work table inclination detecting device 43, information on the boring tool inclination detecting device 14, and information on the support mechanism shape detecting device 53 (e.g., an encoder provided in each joint of the support mechanism 5), and positions the front end of the boring tool 2 at a predetermined position of the elevator hoistway 23 vertically with respect to the hoistway wall surface 3.

The support mechanism shape detection device 53 includes, in addition to the encoders provided at the joints of the support mechanism 5, an encoder for detecting the angles of the rotation axis 13V and the supine axis 13H of the boring tool tilt adjustment device 19, an encoder for detecting the amount of movement of the second linear motion device 5b, and the like. The control device 8 calculates the position of the boring tool 2 based on the angle information and the position and size information of each part.

The control device 8 controls the support mechanism driving motor 6 provided in each joint of the support mechanism 5, and after the positioning of the boring tool 2 is completed, the control device holds the position of the boring tool 2 and operates the rotation axis fixing brake and the support mechanism joint fixing brake 49. The self-locking function of the second linear motion device 5b works without a brake.

The control device 8 detects that the boring tool 2 is in contact with the hoistway wall surface 3 based on information from the boring tool reaction force detection device 48, and controls the first linear device 4 to bore the hole to a predetermined depth.

Next, in fig. 2, how the control device 8 acquires information from which device and controls the device will be described. Fig. 5 shows an example of a block diagram showing the overall structure of an elevator installation apparatus used for the above purpose. The articulated robot drive motor 46 of the vertical articulated robot 35 also functions as the support mechanism drive motor 6. Further, an encoder is provided as the articulated robot shape detection device 45 at each joint of the vertical articulated robot 35.

The end camera 44, the rotary end effector 50, and the end reaction force detection device 51 are provided at the distal end portion of the vertical articulated robot 35. As will be described later, a coupling port 55 for coupling the rotary end effector 50 to the drilling tool 2 is provided in the drilling tool 2, and a coupling port switch 55 for detecting a coupling state is provided. In fig. 2, the support mechanism shape detection device 53 and the support mechanism drive motor 6 are not required. As will be described later, the rotation shaft driving motor 12a of the boring tool inclination adjusting device 19 is not required.

The control device 8 controls the support mechanism base positioning device 7 in advance, and moves the base of the support mechanism 5 so that the hole drilling operation can be performed at the position where the support mechanism 5 is attached to the bracket 28. The setting controller 8 also previously recognizes the position of the vertical articulated robot 35 on the work table 9.

As in fig. 1, the control device 8 controls the work platform elevating device 32 based on information from the work platform height detecting device 42 provided in the elevator shaft 23 to elevate the work platform 9 to the height of the mounting bracket 28. The control device 8 also calculates the position and inclination of the work platform in the elevator shaft 23 using a work platform position detection device 41D and a work platform inclination detection device 43 provided in the work platform 9.

The control device 8 controls the second linear motion device 5b, the articulated robot drive motor 46, the rotary end effector 50, and the supine axis drive motor 16c of the boring tool inclination adjusting device 19 of the support mechanism 5 based on the preset information on the target position of the front end of the boring tool 2, the information on the table height detecting device 42, the information on the table position detecting device 41D, the information on the table inclination detecting device 43, the information on the boring tool inclination detecting device 14, and the information on the articulated robot shape detecting device 45, and positions the front end of the boring tool 2 at a predetermined position of the elevator hoistway 23 in a direction perpendicular to the elevator hoistway wall surface 3.

The control device 8 connects the rotary-type end effector 50 mounted on the front end portion of the vertical articulated robot 35 to the joint opening 52 provided on the surface of the boring tool 2, and positions the boring tool 2. At this time, the controller 8 controls the support mechanism joint fixing stopper 49 and the rotation axis fixing stopper 12b of the boring tool inclination adjusting device 19, thereby changing the shape of the horizontal multi-joint arm 5a by the vertical multi-joint robot 35 or fixing the horizontal multi-joint arm 5a so that the shape does not change.

The controller 8 detects the position and inclination of the coupling port 52 provided in the drilling tool 2 by the end camera 44, and connects the rotary end effector 50 to the coupling port 52 of the drilling tool 2. At this time, the control device 8 confirms the coupling state of the rotary end effector 50 and the drilling tool 2 based on the information of the coupling port switch 55.

When the second linear motion device 5b of the support mechanism 5 and the supine axis driving motor 16c of the boring tool inclination adjusting device 19 are driven by the control device 8, the external force from the boring tool 2 received by the rotary-type end effector 50 connected to the boring tool 2 is detected by the end reaction force detecting device 51. At this time, the control device 8 controls the position of the rotary end effector 50 to move in accordance with the external force from the drilling tool 2.

The control device 8 detects that the boring tool 2 is in contact with the hoistway wall surface 3 based on information from the boring tool reaction force detection device 48 of the support mechanism 5, and controls the first linear motion device 4 to bore the hole to a predetermined depth.

The control device 8 may be constituted by a microcomputer. The control device 8 includes a controller, hardware resources such as a memory, and software resources such as a program in the memory, and the controller executes the program in the memory to realize the above processing. The steps in the flow chart may be classified into units, functions, and modules. The memory may be understood as a non-transitory recording medium that records the program.

Fig. 6 is a flowchart showing an example of the steps of the rail centering fixing work related to the hole forming work. Operator to the lowest stage guide rail 24₁For centering purposes, with the first stage carrier 28 already mounted₁. The elevator mounting apparatus performs an operation of fixing the bracket 28 of the second level or more.

First, in step 101, the height position of the work table 9 is detected, and in step 102, the work table 9 is moved up and down to the mounting position of the bracket 28. In the next step 103, the guide rail 24 is positioned using the guide rail centering bracket 37. This work is not the subject of the elevator installation apparatus, and is therefore performed by an operator. The operator confirms the relative position of the reference line 40R and the guide rail 24 by the guide rail centering bracket position detecting device 41G, positions the guide rail 24 with high accuracy, and fixes the guide rail centering bracket 37 to the elevator shaft 23 by a single pipe or the like so that the guide rail 24 does not move from the position.

The next steps 104 to 107 are the opening of the elevator installation. First, the elevator mounting apparatus detects the position and inclination of the work table 9 in step 104. Specifically, the work platform height detection device 42 provided at the top of the elevator shaft 23 measures the distance L to the floor surface of the work platform 9. The control device 8 is located at the reference position H on the table 9₀Is measured at a distance L₀The difference with L plus H₀The z-coordinate of the working platform 9 in the elevator shaft 23 is obtained. The inclination of the table can be directly measured by an inclination sensor provided in the table 9.

In the next step 105, the support mechanism base moving device 7 moves the base of the support mechanism 5 to a position where the hole forming operation can be performed. In the next step 106, the support mechanism drive motor 6 or the articulated robot drive motor and the boring tool inclination adjusting device 19 are controlled to perform positioning of the boring tool 2. The control device 8 positions the boring tool 2 at a prescribed position so that the axis of the boring tool 2 is perpendicular to the hoistway wall surface 3.

If the positioning of the drilling tool 2 is finished, the drilling tool 2 performs drilling in step 107. In step 108, the elevator installation repeats steps 104 through 107 before the openings for the anchor bolts for the securement of the bracket 28 are all completed. If the hole opening of the anchor bolt 18 for the fixing of the bracket 28 is completed, the process proceeds to step 109.

In the first half of step 109, the core of the anchor bolt 18 is driven into the hole opened in step 107, and the large bracket 28L is fixed to the elevator shaft 23 such that the upper surface of the large bracket 28L is horizontal to the elevator shaft wall surface 3.

Then, in the latter half of step 109, the small bracket 28S is placed on the large bracket 28L, and the guide rail 24 is fixed to the small bracket 28S by the guide rail pressing plate. Next, the guide rail 24 is fixed to the elevator shaft 23 by fixing the large bracket 28L and the small bracket 28S integrally with bolts and nuts. Steps 101 to 109 are repeated until all guide rails 24 joined with the joint plate 25 are fixed to the elevator shaft 23 by the brackets 28, and positioning and fixing of the guide rails 24 are performed from the pit 26 to the top of the elevator shaft 23.

Fig. 7 is a flowchart showing an example of the procedure of the positioning work of the boring tool 2 of the elevator installation apparatus. In particular, in fig. 2, the control device 8 controls the vertical articulated robot 35 to move the boring tool 2 to a predetermined position, and positions the boring tool 2 so that the axis of the boring tool 2 is perpendicular to the elevator shaft wall surface 3. As a precondition, the horizontal articulated arm 5a assumes an initial shape (a state of a preset joint angle) before the work, and the brake 49 provided to the joint of the horizontal articulated arm 5a is operated.

First, in step 201, the controller 8 calculates the position of the base of the horizontal articulated arm 5a based on the movement amounts of the support mechanism base moving device 7 and the second linear motion device 5b, and estimates the position of the boring tool 2 fixed to the distal end of the horizontal articulated arm 5 a. Since the horizontal articulated arm 5a has an initial shape set in advance before the operation, the position of the drilling tool 2 at the distal end of the horizontal articulated arm 5a can be estimated by knowing the position of the base of the horizontal articulated arm 5 a. In addition, the joining port 52 on the upper surface of the boring tool 2 can be recognized and the position thereof can be detected by the end camera 44 at the front end of the vertical articulated robot 35.

Next, in step 202, the rotary-type end effector 50 is engaged with the engagement port 52 of the boring tool 2. When the engagement switch 55 provided in the engagement port 52 detects that the rotary-type end effector 50 is engaged, the support mechanism articulation brake 49 is released in step 203.

Next, in step 204, the control device 8 controls the vertical articulated robot 35 to move the position of the rotary end effector 50 and move the boring tool 2 to a predetermined position based on the positional information of each part. When the position of the boring tool 2 is determined, the control device 8 actuates the support mechanism joint fixing brake 49 again in step 205.

Next, in step 206, the control device 8 controls the supine axis driving motor 16c of the boring tool inclination adjusting device 19 based on the information of the boring tool inclination detecting device 14, and adjusts the supine angle of the supine axis 13H. Accordingly, since the height of the distal end of the boring tool 2 changes, the control device 8 controls the second linear motion device 5b to correct the position of the distal end of the boring tool 2 in step 207.

Next, in step 208, the control device 8 releases the support mechanism joint fixing brake 49. Next, in step 209, the control device 8 controls the rotary end effector 50 based on the information from the boring tool inclination detection device 14, and adjusts the rotation angle of the supine axis 13H. At this time, the boring tool 2 rotates about the rotation shaft 13V, and thus the position of the tip of the boring tool 2 in the left-right direction changes. Therefore, the control device 8 controls the vertical articulated robot 35 to move the rotary end effector 50 in the horizontal and horizontal directions as well as to rotate the rotary end effector 50, thereby correcting the front end of the boring tool 2 at a predetermined position on the elevator shaft wall surface 3.

Further, as shown in fig. 2, when the horizontal articulated arm 5a is used for the support mechanism 5, the boring tool 2 can be moved in the left-right direction and the front-rear direction without being affected by the weight of the boring tool 2, and boring work can be performed even when the vertical articulated robot 35 which can be placed on the work table 9 and has a light weight is used.

Thus, in order to complete the determination of the position and posture of the boring tool 2 and to maintain the position and posture, the control device 8 activates the support mechanism articulation brake 49 in step 210. Before the next drilling operation is performed, the controller 8 moves the vertical articulated robot 35 to disengage the rotary end effector 50 from the coupling port 52 of the drilling tool 2. This is to avoid the following: the vibration of the boring tool 2 at the time of boring is directly transmitted to the vertical articulated robot 35, and the robot malfunctions.

Next, a method of moving the boring tool 2 to a predetermined position in the elevator shaft and positioning the shaft of the boring tool 2 perpendicular to the elevator shaft wall surface 3 will be described with reference to fig. 8. Fig. 8 is a plan view showing the cross section of the elevator shaft 23 and the positional relationship among the work table 9, the vertical articulated robot 35 (and the gantry 34), the horizontal articulated arm 5b, and the boring tool 2.

The control device 8 uses a coordinate system O set in the elevator shaft 23_S(for example, the origin is set at the center of the floor surface of the pit 26) and a coordinate system O set on the work table 9_W(for example, the origin is set at the center of the floor surface of the work table 9), and the coordinate system O is set in the vertical articulated robot 35_D(for example, the origin is set at the base of the vertical articulated robot 35) to calculate the positions of the respective parts, and the front end R of the boring tool 2 is moved to a predetermined position of the elevator shaft 23.

As described above, the control device 8 obtains the coordinate system O of the work table 9 in the elevator shaft from the detection result of the work table height detecting device 42_SHeight z of (2)_W. The controller 8 directly measures the tilt of the table 9 about the x-axis and the tilt of the table 9 about the y-axis by the tilt sensor 43 provided on the 2-axis of the table 9. Thereafter, the control device 8 obtains a coordinate system O set in the elevator shaft 23 based on information from the table position detecting device 41D disposed on the table 9_SCoordinates (x) of the work table 9_W、y_W) The method of rotating the angle θ around the z-axis will be described. For simplicity of explanation, an example of two-dimensional coordinate transformation will be described with the tilt angle of the table about the x axis and the tilt angle about the y axis omitted.

The table position detector 41D attached to the table 9 is, for example, at the origin O from the table 9_WLaser spot position sensors 41d (l), 41d (r) attached at a predetermined interval B from the right and left sides 2 of the front surface of a. The working platform 9 is located at the center of the elevator shaft, and a coordinate system O of the working platform 9_WCoordinate system O with the elevator shaft 23_SSuperimposed initial position, individual laser spot position sensors41D (coordinate System of each sensor is O)_P1、O_P2) Middle, laser point P of reference line 40D₁、P₂The coordinates of (2) are (0, 0) and (0, 0).

In fig. 8, the work table 9 is shifted from the initial position, and the laser spot P of the reference line 40D is caused by the laser spot position sensors 41D₁、P₂Has the coordinates of (x)₁，y₁)、(x₂，y₂). First, in a coordinate system O of the elevator shaft 23_SIn (1), the coordinate system O of the working table 9 can be calculated by the following formula_WIs rotated by an angle theta around the z-axis. In the example of fig. 8, the z-axis is upward of the paper surface, and therefore θ is a negative value.

[ mathematical formula 1 ]

In addition, if the coordinate system O of the elevator shaft 23 is set in advance_SCoordinate system O of the work table 9_WIs set to (x)_W，y_W) The position x of the laser point P1 detected by the left laser spot position sensor 41d (l)₁，y₁The results were obtained by the following formulas, respectively.

[ mathematical formula 2 ]

[ mathematical formula 3 ]

Thus, when the simultaneous equations of

equations

2 and 3 are solved, the control device 8 can determine the coordinate system O of the elevator shaft 23_SCoordinates (x) of the work table 9_W，y_W)。

From this, the coordinate system O of the elevator shaft 23 is known_SCoordinate system O with the table 9_WCan be changed by coordinatesChanging the coordinate system O of the working table 9 to be set at the target position of the elevator shaft 23_WTo indicate.

Then, the coordinate system O of the work table 9 is obtained_WIn (2) a coordinate system O provided at the base of the vertical articulated robot 35_DPosition of origin (x)_D，y_D) The method of rotating the angle phi around z cycles will be described.

The controller 8 moves the joints of the vertical articulated robot 35, and searches for a feature point on the work table 9 (for example, the angle Q of both ends of the side surface of the work table 9) by the end camera 44 attached to the vertical articulated robot 35₁、Q₂) The relative position and orientation of the table 9 and the vertical articulated robot 35 are estimated based on the information from the articulated robot shape detection device 45. The controller 8 controls the end of the vertical articulated robot 35 so as to always face vertically downward (-z direction) with respect to the work table 9. This is because the characteristic point Q of the work table 9 is detected directly below the end camera 44₁、Q₂。

At the origin O of the slave work table_WThe 2 point Q of the separation width D of the work table 9 is measured by the end camera 44 of the vertical articulated robot 35 at the rear of the work table 9 away from C₁、Q₂The coordinate of time is (x)₁，y₁)、(x₂，y₂). First, in a coordinate system O of the table 9_WIn the above-described method, the coordinate system O of the vertical articulated robot 35 can be calculated by the following equation_DIs rotated around the z-axis. In the example of FIG. 8, φ is a positive value.

[ mathematical formula 4 ]

In addition, the coordinate system O of the table 9 is preliminarily set_WCoordinate system O of the vertical articulated robot 35 in (1)_DIs set to (x)_D，y_D) Then, the right rear point Q detected by the end camera 44 is obtained using the previously obtained phi by the following equation₂Position x of₂，y₂。

[ math figure 5 ]

[ mathematical formula 6 ]

Thus, when the simultaneous equations of the 2 mathematical expressions are solved, the controller 8 can determine the coordinate system O of the table 9_WCoordinate system O of the vertical articulated robot 35 in (1)_DOrigin (x) of_D，y_D). Since the coordinate system O of the vertical articulated robot 35 can be calculated from the joint angles of the vertical articulated robot 35_DThe position of the end in (2), and therefore, if the position is determined from the coordinate system O of the vertical articulated robot 35_DInto the coordinate system O of the table 9_WThen, the coordinate system O of the working table 9 can be used_WTo define the position of the front end of the vertical articulated robot 35.

Then, the coordinates are converted into a coordinate system O of the elevator shaft 23_SThen the coordinate system O of the elevator shaft 23 can be used_SThe position of the front end of the vertical articulated robot 35 is defined. If the coordinate transformation is performed in the reverse direction, the coordinate system O of the vertical articulated robot 35 can be used_DTo indicate the target position set in the elevator shaft 23. Thus, the controller 8 can position the distal end R of the boring tool 2 at a predetermined position in the elevator shaft 23 in a predetermined direction by positioning the rotary end effector 50 attached to the distal end portion of the vertical articulated robot 35.

Further, the controller 8 searches for a characteristic point of the boring tool 2 (for example, the shape of the coupling opening 52 of the boring tool 2) by the tip camera 44 at the distal end portion of the vertical articulated robot 35, and detects the relative position of the boring tool 2 and the axial direction.

The support mechanism base transfer device 7 is provided by being brought into contact with a cross beam 9d on the side surface of the work table 9, and is driven by the motorAnd can be fixed to a predetermined position of the work table 9. Thus, the controller 8 can use the coordinate system O set on the table 9 by detecting the amount of movement of the support mechanism base moving device 7_WThe position of the base of the support mechanism 5 is determined.

As shown in fig. 1, when the support mechanism drive motor 6 is provided in the support mechanism 5, the coordinate system O is also set at the base of the support mechanism 5_HThe support mechanism drive motor 6 controls each joint angle of the support mechanism 5, and positions the tip end R of the boring tool 2 at a predetermined position in a predetermined direction.

Thereby, the controller 8 can position the front end R of the boring tool 2 at a predetermined position in the elevator shaft 23. However, depending on the actual shape of the elevator shaft 23, the actual shaft wall surface 3' may be inclined by γ as shown by a broken line. Here, a method of positioning the boring tool 2 by the control device 8 perpendicularly with respect to the inclined elevator shaft wall surface 3' will be described.

The control device 8 can determine the inclination of the axis of the boring tool 2 relative to the elevator shaft wall 3' by means of the boring tool inclination detection device 14. Thereby, the rotary end effector 50 can be rotated γ to make the boring tool 2 perpendicular to the elevator shaft wall surface 3. And, in the coordinate system O of the working table 9_WIn this step, the distal end portion of the vertical articulated robot 35 is moved by Δ x and Δ y to position the distal end R of the boring tool 2 at a predetermined position. L represents the length from the tip of the drilling tool 2 to the coupling port 52 of the drilling tool 2 to which the rotary end effector 50 is coupled_TThe formula is shown below.

[ mathematical formula 7 ]

Δx＝L_T{1-cos(γ-θ)}

[ mathematical formula 8 ]

Δy＝L_T{1-sin(γ-θ)}

Fig. 9 is a perspective view showing a specific configuration of the boring tool inclination detecting device 14 (fig. 2).

Displacement sensors

14a, 14b, 14c are mounted at 3 points on the first linear motion device. Of the 3 points, 2

displacement sensors

14a and 14b are disposed on a straight line parallel to the supination axis 13H of the pan/tilt head 17, and are disposed at equal distances from the axis of the first linear motion device 4. The remaining 1 displacement sensor 14c is arranged on a straight line passing through the centers of the 2

displacement sensors

14a, 14b and perpendicularly intersecting the axis of the first linear device 4.

The control device 8 causes the first linear motion device 4 to face the hoistway wall surface 3, measures the distance by the displacement sensors 14a to 14c, compares the detection values of the left and

right displacement sensors

14a and 14b at first, and adjusts the rotation angle of the rotating shaft 13V so that the detection values of the left and

right displacement sensors

14a and 14b are equidistant. At this time, the rotary end effector 50 at the tip of the vertical articulated robot 35 operates the coupling port 52 of the boring tool 2 and rotates in the left-right direction.

Next, the control device 8 compares the detection value of any one of the left and right displacement sensors (14a or 14b) with the detection values of the remaining displacement sensors 14c, and adjusts the rotation angle of the supine axis 13H so that the two detection values are equidistant. The

displacement sensors

14a, 14b, and 14c of the displacement sensors 14a to 14c can be configured at a lower cost than the use of expensive two-dimensional displacement sensors.

Of the three displacement sensors of fig. 9, the left and

right displacement sensors

14a, 14b can be eliminated, and the punching tool inclination detection device 14 can be configured with only the remaining 1 displacement sensor 14 c. As in the previous example, the rotary end effector 50 initially rotates the drilling tool 2, and adjusts the rotation angle of the rotary shaft 13V so that the detection distance becomes the shortest. Next, the supine axis driving motor 16c rotates the drilling tool 2, and adjusts the rotation angle of the rotation axis 13V so that the detection distance becomes the shortest. The tapping tool inclination detecting device 14 constituted only by the above-described displacement sensor 14c can minimize the number of sensors and the cost.

Fig. 10 shows a specific example of determining the rotation angle γ of the rotary shaft 13V when the boring tool inclination detection device 14 is configured by 3 displacement sensors 14a to 14 c. Before adjusting the inclination of the boring tool 2, the control device 8 positions the front end R by making the boring tool 2 perpendicular to the imaginary elevator shaft wall surface 3. In fig. 10, the shaft of the boring tool 2 and the first linear motion device overlapping the shaft at this time are indicated by a chain line4, axis of the shaft. As shown in FIG. 10, the distance measured by the 2

displacement sensors

14a and 14b is L₁、L₂When the interval between the 2

displacement sensors

14a and 14b is E, the angle γ formed between the elevator shaft wall surface 3' and the axis of the first linear motion device 4 is expressed by the following equation.

[ mathematical formula 9 ]

Thus, the control device 8 uses the distance L measured by the

displacement sensors

14a and 14b₁、L₂The angle γ is calculated from the information on the attachment interval E of the

displacement sensors

14a and 14b, the rotary shaft driving motor 12a of the boring tool inclination adjusting device 19 is controlled, and when the rotary shaft 13V is rotated by the angle γ, the shaft of the boring tool 2 is perpendicular to the elevator shaft wall surface 3' (in the case of fig. 10, the shaft is rotated in the counterclockwise direction). As described above, when the coupling port 52 is rotated and shaken only by the rotary end effector 50, the position of the tip R of the drilling tool 2 is shifted, and therefore, the position is shifted by Δ x and Δ y (as the position of the coupling device 52') while the coupling port 52 is rotated. As a result, the position of the large bracket 28L obtained from the drawing information is shifted to the actual position of the large bracket 28L'. Since the small bracket 28S is placed on the large bracket 28L' with its position adjusted, even if the position of the large bracket 28 is shifted, the mounting accuracy of the guide rail 24 is not affected. The angle of adjustment of the supination angle of the axis of the drilling tool 2 can be determined similarly using the distance information measured by the displacement sensor 14c and either one of the

displacement sensors

14a and 14b, and the information of the attachment interval between the displacement sensor 14c and either one of the

displacement sensors

14a and 14 b.

Fig. 11 shows an example of determining the rotation angle γ of the rotary shaft 13V when the boring tool inclination detection device 14 is configured by 1 displacement sensor 14 c. As shown in fig. 11, the boring tool 2 is rotated by a predetermined operation angle ± ψ about the axis (indicated by a chain line in the drawing) of the boring tool 2 before the inclination adjustment. The sensor 14c and the coupling port 52 are arranged at positions overlapping each other, and the positions of the sensor 14c and the coupling port 52 are not shifted.

The axis of the boring tool 2 is adjusted so that the distance measured at 2 points of the rotation angle ± ψ is L₁、L₂At this time, the displacement sensor 14c overlaps the perpendicular line ad whose distance to the elevator shaft wall surface 3' is shortest. Let h be the length of the straight line ad, and psi be the angle formed by the perpendicular line ad and the line ab₁Then at the detection distance L₁、L₂、h、ψ、ψ₁The following relationship is established therebetween. In addition, reference numeral 3 denotes an imaginary elevator shaft wall with respect to the actual elevator shaft wall surface 3'. The imaginary elevator shaft wall is the wall of the elevator shaft in which the boring tool is assumed before correcting the inclination.

[ MATHEMATICAL FORMULATION 10 ]

[ mathematical formula 11 ]

Thus, the simultaneous equation of the above 2-described formula is solved, and the angle ψ formed by the elevator shaft wall surface 3' and the axis of the first linear motion device is obtained₁As shown in the following formula.

[ MATHEMATICAL FORMULATION 12 ]

Therefore, the control device 8 can use the distance L measured by the displacement sensor 14c₁、L₂And the information of the oscillating angle psi during the measurement, and the angle gamma formed by the elevator shaft wall surface 3' and the shaft of the boring tool 2 is obtained as psi₁- ψ. The control device 8 controls the rotation shaft 13V of the boring tool inclination adjustment device 19 to rotate by the angle γ (in the case of fig. 11, rotate in the counterclockwise direction). At this time, due to the front end of the boring tool 2The position R is offset, and therefore the boring tool 2 is translationally moved by rsin ψ to correct the position (in the case of fig. 11, upward translational movement). Where R is the length of a straight line Ra connecting point R and point a. At this time, it is not necessary to correct the distance between the elevator shaft wall surface 3' and the boring tool R. The adjustment angle of the supine angle of the axis of the drilling tool 2 can be obtained in the same manner.

The present invention is not limited to the above-described embodiments, and various modifications are also included. For example, the above-described embodiments are detailed for the convenience of understanding of the present invention, and the present invention is not necessarily limited to include all the configurations described. Note that a part of the structure of one embodiment may be replaced with the structure of another embodiment, and the structure of another embodiment may be added to the structure of one embodiment. In addition, a part of the configurations of the embodiments can be added, deleted, or replaced with another configuration.

Industrial applicability of the invention

The invention can be widely used for elevator installation devices.

Description of the reference symbols

1 Elevator installation device

2 hole tool (electric tool)

3 elevator shaft wall surface

4 first linear motion device

5 support mechanism

6 support mechanism drive motor

7 supporting mechanism base moving device

8 control device

9 working table

10 dust collecting unit

11 chuck

12a rotary shaft driving motor

12b rotating shaft fixing brake

13V rotating shaft (vertical axis)

13H supine axis (horizontal axis)

14 hole-opening tool inclination detection device

15 partial section of the elevator shaft

16a arc

16b worm wheel

16c supine axis driving motor

17 cloud platform

18 foot bolt

19-hole drilling tool inclination adjusting device

21 bolt

22 mark (position alignment stamp)

23 elevator shaft

24 guide rail

25 joint plate

26 pit

27 base

28 bracket

29 Beam

30 steel wire

31 wire rope

32 work bench lifting device

33 guide shoe

34 rack

35 vertical multi-joint robot (Multi-joint robot)

36 stop

37 guide rail centering bracket

38 table part

39 laser irradiator

40 reference line

41D operation table position detection device

42 workbench height detection device

43 working table inclination detecting device

44 end camera

45 articulated robot shape detection device

46 multi-joint robot driving motor

48 trompil instrument reaction force detection device

49 supporting mechanism joint fixing brake

50-rotation type end effector

51 end reaction force detection device

52 joint mouth

Shape detection device for 53 support mechanism

54 reflecting plate

55 incorporates a port switch.

Claims

1. An elevator installation device is provided with: a hole opening tool for opening a hole on the wall surface of the elevator shaft; and a support mechanism for supporting the boring tool, the elevator installation apparatus being configured to install the support mechanism on a work platform that ascends and descends in the elevator shaft,

the method comprises the following steps: a boring tool inclination detection device that detects an inclination of the boring tool; a boring tool inclination adjusting device for adjusting inclination of the boring tool; and a control device that detects an angle at which the elevator hoistway wall surface intersects with an axis of the boring tool, the control device adjusting a tilt of the boring tool with the boring tool tilt adjusting device based on the detected angle, positioning a front end of the boring tool so that the axis of the boring tool is perpendicular to the elevator hoistway wall surface, pressing the boring tool perpendicularly to the elevator hoistway wall surface,

the support mechanism includes a variable structure that moves the boring tool to a predetermined position and supports the boring tool, and the elevator installation apparatus includes: a support mechanism driving motor for deforming the support mechanism; and a linear motion device for pushing out the hole-forming tool in the axial direction thereof,

the boring tool inclination adjusting device includes 2 axes for adjusting a rotation angle and a supination angle of the linear motion device, the boring tool inclination detecting device includes a displacement sensor fixed to the linear motion device or the boring tool in a linear direction of the linear motion device, and the control device controls the rotation angles of the 2 axes of the boring tool inclination adjusting device so that a difference in distance information between a plurality of points measured by the displacement sensor and the elevator shaft wall surface facing each other is within a predetermined range.

2. Elevator installation arrangement according to claim 1,

the control device controls the support mechanism driving motor and the boring tool inclination adjusting device based on information of a target position of the front end of the boring tool, thereby positioning the front end of the boring tool at a prescribed position with respect to the elevator hoistway wall surface, and controls the linear motion device to press the boring tool out with respect to the elevator hoistway wall surface.

3. Elevator installation arrangement according to claim 2,

the method comprises the following steps: a work platform height detection device that detects a height of the work platform in the elevator shaft; a work table position detecting device that detects positions of the work table in the elevator shaft in front, rear, left, and right directions; and a table inclination detecting device for detecting an inclination angle of the table, wherein the control device controls the support mechanism driving motor and the boring tool inclination adjusting device based on a detection value of the table height detecting device, a detection value of the table position detecting device, and a detection value of the table inclination detecting device.

4. Elevator installation arrangement according to claim 1,

the control device determines the rotation angle of the 2 shafts based on the information on the distance to the opposite elevator shaft wall surface measured by the displacement sensor while moving the 2 shafts by a predetermined operation angle and the information on the operation angle of the 2 shafts, and controls the boring tool inclination adjusting device to position the shaft of the boring tool to be perpendicular to the elevator shaft wall surface based on the determined rotation angle.

5. Elevator installation arrangement according to claim 1,

the displacement sensors are arranged at three points in total of 2 points or 1 point of a first straight line parallel to any one of the 2 axes and 1 point or 2 points of a second straight line passing through the first straight line and intersecting the axis of the linear motion device at right angles, and the control device determines the rotation angles of the 2 axes based on the positional relationship of the 3 displacement sensors and information on the distances measured at the 3 points.

6. Elevator installation arrangement according to claim 1,

the support mechanism includes a horizontal multi-joint arm having a joint fixing brake at each joint and a linear motion device for adjusting the vertical position of the horizontal multi-joint arm,

the horizontal multi-joint arm is deformed by a multi-joint robot drive motor that moves joints of the horizontal multi-joint arm as the support mechanism drive motor and is provided to each joint of the multi-joint robot,

the rotary shaft of the hole-forming tool inclination adjusting device is provided with a shaft core and a rotary shaft fixing brake for fixing the rotation of the shaft core,

the shaft core of the rotating shaft is inserted into a vertical bearing provided at the tip of the horizontal multi-joint arm,

the rotation axis fixing brake is fixed at the front end of the horizontal multi-joint arm, a combination port connected with a rotary end effector arranged at the front end of the multi-joint robot is arranged on the surface of the drilling tool,

the control device controls the articulated robot drive motor and connects the rotary end effector to the joint port, releases the rotation axis fixing brake of the boring tool tilt adjustment device and the joint fixing brake of the horizontal articulated arm, and controls the rotation angles of the articulated robot drive motor and the rotary end effector to move the rotation axis of the boring tool tilt adjustment device and the joint of the horizontal articulated arm following the translational movement and the rotational movement of the rotary end effector.

7. Elevator installation arrangement according to claim 3,

the work table includes: a floor beam; a floor placed on the floor beam; a protection plate covering the bottom plate; and a cross beam disposed on a side surface of the floor beam, wherein the support mechanism is fixed to a fixed position of the cross beam of the work table, and a support mechanism base moving device that moves a base of the support mechanism on a predetermined rail.

8. Elevator installation arrangement according to claim 2,

the variable structure includes a horizontal multi-joint arm having a stopper at each joint, the hole-forming tool has a region for engaging a tool at the tip of the vertical multi-joint robot, and when the tool is engaged in the region, the control device releases the stopper at the joint so that the horizontal multi-joint arm deforms in accordance with the movement of the tool.