CN114535947A

CN114535947A - Elevator operation device

Info

Publication number: CN114535947A
Application number: CN202111395651.1A
Authority: CN
Inventors: 服部诚; 波田野利昭; 保富裕二安德烈; 伊藤雅人; 八木伸明; 松家大介
Original assignee: Hitachi Building Systems Co Ltd
Current assignee: Hitachi Building Systems Co Ltd
Priority date: 2020-11-24
Filing date: 2021-11-23
Publication date: 2022-05-27
Also published as: JP2022083028A

Abstract

The invention aims to provide an elevator operation device, which can facilitate the carrying-in operation to the site and does not need to teach the site for a supply device after the device is arranged on an operation platform. The elevator operation device comprises: a tool table positioning section that converges the relative positional accuracy of a tool table (50) with respect to a support table (45) to which a robot arm (15) is attached to a predetermined accuracy; and a workpiece stage aligning section for converging the relative positional accuracy of the workpiece stage (50) with respect to the support table (45) to a predetermined accuracy. The predetermined accuracy is converged to the following position accuracy: in reassembly after loading, the robot arm (15) can access a work tool placed on the tool table (50) and a component placed on the workpiece table (100) without teaching the relative positional relationship between the robot arm (15) and the tool table (50) and the workpiece table (100).

Description

Elevator operation device

Technical Field

The present invention relates to an elevator operating device for performing an operation in a hoistway of an elevator.

Background

Generally, a guide rail for guiding movement of an elevator car and a counterweight is provided in a hoistway of an elevator. The guide rail is fixed on the wall surface or the steel rib by adopting a bracket. Conventionally, the fixing work of the guide rail is performed by using various kinds of working tools such as a hammer drill on a work platform which can be raised and lowered and which is installed in a hoistway by an operator, or a scaffold which is installed in the hoistway. In recent years, in order to improve work efficiency, it is considered to perform a work of attaching a guide rail using a robot.

As a technique for performing fixing work of a guide rail using a robot, for example, an in-hoistway working apparatus described in japanese patent laid-open No. 5-105362 (patent document 1) is known. The in-hoistway working apparatus of patent document 1 includes: a work table which moves up and down in the lifting channel; a plurality of fixing devices mounted on the side surface of the workbench; a centering table which is arranged on the operation table and can adjust the horizontal levels of the installation device, the rail alignment device and the horizontal plane on which the connection fixing device is arranged; and a position detection device which outputs position signals with several stages of precision, performs position control of the workbench according to the position signals with coarse precision from the position detection device, and performs horizontal level adjustment control of the centering workbench by using the position signals with high precision (refer to an abstract). Further, as a device of a centering table which is not mounted on the in-hoistway working device of patent document 1 and performs precision centering, there are provided a tool which stores a tool and a mounting component used in the mounting device, a component storage device, and a supply device which is an industrial robot (see paragraph 0032), and the supply device operates between the mounting device and the tool and component storage device, takes out the tool or the component from the tool and component storage device, and supplies the tool or the component to the mounting device (see paragraphs 0035, 0040, and 0041).

Documents of the prior art

Patent document

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

Disclosure of Invention

Problems to be solved by the invention

However, in the in-hoistway working apparatus described in patent document 1, since there are a large number of devices mounted on the work table and the devices also include heavy objects, a large amount of labor is required for carrying in the devices to the site and installing the devices on the work table. In the in-hoistway working apparatus of patent document 1, the mounting accuracy when the supply device provided on the work table and the tool or the component storage device for storing the components or the tools for fixing the guide rails are provided on the work table is not considered, and the relative positions of the supply device and the tool or the component storage device are changed, so that it is necessary to teach the supply device on the spot after the supply device is provided on the work table.

The invention aims to provide an elevator operation device, which can easily carry in operation to the site and does not need to teach the site to a supply device after the device is arranged on an operation platform.

Means for solving the problems

In order to achieve the above object, an elevator operating device of the present invention is provided on an operating platform moving in a vertical direction in a hoistway, and performs an operation in the hoistway,

the elevator operation device is provided with:

a robot arm having a tool changer at a front end thereof;

a tool table that can be coupled to the tool changer and on which a plurality of work tools that can be separated from the tool changer are placed;

a workpiece table on which a part to be used for work by the robot is placed;

a support table to which the robot arm, the tool table, and the workpiece table are assembled;

a tool table positioning section that converges the accuracy of the relative position of the tool table with respect to the support table to which the robot is attached to a predetermined accuracy; and

a workpiece stage aligning section for converging the relative positional accuracy of the workpiece stage with respect to the support table in which the robot arm is incorporated to a predetermined accuracy,

the tool table alignment unit and the workpiece table alignment unit converge the predetermined accuracy to the following positional accuracy: after the robot arm, the tool stage, the workpiece stage, and the support stage are carried into the lifting path and assembled, the robot arm can access the work tool placed on the tool stage and the component placed on the workpiece stage without teaching the relative positional relationship between the robot arm and the tool stage and the workpiece stage.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, when the tool stage and the workpiece stage are carried into the field, the tool stage and the workpiece stage are detached from the support base and are made compact in size, and thus the carrying-in becomes easy. Further, since the tool table and the workpiece table can be mounted with a predetermined accuracy after the loading, there is an effect that teaching of tool replacement and grasping of a component can be performed in advance.

Problems, structures, and effects other than those described above will be clarified by the following description of embodiments.

Drawings

Fig. 1A is a perspective view showing an overall configuration of an elevator operating device according to an embodiment of the present invention.

Fig. 1B is a perspective view showing an example of a fixing structure of the main rail of fig. 1A.

Fig. 2 is a perspective view showing a schematic configuration of equipment mounted on a work platform of the elevator working apparatus of fig. 1A.

Fig. 3 is a perspective view of the elevator working apparatus of fig. 1A, showing a robot, a tool rest, and a workpiece rest mounted on a carriage.

Fig. 4 is a block diagram showing an overall configuration of a control system of an elevator operating device according to an embodiment of the present invention.

Fig. 5 is a flowchart showing an example of the operation of mounting the guide rail in the elevator operating device according to the embodiment of the present invention.

Fig. 6 is a perspective view showing a robot arm mounted on a cart used in the elevator working apparatus of fig. 1A.

Fig. 7 is a perspective view showing an example of a connection portion of a tool rest of a carriage attached to a robot arm of the elevator working apparatus of fig. 1A.

Fig. 8 is a perspective view showing another example (modification) of the positioning portion with the tool rest used in the elevator working apparatus of fig. 1A.

In the figure:

1 … guide rail, 7 … work platform, 10 … elevator work device, 14 … first robot arm, 15 … second robot arm, 30 … camera (robot front end camera), 40 … tool exchanger, 45 … support table (trolley), 45a … support surface (carrying surface) of trolley 45 carrying

robot arms

14, 15, 48 … robot controller, 50 … tool table, 100 … workpiece table, 170 … trolley plate, 180 … positioning pin, 190 … tool table (workpiece table), 195 … alignment hole, 198 … angular protrusion (fitting structure), 170, 190, 180, 195, … tool table alignment part (workpiece table alignment part), 170, 180, 190, 195, 198 … tool table alignment part (workpiece table alignment part), 180, 198, 195, … tool table fitting part (workpiece table fitting part).

Detailed Description

An elevator operating device according to an embodiment of the present invention will be described below with reference to fig. 1 to 8. In the drawings, the same reference numerals are given to the common members, and redundant description is omitted.

In this embodiment, a guide rail mounting work device in which a guide rail for guiding an elevator car along a hoistway is fixed in the hoistway using a bracket in the hoistway of an elevator will be described. Therefore, in the following description, the "elevator working machine" may be referred to as "guide rail mounting device" or "elevator guide rail mounting device". The elevator working apparatus according to the present embodiment is not limited to the mounting work of the guide rail, and may be a device that performs other work in the hoistway.

The overall structure of the elevator operating device 10 and the fixing structure of the guide rail 1 according to the present embodiment will be described with reference to fig. 1A and 1B. Fig. 1A is a perspective view showing an overall configuration of an elevator operating device 10 according to an embodiment of the present invention. Fig. 1B is a perspective view showing an example of a fixing structure of the main rail 1 of fig. 1A.

An elevator operating device 10 shown in fig. 1A performs an operation (installation operation) of fixing a guide rail 1 of an elevator to a hoistway wall surface. In the hoistway, 1 pair of

main rails

1 and 1 pair of counter weight rails (not shown) are erected. The lower ends of these rails are fixed to a pit base (not shown) provided in a pit at the lowermost part of the hoistway.

As shown in fig. 1B, the main rail 1 is fixed to the hoistway wall surface by a bracket 2 fixed by an anchor bolt 1A. The support 2 is composed of a rail support 2A and a wall support 2B. The wall bracket 2B is fixed to the inner wall surface of the lifting channel by an anchor bolt 1A, and the rail bracket 2A is fixed to the wall bracket 2B by an adjusting bolt 1B. The main rail 1 is fixed to the rail bracket 2A by a rail clip 1C and a clamp bolt 1D.

The counterweight rail is also fixed to the inner wall surface of the hoistway by a bracket 2 including a rail bracket 2A and a wall bracket 2B, similarly to the main rail 1.

When the main rail 1 and the counterweight rail approach each other, both rails are fixed by the common bracket 3. The common bracket 3 is also composed of a rail bracket and a wall bracket, as in the bracket 2, and fixes both the main rail 1 and the counterweight rail to the inner wall surface of the hoistway.

The main rail 1 and the counter weight rail are mounted on the wall surface of the hoistway by the elevator operating device 10 through the same procedure. Therefore, when it is not necessary to distinguish between the main rail 1 and the counterweight rail, the two rails will be referred to as the guide rails 1.

A lifting beam (not shown) is provided at the uppermost part of the hoistway, and 2 winches 5 are provided on the lifting beam. The wire ropes 6 of the 2 winches 5 are connected to the work platform 7 via slings, and the work platform 7 can be raised and lowered by operating the winches 5. The hoist 5 can detect the rotation angle and control the lifting amount to lift the work platform 7 to a predetermined height.

Further, a monitoring PC500 for monitoring the state of the elevator operating device 10 is provided outside the hoistway. The communication between the control device in the hoistway and the monitoring PC500 may be wired, but if wireless communication is used, there is no risk of disconnection and the like, which is preferable.

Next, the arrangement and structure of the devices mounted on the work platform 7 will be described with reference to fig. 2 and 3. Fig. 2 is a perspective view showing a schematic configuration of equipment mounted on the work platform 7 of the elevator working apparatus 10 shown in fig. 1A. Fig. 3 is a perspective view showing the

robots

14 and 15, the tool rest 50, and the work rest 100 mounted on the carriage 45 of the elevator working apparatus 10 of fig. 1A. In addition, although fig. 3 shows the structure of the second robot arm 15, the first robot arm 14 is also configured similarly to the second robot arm 15 shown in fig. 3.

A plurality of robot arms are arranged on the work platform 7. In the present embodiment, the first robot arm 14 and the second robot arm 15 are fixed to the work platform 7 by anchor bolts, not shown. The first arm 14 and the second arm 15 have bolt insertion holes 150A for inserting anchor bolts, not shown, in the leg portions 150. Further, the elevator operating device 10 includes: a centering device 16 for holding the guide rail 1 and positioning it at a predetermined position; a unified control device 17 for controlling the entire 2 robots; an air compressor 18; a dust collecting device 19; and a cable support 20.

The hand tips of the first hand 14 and the second hand 15 are provided with a force sensor 25, a hand tip camera 30, and a tool changer (tool gripper) 40.

The 2

robot arms

14 and 15 are mounted on the carriage 45 together with the robot controller 48, and the robot controller 48 controls the operation of the

robot arms

14 and 15 provided on the same carriage 45. A tool table (tool mounting portion) 50 for mounting a tool and a workpiece table (component mounting portion) 100 on which components such as the anchor bolt 1A (see fig. 1B) are mounted are assembled to the carriage 45.

That is, in the elevator working apparatus 10 of the present embodiment, the support base 45 supporting the first robot arm 14 or the second robot arm 15, the tool post 50, and the workpiece stage 100 is constituted by a movable carriage, and the robot controller 48 is supported by the support base 45 together with the

robot arms

14 and 15.

Specifically, the elevator operating device 10 of the present embodiment includes: a camera 30 provided at the robot tip of the

robot arms

14 and 15; and a robot controller 48 that controls the operation of the

robot arms

14 and 15.

The carriage 45 is provided with 1 for each of the first robot arm 14 and the second robot arm 15, the first robot arm 14, the tool stage 50, and the workpiece stage 100 are assembled on the carriage 45 of 1, and the second robot arm 15, the tool stage 50, and the workpiece stage 100 are assembled on the carriage 45 of the other 1. The carriage 45 does not need to be a carriage unless it is concerned with the conveyance performance, and may be a support table that is configured by assembling the first robot arm 14 or the second robot arm 15, the tool stage 50, and the workpiece stage 100 to support the first robot arm 14 or the second robot arm 15, the tool stage 50, and the workpiece stage 100. However, by configuring the support table 45 as a carriage, the first robot arm 14 or the second robot arm 15 incorporated in the carriage is improved in transportability.

A unit including the first robot arm 14, the tool stage 50, and the workpiece stage 100 arranged on 1 carriage 45 is referred to as a first robot arm unit, and a unit including the second robot arm 15, the tool stage 50, and the workpiece stage 100 arranged on 1 carriage 45 is referred to as a second robot arm unit. That is, the elevator working apparatus 10 of the present embodiment includes a plurality of robot arm units including the

robot arm

14 or 15, the tool table 50, and the workpiece table 100.

The tool table 50 is provided near the second robot arm 15, and a hammer drill 60, a nut runner 70, a magnetic hand 80, an anchor tool 90, and the like are placed on the tool table 50. These working tools (working tools) can be separated from or coupled to a tool changer 40 provided at the tip of the robot arm, and the tools of the second robot arm 15 can be changed. The same tool changer 40 is provided at the hand tip of the first robot arm 14, and the tool on the tool table 50 for the first robot arm 14 can be changed similarly to the second robot arm 15.

The hammer drill 60 is used when a hole into which an anchor bolt 1A (see fig. 1B) for fixing the brackets 2 and 3 is inserted is opened in a wall surface of the hoistway. The nut wrench 70 fastens the nut of the anchor bolt 1A and the clamp bolt 1D (see fig. 1B) of the rail clip 1C.

The magnetic hand 80 magnetically attracts the rail-fixing brackets 2 and 3 to position them at predetermined positions.

The anchor tool 90 is used to drive the anchor bolt 1A for fixing the bracket into a hole formed in the hammer drill 60.

Next, the configuration of the control system of the elevator operating device 10 will be described with reference to fig. 4. Fig. 4 is a block diagram showing the overall configuration of a control system of the elevator operating device 10 according to the embodiment of the present invention.

The elevator operation device 10 includes a PLC (Programmable Logic Controller) 120, a HUB110, and a monitoring PC500, which are examples of an operation control device that controls the entire device. The PLC120 and the HUB110 are housed in the unified control device 17, for example.

The force sensors 25 provided at the robot hand tips of the first robot arm 14 and the second robot arm 15 are connected to the robot controller 48 by serial communication. By performing force control using the signal of the force sensor 25, the anchor bolt 1A (see fig. 1B) can be inserted into the hole in the hoistway wall surface. The robot controller 48 is connected to the HUB110 and the PLC120 via a network. The 2

robots

14 and 15 perform predetermined operations under the control of the PLC 120. The whole camera 130 is connected to the HUB110, and photographs the whole work platform 7, that is, the area where the first robot arm 14 and the second robot arm 15 perform work, from above the work platform 7. The fixing operation (mounting operation) of the guide rail can be monitored by the image.

The robot tip camera 30 acquires images of the positions of holes in the bolt and the bracket, which are objects to be worked. The image acquired by the hand-tip camera 30 is processed by the image processing controller 140, and is transmitted as coordinate data to the robot controller 48 via the HUB 110. Sensors for detecting whether or not the tools and anchor bolts mounted on the tool table 50 and the workpiece table 100 are input and connected to the contact points of the PLC120, and the amount of the tools and anchor bolts currently mounted can be identified. The rail centralizer 16 is coupled to the centralizer controller 160, and the centralizer controller 160 is coupled to the PLC 120. The guide rail centering device 16 positions the guide rail 1 under the control of the PLC120, and thereafter the guide rail 1 is fixed to the hoistway wall surface by the elevator operating device 10. The hoist 5 is connected to the PLC120, and the work platform 7 is raised and lowered to a predetermined height by control from the PLC 120. The dust collecting device 19 is connected to the PLC120, and is operated when the hammer drill 60 is drilled, whereby chips during drilling can be collected. The monitoring PC500 provided outside the hoistway is connected to the HUB110, and can monitor the entire elevator operation device 10.

The robot tip camera 30 captures images of the portions of the various tools that are coupled to the tool changer 40, and performs image processing, thereby obtaining coordinates on the tool side. In this case, although the coordinates on the horizontal plane can be acquired, the vertical position of the work tool cannot be detected. However, since the contact between the tool changer 40 and the work tool at the time of tool change is detected by the force sensor 25, the vertical position at which the coupling portion of the work tool contacts the tool changer 40 can be determined, and thus tool change can be performed. Further, the robot tip camera 30 can capture an image of the anchor bolt 1A, acquire coordinates of the anchor bolt 1A on a horizontal plane, detect contact between the anchor bolt 1A and the work tool in the vertical direction by the force sensor 25, and grip the anchor bolt 1A as the work tool.

Further, the robot tip camera 30 acquires an image of a joint between each tool and the tool changer 40, which is taught in advance, after the

robots

14 and 15 are positioned at predetermined positions. After the tool table 50 is fixed to the carriage 45 (after assembly), an image of a joint portion between each tool and the tool changer 40 is similarly acquired, and a difference between coordinate values at the time of teaching and at the time of fixing (at the time of assembly) is acquired, whereby an error at the time of assembly can be corrected by adding an offset to already taught data.

Specifically, the robot controller 48 corrects the teaching data taught in advance based on the difference between the position of the tool stage 50 and the position of the workpiece stage 100 based on the first imaging result and the position of the tool stage 50 and the position of the workpiece stage 100 based on the second imaging result using the first imaging result and the second imaging result,

the first imaging result is obtained when the positions of the tool stage 50 and the positions of the workpiece stage 100 are imaged by the camera 30 when the

robot arms

14 and 15 are positioned at predetermined relative positions with respect to the tool stage 50 and the workpiece stage 100 by using teaching data acquired in advance,

the second imaging result is a result of imaging, by the camera 30, the position of the tool stage 50 and the position of the workpiece stage 100 when the

robot arms

14 and 15 are positioned at predetermined relative positions with respect to the tool stage 50 and the workpiece stage 100 in a state where the

robot arms

14 and 15, the tool stage 50, and the workpiece stage 100 are reassembled to the support base 45 (assembly after the lifting path is carried in).

This can suppress a position error occurring between the

robot arms

14 and 15, the tool stage 50, and the workpiece stage 100 to a small level.

Next, a schematic operation procedure of the elevator guide rail fixing apparatus will be described with reference to fig. 5. Fig. 5 is a flowchart showing an example of the operation of attaching the guide rail 1 in the elevator operating device 10 according to the embodiment of the present invention.

The mounting work is started in step S101, and the hoist 5 is controlled to a predetermined mounting height of the stands 2 and 3 to move the work platform 7 in step S102. In step S103, the magnetic hand 80 positions the stands 2 and 3 at predetermined positions. In step S104, the hammer drill 60 is attached to the tip of the

robot arm

14, 15, and the hole for the anchor bolt 1A is bored in the hoistway wall surface. In step S105, the fixing tool 90 is attached to the tip of the hand of the

robot arm

14, 15, the anchor bolt 1A placed on the workpiece table 100 is gripped, and the anchor bolt 1A is driven into the hole in the hoistway wall surface. In step S106, the nut 1E (see fig. 1B) is inserted and fastened to the anchor bolt 1A by the nut runner 70, whereby the wall bracket of the brackets 2, 3 is fixed to the wall surface. In step S107, the adjusting bolt 1B (see fig. 1B) fixed between the rail bracket and the wall bracket of the hoistway wall surface is fixed using the nut runner 70. In step S108, the guide rail 1 is fixed to the rail brackets of the brackets 2, 3 using the rail clip 1C. In step S109, it is determined whether or not the work is completed for the brackets 2 and 3 having the same mounting height, and if not completed, the process returns to step S103. In step S110, it is determined whether or not the fixing of the guide rail 1 by the brackets 2 and 3 at all heights in the hoistway is completed, and if not, the hoist 5 is controlled to the next height to move the work platform 7.

By repeating such operations, the elevator working machine 10 fixes the guide rail 1 to the hoistway.

Next, the connection between the carriage 45 on which the

robot arms

14 and 15 are mounted, the tool post 50, and the workpiece post 100 will be described with reference to fig. 6 and 7. Fig. 6 is a perspective view showing the robot arm 15 mounted on the cart 45 for use in the elevator working apparatus 10 of fig. 1A. Fig. 7 is a perspective view showing an example of a connection portion of the tool rest 50 of the cart 45 attached to the

robot arms

14 and 15 of the elevator working machine 10 in fig. 1A. In fig. 6, the second robot arm 15 is illustrated, but the first robot arm 14 is also configured similarly to the second robot arm 15 of fig. 6.

The

robot arms

14 and 15 are carried in at the site in the state shown in fig. 6. As shown in fig. 6, a carriage plate 170 is provided on a side surface of the

carriage

45, and 2 positioning pins 180 (projections) are provided on a surface of the carriage plate 170. By fitting the positioning pins 180 into the alignment holes (fitting holes) 195 of the tool table 190 shown in fig. 7, the positional relationship between the carriage 45 and the tool table 50 can be always maintained in the same state. Therefore, even when the tool post 50 is assembled to the carriage 45 after the site is carried in, the relative position between the carriage 45 and the tool post 50 does not change, and therefore, by operating a program (tool replacement program) for replacing a tool taught in advance, it is possible to replace the robot tip tool (work tool) and to grasp a component.

The workpiece table 100 is also provided with a carriage plate 170 and a workpiece platen 190 for the workpiece table, as with the carriage plate 170 and the tool platen 190 for the tool table 50, and the workpiece table 100 is fixed to the carriage 45 using the positioning pins 180 and the alignment holes 195, whereby components such as the anchor bolt 1A can be gripped by data taught in advance.

The carriage plate 170, the tool platen 190, and the workpiece platen 190 include positioning pins 180 and alignment holes 195, and form alignment portions between the carriage 45 and the tool table 50 and between the workpiece table 100. The tool platen 190 and the platen plate 170 corresponding to the tool platen 190 constitute a registration portion (tool table registration portion) of the tool table 50, and the workpiece platen 190 and the platen plate 170 corresponding to the workpiece platen 190 constitute a registration portion (workpiece table registration portion) of the workpiece table 100. The tool

table positioning portions

170 and 190 further include positioning pins 180 and positioning holes 195. The workpiece

stage alignment portions

170 and 190 further include positioning pins 180 and alignment holes 195.

The carriage 45 includes 2 carriage plates 170, a tool holder fitting portion including a positioning pin (protrusion) 180 and an alignment hole (fitting hole) 195 is formed between the tool platen 190 and one carriage plate 170, and a workpiece stage fitting portion including a positioning pin (protrusion) 180 and an alignment hole (fitting hole) 195 is formed between the workpiece platen 190 and the other carriage plate 170.

In this example, the alignment hole 195 is a hole having a circular cross section parallel to the plate surface, and the positioning pin 180 is configured as a protrusion having a circular cross section perpendicular to the axial direction (protruding direction). That is, the tool table fitting portion and the workpiece table fitting portion are configured such that the positioning pin 180 having a circular cross section perpendicular to the axial direction is fitted in the positioning hole 195.

By bringing the plate surface of the carriage plate 170 into close contact with the plate surfaces of the tool platen 190 and the workpiece platen 190, and providing 1

positioning pin

180 and 1 alignment hole 195, respectively, accurate positioning of the carriage 45 with the tool table 50 and the workpiece table 100 can be performed. However, in this example, by providing 2 positioning pins 180 and 2 alignment holes 195, respectively, it is possible to prevent slight twisting of the plate surface of the carriage plate 170 and the plate surfaces of the tool platen 190 and the workpiece platen 190, and to perform more accurate positioning of the carriage 45 and the tool rest 50 and the workpiece rest 100.

The carriage plate 170 is positioned below a support surface (placement surface) 45A of the carriage 45 on which the

robot arms

14 and 15 are placed, and is disposed on a side surface of the carriage 45. The tool platen 190 and the workpiece platen 190 are disposed below the tool table 50 and the workpiece table 100. Since the carriage plate 170, the tool table 190, and the workpiece table 190 are disposed in the vacant space below the support surface 45A of the carriage 45, the elevator operating device 10 can be prevented from being increased in size, contributing to the reduction in size of the elevator operating device 10.

The carriage plate 170, the tool platen 190, and the workpiece platen 190 are configured as surfaces whose plate surfaces are along a direction perpendicular to the horizontal direction (vertical direction). Therefore, after the tool stage 50 and the workpiece stage 100 are placed on the support surface 45A of the carriage 45, the tool stage 50 and the workpiece stage 100 can be moved in the horizontal direction on the support surface 45A to fit the positioning pins 180 into the positioning holes 195. This makes it possible to easily align the tool post 50 and the workpiece post 100 with respect to the carriage 45.

In this example, the alignment hole 195 may be provided on the carriage plate 170 side, and the positioning pin 180 may be provided on the tool platen 190 and the workpiece platen 190 side.

Fig. 8 is a perspective view showing another example (modification) of the

positioning portions

170 and 190 with the tool rest 50 used in the elevator working apparatus 10 of fig. 1A. In fig. 8, the second robot arm 15 is illustrated, but the first robot arm 14 is also configured similarly to the second robot arm 15 of fig. 8. In fig. 8, the aligning portion 170 with the tool table 50 is shown, but the aligning portion 170 with the workpiece table 100 is also configured in the same manner as the aligning portion shown in fig. 8.

In the modification of fig. 8, the positioning pin 180 of the carriage plate 170 is constituted by a protrusion (projecting portion) 198 having a square (rectangular) shape such as a square or rectangle in cross section perpendicular to the projecting direction. The alignment holes 195 of the tool platen 190 and the workpiece platen 190 are formed by holes having a rectangular shape such as a square or rectangle in cross section parallel to the plate surface, in association with the positioning pins 180. In this case, the tool table aligning portion and the workpiece

table aligning portions

170, 190, 180, and 195 have a square fitting structure.

In the present modification, the carriage 45 includes 2 carriage plates 170, a tool table fitting portion including a protrusion (protruding portion) 198 and an alignment hole (fitting hole) 195 is formed between the tool table 190 and one carriage plate 170, and a workpiece table fitting portion including a protrusion (protruding portion) 198 and an alignment hole (fitting hole) 195 is formed between the workpiece table 190 and the other carriage plate 170.

When the shape of the fitting portion is the square projection 198, even when the number of projections is 1, the accuracy of the alignment between the carriage 45 and the tool table 50 and the workpiece table 100 can be improved. This makes it possible to always maintain the positional relationship between the carriage 45 and the tool stage 50 and the workpiece stage 100 in the same state. Therefore, even when the tool table 50 and the workpiece table 100 are assembled to the carriage 45 after the site is carried in, since the occurrence of the relative positional deviation between the carriage 45 and the tool table 50 and the workpiece table 100 can be suppressed, the robot tip tool (work tool) can be replaced and the component can be gripped by operating a program (tool replacement program) for replacing a tool taught in advance.

As described above, the elevator operating device 10 of the present embodiment has the following configuration.

The elevator operation device 10 is installed on an operation platform 7 moving in the vertical direction in an elevator shaft, and performs operation in the elevator shaft, and includes:

robot arms

14 and 15 each having a tool changer 40 at a front end of the robot arm;

a tool table 50 that can be coupled to the tool changer 40 and on which a plurality of work tools that can be separated from the tool changer 40 are placed;

a workpiece table 100 on which components used for work by the

robot arms

14 and 15 are placed;

a support table 45 to which the

robot arms

14 and 15, the tool table 50, and the workpiece table 100 are assembled;

tool

table positioning portions

170, 180, 190, 195, 198 that converge the accuracy of the relative position of the tool table 50 with respect to the support table 45 to which the

robot arms

14, 15 are assembled to a predetermined accuracy; and

workpiece

stage aligning sections

170, 180, 190, 195, 198 for converging the relative positional accuracy of the workpiece stage 100 with respect to the support table 45 to which the

robot arms

14, 15 are assembled to a predetermined accuracy,

the tool table aligning sections and the workpiece

table aligning sections

170, 180, 190, 195, and 198 converge the predetermined accuracy to the following positional accuracy: after the

robot arms

14 and 15, the tool table 50, the workpiece table 100, and the support table 45 are loaded into the elevating path and assembled, the

robot arms

14 and 15 can access the work tool placed on the tool table 50 and the component placed on the workpiece table 100 without teaching the relative positional relationship between the

robot arms

14 and 15, the tool table 50, and the workpiece table 100.

Further, the elevator operating device 10 of the present embodiment has the following configuration.

The carriage 45 has 2 carriage plates 170 disposed below a mounting surface (support surface) 45A on which the

robot arms

14 and 15 are mounted and on side surfaces of the carriage 45,

the tool table 50 and the workpiece table 100 have a tool platen and a workpiece platen 190 disposed below the tool table 50 and the workpiece table 100,

the tool platen 190 abuts one of the 2 carriage plates 170,

the workpiece platen 190 abuts the other carriage plate of the 2 carriage plates 170,

a tool table fitting portion comprising the

projections

180 and 198 and the fitting hole 195 is formed between the tool table 190 and one of the carriage plates 170,

a workpiece table fitting portion comprising the projecting

portions

180 and 198 and the fitting hole 195 is formed between the workpiece table 190 and the other carriage plate 170,

the tool table 190, one of the carriage plates 170, and the tool

table fitting portions

180, 198, and 195 constitute a tool table positioning portion,

the workpiece table 190, the other carriage plate 170, and the workpiece

table fitting portions

180, 198, and 195 constitute a workpiece table aligning portion.

In the above-described embodiment and its modifications, the accuracy of the relative positions of the tool stage 50 and the workpiece stage 100 and the support table 45 is higher than the accuracy of the relative positions of the support table 45 and the work platform 7.

The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments are examples explained in detail to explain the present invention easily and understandably, and are not limited to having all the configurations explained. In addition, some of the structures of the embodiments may be added or replaced with other structures.

The above-described respective structures, functions, processing units, and the like may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. The above-described structures, functions, and the like may be realized by software by a processor interpreting and executing a program for realizing the functions. Information such as programs, tables, and files for realizing the respective functions can be stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, and a DVD.

The control lines and the information lines are required for the description, and not all the control lines and the information lines are necessarily shown in the product. In practice, it is also possible to consider almost all structures connected to one another.

Claims

1. An elevator operation device which is arranged on an operation platform moving along the up-and-down direction in an elevating channel and performs operation in the elevating channel,

the elevator operation device is provided with:

a robot arm having a tool changer at a front end thereof;

a workpiece table on which a part to be used for work by the robot is placed;

a workpiece stage aligning section for converging the relative positional accuracy of the workpiece stage with respect to the support table to which the robot is attached to a predetermined accuracy,

2. The elevator operating device according to claim 1, comprising:

a camera provided at a front end of the manipulator of the robot arm; and

and a robot controller that controls the operation of the robot arm.

3. An elevator operating device according to claim 2,

the support table is constituted by a movable trolley,

the robot controller is supported by the support table together with the robot arm.

4. An elevator operating device according to claim 3,

the carriage has 2 carriage plates disposed below a mounting surface on which the robot arm is mounted and on a side surface of the carriage,

the tool table and the workpiece table have a tool platen and a workpiece platen disposed below the tool table and the workpiece table,

the tool bedplate is abutted with one of the 2 trolley plates,

the workpiece bedplate is abutted against the other square trolley plate of the 2 trolley plates,

a tool table fitting portion formed of a protruding portion and a fitting hole is formed between the tool table and the one carriage plate,

a workpiece table fitting portion formed of a protrusion and a fitting hole is formed between the workpiece table and the other carriage plate,

the tool table, the one carriage plate, and the tool table fitting portion constitute the tool table positioning portion,

the workpiece table, the other carriage plate, and the workpiece table fitting portion constitute the workpiece table aligning portion.

5. The elevator operating device according to claim 4,

the tool table fitting portion and the workpiece table fitting portion are configured such that a positioning pin having a circular cross section perpendicular to the axial direction is fitted in the alignment hole.

6. An elevator operating device according to claim 4,

the tool table aligning portion and the workpiece table aligning portion are formed of a square fitting structure.

7. An elevator operating device according to claim 4,

the robot system is provided with a plurality of robot units including the robot, the tool table, and the workpiece table.

8. An elevator operating device according to any one of claims 2 to 7,

the robot controller corrects the teaching data taught in advance based on a difference between the position of the tool stage and the position of the workpiece stage based on the first imaging result and the position of the tool stage and the position of the workpiece stage based on the second imaging result, using a first imaging result and a second imaging result,

the first imaging result is obtained when the position of the tool stage and the position of the workpiece stage are imaged by the camera when the robot arm is positioned at predetermined relative positions with respect to the tool stage and the workpiece stage by using teaching data acquired in advance,

the second imaging result is a result of imaging, by the camera, the position of the tool stage and the position of the workpiece stage when the robot arm is positioned at a predetermined relative position with respect to the tool stage and the workpiece stage in a state where the robot arm, the tool stage, and the workpiece stage are reassembled in the support stage.

9. An elevator operating device according to any one of claims 1 to 7,

the relative position precision of the tool table, the workpiece table and the supporting table is higher than that of the supporting table and the working platform.

10. The elevator operating device according to any one of claims 1 to 7,

the operation of fixing the guide rail to the wall surface of the hoistway is performed.