WO2021192776A1 - Rail positioning device and rail positioning method - Google Patents

Rail positioning device and rail positioning method Download PDF

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Publication number
WO2021192776A1
WO2021192776A1 PCT/JP2021/006560 JP2021006560W WO2021192776A1 WO 2021192776 A1 WO2021192776 A1 WO 2021192776A1 JP 2021006560 W JP2021006560 W JP 2021006560W WO 2021192776 A1 WO2021192776 A1 WO 2021192776A1
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WO
WIPO (PCT)
Prior art keywords
rail
position adjusting
positioning device
right position
wall surface
Prior art date
Application number
PCT/JP2021/006560
Other languages
French (fr)
Japanese (ja)
Inventor
悠太 浜田
利昭 波田野
伊藤　雅人
Original Assignee
株式会社日立ビルシステム
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社日立ビルシステム filed Critical 株式会社日立ビルシステム
Priority to CN202180005188.7A priority Critical patent/CN114341042A/en
Publication of WO2021192776A1 publication Critical patent/WO2021192776A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/02—Guideways; Guides

Definitions

  • the present invention relates to a rail positioning device for positioning elevator rails and a rail positioning method.
  • Elevator rails are located on both sides of the car, along which the car moves up and down. Generally, the length of a single rail is 3 to 5 m, and when installing the rail, the individual rails are connected and erected in the hoistway, and the connected rails are raised and lowered with brackets so that they extend in the vertical direction. It is fixed to the wall of the road or steel frame.
  • a rail gauge is used to match the distance between the two rails and the degree of facing, and the rails are temporarily fixed to the wall surface with brackets.
  • the two piano wires vertically down from the top of the hoistway as the reference core, hammer the edges of the rails and brackets so that the rails are in the specified positions with respect to the piano wires, and position the rails. After making fine adjustments, fix it. Since the rail positioning work affects the riding comfort of the car when ascending and descending, the operator is required to have high skill in positioning the rail with high accuracy.
  • Patent Document 1 aims to provide an elevator guide rail centering device capable of easily and accurately centering and fixing a rail using a laser.
  • Patent Document 1 describes a predetermined lower part of the hoistway in an elevator guide rail centering device that irradiates a laser beam in the hoistway and centers the rail member with the laser beam as a reference.
  • a laser light emitter is placed at the position of, and it is supported by the car work floor that goes up and down in the hoistway, and it extends and abuts on the opposite hoistway wall to fix the base member between the hoistway walls.
  • the base member via the contact device, the light receiving portion of the laser beam supported on the base member, the position adjusting device whose position can be adjusted in the same plane as the extension direction of the extension contact device, and the position adjustment device.
  • a configuration including a gripping device capable of gripping the rail member while being supported by the above is described.
  • the rail centering device described in Patent Document 1 is basically assumed to be operated by a human hand, it does not have a power unit, and the labor has not been sufficiently reduced. Further, in the rail centering device of the document, a contact body made of an elastic body such as rubber is attached to the tip of an extension contact device that stretches against a wall surface, and the rail is moved in the front-back and left-right directions to move the rail. It is stated that when positioning, the frictional force generated when the abutting body is pressed against the wall surface is used to prevent the device body from shifting, but the specific confirmation and control of the tension force is described.
  • the tension portion shifts depending on the fluctuation of the tension force due to the rail positioning operation and the condition of the wall surface (when the facing walls are not parallel or the material of the target surface to be tensioned is different on the left and right). , There is a problem that the rail positioning accuracy is not guaranteed.
  • An object of the present invention is to provide a rail positioning device and a rail positioning method capable of suppressing deviation of a rail positioning device stretched on a wall surface and improving rail positioning accuracy.
  • the present invention provides a rail positioning device for positioning rails installed in the hoistway, a rail gauge for adjusting the distance between two opposing rails, and a rail gauge on the left and right sides of the rail gauge.
  • a rail gripping portion that grips two opposing rails, a base that rotatably supports the central portion of the rail gauge in the left-right direction, and a base provided on the base that comes into contact with the wall surface and can expand and contract in the left-right direction.
  • a pair of front-rear position adjusting portions that can expand and contract in the front-rear direction, a position detecting portion that detects the position of the rail gauge, and a tension that detects the tension force of the left-right position adjusting portion that comes into contact with the wall surface or the steel frame.
  • the rail positioning device expands and contracts in the left-right direction with the rail gauge, the rail grip portion provided on the rail gauge, and the wall surface.
  • a left-right position adjusting unit that makes contact to generate a tension force and moves the rail gauge in the left-right direction
  • a front-rear position adjusting unit that moves the rail gauge in the front-rear direction
  • a left-right position adjusting unit and the front-rear position adjustment.
  • the control unit includes a control unit that controls the unit, and the control unit moves up and down to a predetermined position where the rail positioning device positions the rail, then extends the telescopic portion of the left / right position adjusting unit and stretches the telescopic portion to the wall surface, and the left / right position.
  • the present invention it is possible to provide a rail positioning device and a rail positioning method capable of suppressing the deviation of the rail positioning device stretched on the wall surface and improving the rail positioning accuracy.
  • FIG. 5 is a schematic view of a rail installation system 17 including a rail positioning device 100 according to a first embodiment. It is the figure which took out only the rail positioning apparatus 100 from FIG.
  • FIG. 2 is a schematic view of FIG. 2 viewed from above. It is a block diagram of the rail positioning apparatus which concerns on Example 1.
  • FIG. It is a figure which shows the state of the rail positioning apparatus when the wall surface is inclined. It is a flowchart of rail positioning work which concerns on Example 1.
  • FIG. FIG. 5 is a partially enlarged view of the rail positioning device according to the second embodiment as viewed from the front.
  • FIG. 5 is a partially enlarged view of the rail positioning device according to the third embodiment as viewed from the front.
  • FIG. 5 is a partially enlarged view of the rail positioning device according to the fourth embodiment as viewed from the front. It is a figure which looked at the rail positioning apparatus which concerns on Example 5 from the front.
  • the various components of the present invention do not necessarily have to be independent of each other, and one component is composed of a plurality of members, a plurality of components are composed of one member, and a certain component is different. It is allowed that a part of one component overlaps with a part of another component.
  • FIG. 1 is a schematic view of a rail installation system 17 including the rail positioning device 100 according to the first embodiment.
  • the installation position of the elevator has already been determined in the hoistway 1, and the rails 11 from the bottom to the top are carried in and connected to the hoistway 1 and exist in a state where they are not fixed to the wall surface 2 by brackets 12. , It is suspended from the upper part of the hoistway 1 by a wire 13 or the like. Further, in the first embodiment, it is assumed that the lowermost portion of the rail is installed on the pit base 14.
  • the rail installation system 17 is mainly composed of two devices, a rail fixing device 9 and a rail positioning device 100.
  • the role of the rail fixing device 9 is to carry the rail positioning device 100 to a predetermined height, attach the rail 11 to a predetermined position on the wall surface 2, drill holes in the wall surface, place anchors, and attach brackets, etc., which are necessary at that time.
  • the rail fixing device 9 includes a robot arm 15, an end effector 16 that is replaced according to each work, a tool pedestal 10 that stores tools to be attached to the end effector 16, and a work floor 7 on which the robot arm 15 is installed.
  • FIG. 2 is a view in which only the rail positioning device 100 is taken out from FIG. 1, and FIG. 3 is a schematic view of FIG. 2 as viewed from above.
  • the rail positioning device 100 Since the rail positioning device 100 itself does not have an elevating function, it is placed on a pedestal 8 installed on the work floor 7 to elevate and elevate.
  • the rail positioning device 100 When raising and lowering the rail positioning device 100, the rail positioning device 100 is placed on the pedestal 8 of the work floor 7 and the winder 4 is operated. The winder 4 winds up or lowers the winder rope 5, and stops when the rail positioning device 100 moves to a predetermined position. Then, when the rail positioning device 100 completes the tension to the wall surface 2, the winder 4 operates and the work floor 7 moves so as to be in a position below the rail positioning device 100.
  • the rail positioning device 100 is a device for moving and holding the rail 11 to a predetermined position.
  • the rail fixing device 9 fixes the rail 11 held by the rail positioning device 100 to the wall surface 2. Therefore, the rail positioning device 100 holds the rail 11 until the rail fixing device 9 fixes the rail 11 to the wall surface 2.
  • the rail positioning device 100 includes a rail gauge 101, a rail grip portion 102, a front-rear position adjusting portion 103, a left-right position adjusting portion 104, a base 105, a wall surface contact portion 106 (contact portion), and a control unit 107. It is composed of a light receiving unit 108 that detects the position of the rail and a force sensor 109 (tension force detection unit) that detects the tension force.
  • the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 have a function as a rail position adjusting unit that moves the rail 11 gripped by the rail gripping unit 102 to the rail fixed position.
  • the control unit 107 controls the rail position adjusting unit.
  • the rail gauge 101 is used to match the distance between two opposing rails 11.
  • the rail gripping portions 102 are provided on the left and right sides of the rail gauge 101, and grip the two opposing rails 11.
  • the base 105 rotatably supports the central portion of the rail gauge 101 in the left-right direction by the fulcrum A112.
  • the left-right position adjusting unit 104 is provided on the base 105, comes into contact with the wall surface 2, and can expand and contract in the left-right direction. Further, the left-right position adjusting unit 104 moves the rail gauge 101 in the left-right direction while generating a tension force.
  • the wall surface contact portion 106 is connected to the left and right of the left / right position adjustment unit 104, and is in contact with and pressed against the wall surface by the tension force generated by the left / right position adjustment unit 104.
  • the front-rear position adjusting portions 103 are provided on the left and right sides of the base 105, and are rotatably connected to each of the left and right sides of the rail gauge 101 by a fulcrum B and can be expanded and contracted in the front-rear direction.
  • the front-rear position adjusting unit 103 moves the rail gauge 101 in the front-rear direction.
  • the base 105 is formed with an elongated hole 105a that allows the fulcrum A112 to move in the front-rear direction in accordance with the expansion / contraction operation of the front-rear position adjusting unit 103.
  • the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 in the first embodiment are linear actuators that use electric, hydraulic, pneumatic, or the like as driving force and generate a force by a piston portion (expanding / contracting portion) that expands / contracts.
  • the force sensor 109 is arranged between the left-right position adjusting portion 104 and the wall surface contact portion, and detects a tension force (reaction force from the wall surface).
  • Laser light 201 is used to detect the position of the rail. As shown in FIG. 1, two laser vertical devices 200 are installed in the lower part of the hoistway 1, and two laser beams 201 irradiated in the vertical direction from the laser vertical device 200 are used as reference cores.
  • the laser beam 201 is detected by a light receiving unit 108 (position detection unit) such as a four-quadrant photodetector attached to the rail gauge 101 via the light receiving unit mounting plate 111.
  • the light receiving unit 108 detects the position of the rail gauge 101.
  • FIG. 4 is a block diagram of the rail positioning device according to the first embodiment.
  • the control unit 107 calculates based on the calculation unit, the storage unit in which the control program or the like is stored, the control program stored in the storage unit, the detection value of the light receiving unit 108, and the detection value of the force sensor 109. It has a department. Then, the control unit 107 controls the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 based on the detected value of the light receiving unit 108 and the detected value of the force sensor 109 to move the rail gauge 101 to the installation position of the rail 11. Move it.
  • the control unit 107 detects the plane coordinates in the hoistway based on the laser beam 201 detected by the light receiving unit 108, and determines the installation position of the rail 11. Then, a control signal for operating the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 is output. If the light receiving unit 108 is provided with a beam compressor or the like that reconverges the laser beam 201 spread in the distance, the detection accuracy can be improved.
  • the rails 11 are installed in the hoistway 1 in pairs so as to sandwich the car (not shown).
  • the two rails 11 are gripped by the rail grip portion 102 of the rail positioning device 100.
  • the rail grip portion 102 includes a clamp mechanism for gripping the rail 11, and is attached to both ends of the rail gauge 101. Since the length of the rigid body portion of the rail gauge 101 is equal to the predetermined distance between the rails and the rail gripping surfaces are parallel, when the rail 11 is gripped by the rail gripping portion 102, two pairs are formed.
  • the mechanism is parallel to the distance between the rails.
  • the rail 11 is translated by the front-rear position adjusting unit 103 and the left-right position adjusting unit 104.
  • a front-rear position adjusting portion 103 that can be expanded and contracted in the front-rear direction is connected to the rail gauge 101 via a fulcrum B113, and the front-rear position adjusting portion 103 is attached to a base 105.
  • a left-right position adjusting portion 104 that can be expanded and contracted in the left-right direction is attached to the base 105, and is generated when the wall surface contact portion 106 of the left-right tip portion of the left-right position adjusting portion 104 is pressed against the facing wall surface 2.
  • the rail 11 is moved back and forth and left and right to move it to a predetermined position.
  • a force sensor 109 is provided between the left / right position adjusting unit 104 and the wall surface contact portion, and the force sensor 109 detects a tension force (reaction force) against the wall surface to move the left / right position adjusting unit 104. Used to control. In order to prevent the rail positioning device 100 from falling, it is necessary for the control unit 107 to control the tension force of the left / right position adjusting unit 104 so as to be equal to or higher than a predetermined value. Since it is necessary to consider the own weight of the rail positioning device 100 and the rigidity of the rail 11 as the tension force, the control unit 107 considers these factors and calculates a predetermined value of the tension force.
  • the plurality of rails 11 from the bottom to the top are carried in and connected to the hoistway 1 and exist in a state where they are not fixed to the wall surface 2 by the bracket 12.
  • the rail 11 gripped by the rail grip portion 102 generates a pressing force or a pulling force of another rail 11 that is not fixed by the bracket 12.
  • the rigidity of the rail 11 in the first embodiment means a pressing force and a pulling force.
  • the left-right position adjusting unit 104 determines the left-right position for fixing the rail 11 by moving in the left-right direction while maintaining the tension force at a predetermined value or more.
  • the twist of the rail 11 can also be corrected.
  • the two front-rear position adjusting portions 103 and the rail gauge 101 are rotatably connected via the fulcrum B113, and the rail gauge 101 is rotatably connected to the base 105 via the fulcrum A112.
  • the load on the front-rear position adjusting unit 103 is reduced.
  • FIG. 5 is a diagram showing a state of the rail positioning device when the wall surface is inclined.
  • the wall surface 2 is not parallel but is a slightly inclined wall surface.
  • the rotating shaft 110 is installed at a position where the left-right position adjusting portion 104 and the wall surface contact portion 106 are connected.
  • the rotation shaft 110 inclines the wall surface contact portion 106 with respect to the left / right position adjusting portion in accordance with the inclination of the wall surface 2.
  • the rail positioning device 100 can be stretched according to the inclination of the wall surface.
  • the rotation shaft 110 may be provided with at least one shaft. Further, a universal joint capable of freely changing the rotation direction may be used at the connection point between the left-right position adjusting portion 104 and the wall surface contact portion 106.
  • FIG. 6 is a flowchart of the rail positioning work according to the first embodiment.
  • the front-rear position adjusting portion 103 and the left-right position adjusting portion 104 of the rail positioning device 100 are contracted to the minimum, and the rail positioning device 100 raises and lowers the work floor 7 of the rail fixing device 9.
  • the rail positioning operation is executed by the control program stored in the storage unit of the control unit 107.
  • the left / right position adjusting unit 104 extends the expanding / contracting piston portion in the left-right direction, brings the wall surface contact portion 106 into contact with the wall surface 2, and stretches and fixes the rail positioning device 100 (step S1: expansion / contraction of the left / right position adjusting unit 104). The process of stretching the part and stretching it against the wall surface).
  • the rail positioning device 100 completes the tension to the wall surface 2, the winder 4 operates and the work floor 7 moves so as to be in a position below the rail positioning device 100.
  • the force sensor 109 detects the tension force of the left / right position adjusting unit 104 on the wall surface 2, and determines whether or not the tension force of the left / right position adjusting unit 104 is equal to or greater than a predetermined value (step S2: the tension force of the left / right position adjusting unit 104 is predetermined). The process of determining whether or not it is above the value).
  • step S3 the step of gripping the rail by the rail gripping portion 1012.
  • step S3 the step of gripping the rail by the rail gripping portion 1012.
  • step S4 the current position of the rail positioning device 100. Step to acquire position coordinates).
  • step S5 a step of controlling the front-rear / left-right position adjusting unit to move the rail
  • step S6 step of determining whether or not the rail 11 is at a predetermined position coordinate
  • step S7 A step of determining whether or not the tension force of the left / right position adjusting unit 104 is equal to or higher than a predetermined value while the rail 11 is moving).
  • step S7 when the left / right position adjusting unit 104 does not reach the tension force equal to or more than a predetermined value, the left / right position adjustment unit 104 is controlled to adjust the tension force to be equal to or more than the predetermined value (step S8: left / right position).
  • step S8 left / right position.
  • step S6 when the rail is at a predetermined position coordinate, the operation of the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 is stopped, and the rail positioning work is completed (step S9: rail positioning is completed). Process).
  • step S10 step of starting the rail fixing work by the rail fixing device 9.
  • step S11 step of completing the rail fixing work.
  • step S12 the left / right position adjusting unit 104 is shortened). Process to change).
  • step S13 step of releasing the rail grip portion 102
  • step S14 step of minimizing the front-rear position adjusting unit 103
  • the above process completes the positioning and fixing of the rail.
  • the rail 11 is installed on the wall surface 2 by changing the height of the series of steps described above and repeating the steps for each floor.
  • the force sensor 109 was used as a means for detecting the tension force on the wall surface 2, but if the drive current of the left / right position adjusting unit 104 can be measured, it is used as an alternative detection means. You may.
  • the rail fixing device 9 is not always indispensable, and the rail fixing work is performed by the operator, and the case where the rail positioning device 100 of the present invention is used only for the rail positioning work is included.
  • the tension force of the left / right position adjusting unit 104 is equal to or higher than a predetermined value while the rail 11 is moving, it is possible to prevent the left / right position adjusting unit 104 from shifting from the wall surface. Can be done.
  • a rail positioning device capable of accurately determining the rail installation position according to the fluctuation of the tension force accompanying the rail positioning operation and the state of the wall surface, and automating the rail positioning work. Can be done.
  • FIG. 7 is a partially enlarged view of the rail positioning device according to the second embodiment as viewed from the front.
  • the difference from the first embodiment is the structure of the wall surface contact portion 106.
  • the wall surface contact portion 106 of the rail positioning device 100 is in surface contact with the wall surface 2.
  • the wall surface 2 is made of concrete and has irregularities or dust on the surface
  • the simple surface contact of the wall surface contact portion 106 may cause a deviation from the wall surface when the rail is translated.
  • two pins 114 are attached to the surface of the wall surface contact portion 106 facing the wall surface 2 as shown in FIG. Since the rail positioning device 100 is symmetrical, only one side thereof is shown in FIG.
  • the wall surface 2 is pre-drilled with a pilot hole 18.
  • the pilot hole 18 is drilled using, for example, a rail fixing device 9.
  • a pin 114 attached to the wall surface contact portion 106 is inserted into the prepared hole 18. Since the pin 114 acts as a spike, it is possible to prevent the wall surface contact portion 106 from being displaced due to the reaction force generated during the translational movement of the rail.
  • the rail positioning device since the pin 114 is provided in the wall surface contact portion 106 and the pin 114 is inserted into the prepared hole 18 formed in the wall surface 2, the rail positioning device may be displaced due to unevenness of the wall surface or dust. It can be suppressed.
  • Example 3 will be described with reference to FIG.
  • FIG. 8 is a partially enlarged view of the rail positioning device according to the third embodiment as viewed from the front.
  • the difference from Example 1 and Example 2 is in the structure of the contact portion.
  • the object to which the wall contact portion 106 of the rail positioning device 100 is stretched is a concrete wall surface, but there is also a steel-framed hoistway 1. Therefore, in the third embodiment, the contact portion is a magnetic force generating portion 115 that generates a magnetic force instead of the wall surface contact portion 106 with the pin 114 shown in the second embodiment.
  • the magnetic force generating portion 115 was attracted to the steel frame 19 so as to be stretched.
  • the magnetic force generating unit 115 is assumed to be one in which the magnetic force is switched ON / OFF by pneumatic pressure or a solenoid, or one in which an electromagnetic force is generated. Since the surface of the steel frame may be tilted also in the third embodiment, a structure provided with the rotating shaft 110 and following the contact surface is preferable.
  • the wall surface contact portion 106 is replaced with the magnetic force generating portion 115 so that the magnetic force generating portion 115 is attracted to the steel frame. Therefore, even if the inside of the steel-framed hoistway 1 is inside the rail. It is possible to suppress the deviation of the positioning device.
  • FIG. 9 is a partially enlarged view of the rail positioning device according to the fourth embodiment as viewed from the front.
  • the difference from the first to third embodiments is in the tension force detection unit.
  • the force sensor 109 is connected to the tip of the movable portion of the left / right position adjusting unit 104 as the tension force detection unit, and the tension sensor 109 detects the tension force.
  • an elastic body 116 such as a spring as shown in FIG. 9 is used, the amount of deformation of the elastic body 116 is detected by the displacement detection unit 117, and the product of the spring coefficient and the displacement. I try to calculate the tension force with.
  • the displacement detection unit 117 may be a contact switch or the like.
  • the fourth embodiment it is possible to provide a rail positioning device capable of accurately determining the rail installation position according to the fluctuation of the tension force accompanying the rail positioning operation and the state of the wall surface and automating the rail positioning work. ..
  • FIG. 10 is a front view of the rail positioning device according to the fifth embodiment.
  • the difference from the first to fourth embodiments is that a detachable connecting portion 118 is provided between the left / right position adjusting portion 104 and the wall surface contact portion 106 or the magnetic force generating portion 115.
  • Example 5 As shown in FIG. 10, it is assumed that one side of the wall surface 2 of the hoistway 1 is made of concrete and the opposite side is made of steel.
  • a connecting portion 118 is provided between the left-right position adjusting portion 104 and the wall surface contact portion 106 or the magnetic force generating portion 115 so that the structure can be easily attached and detached.
  • the connection portion 118 may be a bolt-fixed type, but a pin type or a one-touch coupler type is preferable in consideration of workability.
  • the optimum contact portion can be selected according to the type of the structure in the hoistway 1 such as a concrete wall surface or a steel frame, so that the deviation of the rail positioning device can be suppressed.
  • the present invention is not limited to the above-described embodiment, and includes various modifications.
  • the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations.
  • it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.
  • Light receiving part 109 ... Force sensor, 110 ... Rotating shaft , 111 ... light receiving part mounting plate, 112 ... fulcrum A, 113 ... fulcrum B, 114 ... pin, 115 ... magnetic force generating part, 116 ... elastic body, 117 ... displacement detecting part, 118 ... connecting part, 200 ... laser vertical device, 201 ... Laser light

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  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)

Abstract

A rail positioning device according to the present invention is provided with: a rail gauge 101 for adjusting the distance between two rails; a rail grip section 102 for gripping rails 11; a base 105 that rotatably supports the rail gauge 101; a left-right position adjustment section 104 provided to the base 105 and capable of expanding and contracting to the left and to the right; a wall surface contact section 106 connected to the left and right sides of the left-right position adjustment section 104; a pair of front-rear adjustment sections 103 provided to each of the left and right sides of the base 105 and capable of expanding and contracting to the front and to the rear; a light reception unit 108 that detects the position of the rail gauge 101; a force sensor 109 for detecting the stretching force of the left-right position adjustment section 104; and a control unit 107 that uses the detection values of the light reception unit 108 and the force sensor 109 as a basis to control the front-rear position adjustment sections 103 and the left-right position adjustment section 104 and move the rail gauge 101 to the installation position of the rails 11.

Description

レール位置決め装置及びレール位置決め方法Rail positioning device and rail positioning method
　本発明は、エレベーターのレールの位置決めを行うレール位置決め装置及びレール位置決め方法に関する。 The present invention relates to a rail positioning device for positioning elevator rails and a rail positioning method.
　日本、北米、欧州をはじめとする先進国では、少子高齢化に伴う施工作業者の減少が問題となっており、エレベーターの据付現場においても施工作業の省力化と作業性向上が求められている。エレベーターの据付作業において、レール据付作業は、階床分の繰返し作業であるため最も時間を要する。エレベーターのレールは、乗りかごの両側に位置し、このレールに沿って乗りかごが昇降する。一般的にレール単体の長さは３～５ｍあり、レール据付の際には、昇降路内で個々のレールを繋ぎ合わせて立設し、連結されたレールが鉛直方向に延びるようにブラケットで昇降路の壁や鉄骨等に固定される。 In developed countries such as Japan, North America, and Europe, the decrease in construction workers due to the declining birthrate and aging population has become a problem, and labor saving and workability improvement are required even at elevator installation sites. .. In the elevator installation work, the rail installation work takes the longest time because it is a repetitive work for the floor. Elevator rails are located on both sides of the car, along which the car moves up and down. Generally, the length of a single rail is 3 to 5 m, and when installing the rail, the individual rails are connected and erected in the hoistway, and the connected rails are raised and lowered with brackets so that they extend in the vertical direction. It is fixed to the wall of the road or steel frame.
　従来、レール位置決め時には、２本のレール間距離と対向度を合わせるためにレールゲージを使用し、ブラケットでレールを壁面に仮固定させる。昇降路の上部から鉛直方向に下した２本のピアノ線を基準芯とし、レールがそのピアノ線に対して所定の位置となるように、レールやブラケットの縁をハンマリングし、レールの位置を微調整した後、本固定する。レール位置決め作業は、昇降時の乗りかごの乗り心地を左右するため、作業者には、レールを高精度に位置決めする高い技能が求められる。 Conventionally, when positioning rails, a rail gauge is used to match the distance between the two rails and the degree of facing, and the rails are temporarily fixed to the wall surface with brackets. Using the two piano wires vertically down from the top of the hoistway as the reference core, hammer the edges of the rails and brackets so that the rails are in the specified positions with respect to the piano wires, and position the rails. After making fine adjustments, fix it. Since the rail positioning work affects the riding comfort of the car when ascending and descending, the operator is required to have high skill in positioning the rail with high accuracy.
　そこで、非熟練作業者でも容易にレール位置決めを可能とする先行技術文献として、例えば、特許文献１に記載のエレベータガイドレールの芯出し装置がある。この特許文献１に記載されているレール芯出し装置は、レーザを用いて容易にかつ精度良くレールを芯出し固定することができるエレベータガイドレールの芯出し装置を提供することを目的としている。この目的を解決するため、特許文献１には、昇降路内でレーザ光を照射し、このレーザ光を基準としてレール部材を芯出しするエレベータガイドレールの芯出し装置において、前記昇降路下部の所定の位置にレーザ発光器を配置し、昇降路内を昇降する乗りかご作業床に支持されると共に、伸長して対向する昇降路壁に当接してベース部材を昇降路壁間に固定する伸長当接装置と、前記ベース部材に支持した前記レーザ光の受光部と、前記伸長当接装置の伸長方向と同一平面内で位置調整可能な位置調整装置と、前記位置調整装置を介して前記ベース部材に支持されると共に、前記レール部材を把持可能な把持装置を備えた構成が記載されている。 Therefore, as a prior art document that enables even an unskilled worker to easily position the rail, for example, there is an elevator guide rail centering device described in Patent Document 1. The rail centering device described in Patent Document 1 aims to provide an elevator guide rail centering device capable of easily and accurately centering and fixing a rail using a laser. In order to solve this object, Patent Document 1 describes a predetermined lower part of the hoistway in an elevator guide rail centering device that irradiates a laser beam in the hoistway and centers the rail member with the laser beam as a reference. A laser light emitter is placed at the position of, and it is supported by the car work floor that goes up and down in the hoistway, and it extends and abuts on the opposite hoistway wall to fix the base member between the hoistway walls. The base member via the contact device, the light receiving portion of the laser beam supported on the base member, the position adjusting device whose position can be adjusted in the same plane as the extension direction of the extension contact device, and the position adjustment device. A configuration including a gripping device capable of gripping the rail member while being supported by the above is described.
特開平９－２２１２８８号公報Japanese Unexamined Patent Publication No. 9-22128
　しかしながら、特許文献１に記載されているレール芯出し装置は、基本的に人の手により動作させることを想定しているため、動力部を備えておらず、十分な労力低減には至っていない。また、該文献のレール芯出し装置には、壁面に突っ張る伸長当接装置の先端にゴム等の弾性体で構成された当接体が取り付けられており、レールを前後左右方向に移動させてレール位置決めする際には、その当接体を壁面に押し当てた際に発生する摩擦力を利用して、装置本体のずれを防ぐ旨が記載されているが、突っ張り力の具体的な確認及び制御方法は考慮されていないため、レール位置決め動作に伴う突っ張り力の変動や壁面の状態（対向する壁面が平行ではない場合や左右で突っ張る対象面の材質が異なる場合等）によっては、突っ張り部がずれ、レール位置決め精度が保証されないという課題がある。 However, since the rail centering device described in Patent Document 1 is basically assumed to be operated by a human hand, it does not have a power unit, and the labor has not been sufficiently reduced. Further, in the rail centering device of the document, a contact body made of an elastic body such as rubber is attached to the tip of an extension contact device that stretches against a wall surface, and the rail is moved in the front-back and left-right directions to move the rail. It is stated that when positioning, the frictional force generated when the abutting body is pressed against the wall surface is used to prevent the device body from shifting, but the specific confirmation and control of the tension force is described. Since the method is not taken into consideration, the tension portion shifts depending on the fluctuation of the tension force due to the rail positioning operation and the condition of the wall surface (when the facing walls are not parallel or the material of the target surface to be tensioned is different on the left and right). , There is a problem that the rail positioning accuracy is not guaranteed.
　本発明の目的は、壁面に突っ張ったレール位置決め装置がずれるのを抑制し、レール位置決め精度を向上させることができるレール位置決め装置及びレール位置決め方法を提供することにある。 An object of the present invention is to provide a rail positioning device and a rail positioning method capable of suppressing deviation of a rail positioning device stretched on a wall surface and improving rail positioning accuracy.
　前記目的を達成するために本発明は、昇降路内に設置するレールを位置決めするレール位置決め装置において、対向する２本のレール間の距離を合わせるためのレールゲージと、前記レールゲージの左右に備えられ、対向する２本のレールを把持するレール把持部と、前記レールゲージの左右方向中央部を回動可能に支持するベースと、前記ベースに備えられ、壁面と接触し、左右方向に伸縮可能な左右位置調整部と、前記左右位置調整部の左右に接続され、壁面若しくは鉄骨に接触する接触部と、前記ベースの左右にそれぞれ備えられ、前記レールゲージの左右のそれぞれと回動可能に接続されると共に前後方向に伸縮可能な一対の前後位置調整部と、前記レールゲージの位置を検出する位置検出部と、前記壁面若しくは前記鉄骨と接触する前記左右位置調整部の突っ張り力を検出する突っ張り力検出部と、前記位置検出部及び前記突っ張り力検出部の検出値に基づいて、前記前後位置調整部及び前記左右位置調整部を制御して前記レールゲージを前記レールの設置位置に移動させる制御部と、を備えたことを特徴とする。 In order to achieve the above object, the present invention provides a rail positioning device for positioning rails installed in the hoistway, a rail gauge for adjusting the distance between two opposing rails, and a rail gauge on the left and right sides of the rail gauge. A rail gripping portion that grips two opposing rails, a base that rotatably supports the central portion of the rail gauge in the left-right direction, and a base provided on the base that comes into contact with the wall surface and can expand and contract in the left-right direction. Left and right position adjustment parts, contact parts that are connected to the left and right of the left and right position adjustment parts and come into contact with the wall surface or steel frame, and left and right sides of the base, which are rotatably connected to the left and right sides of the rail gauge. A pair of front-rear position adjusting portions that can expand and contract in the front-rear direction, a position detecting portion that detects the position of the rail gauge, and a tension that detects the tension force of the left-right position adjusting portion that comes into contact with the wall surface or the steel frame. Control to control the front-rear position adjustment unit and the left-right position adjustment unit to move the rail gauge to the installation position of the rail based on the force detection unit and the detection values of the position detection unit and the tension force detection unit. It is characterized by having a part and.
　また、本発明は、昇降路内に設置するレールを位置決めするレール位置決め方法において、レール位置決め装置は、レールゲージと、前記レールゲージに備えられたレール把持部と、左右方向に伸縮し、壁面と接触して突っ張り力を発生させると共に、前記レールゲージを左右方向に移動させる左右位置調整部と、前記レールゲージを前後方向に移動させる前後位置調整部と、前記左右位置調整部及び前記前後位置調整部を制御する制御部とを備え、前記制御部は、前記レール位置決め装置がレール位置決めする所定位置まで昇降した後、前記左右位置調整部の伸縮部を伸ばし、壁面に突っ張る工程と、前記左右位置調整部の突っ張り力が所定値以上か否か判断する工程と、前記レール把持部で前記レールを把持する工程と、前記前後位置調整部及び前記左右位置調整部を制御して前記レールを移動させる工程と、前記レールが移動中に、前記左右位置調整部の突っ張り力が所定値以上か否か判断する工程と、前記左右位置調整部が所定値以上の突っ張り力に達していない場合、前記左右位置調整部を制御して突っ張り力が所定以上となるように調整する工程と、前記レールが所定の位置座標に在るか否かを判断する工程と、を備えたことを特徴とする。 Further, according to the present invention, in the rail positioning method for positioning the rail installed in the hoistway, the rail positioning device expands and contracts in the left-right direction with the rail gauge, the rail grip portion provided on the rail gauge, and the wall surface. A left-right position adjusting unit that makes contact to generate a tension force and moves the rail gauge in the left-right direction, a front-rear position adjusting unit that moves the rail gauge in the front-rear direction, a left-right position adjusting unit, and the front-rear position adjustment. The control unit includes a control unit that controls the unit, and the control unit moves up and down to a predetermined position where the rail positioning device positions the rail, then extends the telescopic portion of the left / right position adjusting unit and stretches the telescopic portion to the wall surface, and the left / right position. The step of determining whether or not the tension force of the adjusting portion is equal to or higher than a predetermined value, the step of gripping the rail with the rail gripping portion, and controlling the front-rear position adjusting portion and the left-right position adjusting portion to move the rail. A step of determining whether or not the tension force of the left / right position adjusting portion is equal to or higher than a predetermined value while the rail is moving, and a step of determining whether the tension force of the left / right position adjusting portion is equal to or higher than a predetermined value. It is characterized by including a step of controlling a position adjusting unit to adjust the tension force so as to be equal to or higher than a predetermined value, and a step of determining whether or not the rail is at a predetermined position coordinate.
　本発明によれば、壁面に突っ張ったレール位置決め装置がずれるのを抑制し、レール位置決め精度を向上させることができるレール位置決め装置及びレール位置決め方法を提供することができる。 According to the present invention, it is possible to provide a rail positioning device and a rail positioning method capable of suppressing the deviation of the rail positioning device stretched on the wall surface and improving the rail positioning accuracy.
　上記以外の課題、構成及び効果は、以下の実施例の説明で明らかにされる。 Issues, configurations and effects other than the above will be clarified in the explanation of the following examples.
実施例１に関するレール位置決め装置１００を備えたレール据付システム１７の概略図である。FIG. 5 is a schematic view of a rail installation system 17 including a rail positioning device 100 according to a first embodiment. 図１からレール位置決め装置１００のみを取り出した図である。It is the figure which took out only the rail positioning apparatus 100 from FIG. 図２を上方から見た概略図である。FIG. 2 is a schematic view of FIG. 2 viewed from above. 実施例１に関するレール位置決め装置のブロック図である。It is a block diagram of the rail positioning apparatus which concerns on Example 1. FIG. 壁面が傾斜している場合におけるレール位置決め装置の状態を示す図である。It is a figure which shows the state of the rail positioning apparatus when the wall surface is inclined. 実施例１に関するレール位置決め作業のフローチャートである。It is a flowchart of rail positioning work which concerns on Example 1. FIG. 実施例２に係るレール位置決め装置を正面から見た一部拡大図である。FIG. 5 is a partially enlarged view of the rail positioning device according to the second embodiment as viewed from the front. 実施例３に係るレール位置決め装置を正面から見た一部拡大図である。FIG. 5 is a partially enlarged view of the rail positioning device according to the third embodiment as viewed from the front. 実施例４に係るレール位置決め装置を正面から見た一部拡大図である。FIG. 5 is a partially enlarged view of the rail positioning device according to the fourth embodiment as viewed from the front. 実施例５に係るレール位置決め装置を正面から見た図である。It is a figure which looked at the rail positioning apparatus which concerns on Example 5 from the front.
　以下、図示した実施例に基づいて本発明のレール位置決め装置及びレール位置決め方法を説明する。なお、各図において、同一の構成には同一の符号を付し、説明が重複する場合は、その説明を省略する場合がある。本発明の各実施例では、図中に記載した方向を前後・上下・左右と定義する。 Hereinafter, the rail positioning device and the rail positioning method of the present invention will be described based on the illustrated examples. In each figure, the same components are designated by the same reference numerals, and if the description is duplicated, the description may be omitted. In each embodiment of the present invention, the directions described in the drawings are defined as front-back, up-down, left-right.
　本発明の各種の構成要素は必ずしも個々に独立した存在である必要はなく、一の構成要素が複数の部材から成ること、複数の構成要素が一の部材から成ること、或る構成要素が別の構成要素の一部であること、或る構成要素の一部と他の構成要素の一部とが重複すること、などを許容する。 The various components of the present invention do not necessarily have to be independent of each other, and one component is composed of a plurality of members, a plurality of components are composed of one member, and a certain component is different. It is allowed that a part of one component overlaps with a part of another component.
〔レール据付システム１７の全体構成〕
　まず、図１を参照し、レール据付システム１７の全体構成について説明する。図１は、実施例１に関するレール位置決め装置１００を備えたレール据付システム１７の概略図である。ここで実施例１では、下記事項を仮定とする。昇降路１内ではエレベーターの据付位置が既に定まっていること、最下部から最上部までのレール１１が昇降路１内に搬入及び連結され、壁面２にブラケット１２で固定されていない状態で存在し、昇降路１上部からワイヤ１３等で吊下げられていることである。また、実施例１では、レール最下部は、ピットベース１４に設置されているものとする。また、実施例１では、レール最下部は、ピットベース１４に設置されているものとする。レール据付システム１７は、主にレール固定装置９と、レール位置決め装置１００の２つの装置から構成される。
〔レール固定装置９の構成〕
　レール固定装置９の役割は、レール位置決め装置１００を所定の高さまで運搬し、レール１１を壁面２の所定位置に取付けること、その際に必要な壁面への穿孔、アンカー打設、ブラケット等を取付することにある。したがって、レール固定装置９は、ロボットアーム１５と各作業に応じて換装されるエンドエフェクタ１６と、エンドエフェクタ１６に装着するツールを保管するツール台座１０と、ロボットアーム１５を設置する作業床７と、吊りビーム３に取付けられ、作業床７を昇降させるワインダ４と、ワインダ４のワインダロープ５が接続されるスリング６を備える。ワインダ４、ワインダロープ５、スリング６は、レール固定装置９の昇降手段として機能する。
〔レール位置決め装置１００の構成〕
　次に、レール位置決め装置１００の詳細構造について、図１～図３を用いて説明する。
図２は、図１からレール位置決め装置１００のみを取り出した図であり、図３は、図２を上方から見た概略図である。 [Overall configuration of rail installation system 17]
First, the overall configuration of the rail installation system 17 will be described with reference to FIG. FIG. 1 is a schematic view of a rail installation system 17 including the rail positioning device 100 according to the first embodiment. Here, in the first embodiment, the following items are assumed. The installation position of the elevator has already been determined in the hoistway 1, and the rails 11 from the bottom to the top are carried in and connected to the hoistway 1 and exist in a state where they are not fixed to the wall surface 2 by brackets 12. , It is suspended from the upper part of the hoistway 1 by a wire 13 or the like. Further, in the first embodiment, it is assumed that the lowermost portion of the rail is installed on the pit base 14. Further, in the first embodiment, it is assumed that the lowermost portion of the rail is installed on the pit base 14. The rail installation system 17 is mainly composed of two devices, a rail fixing device 9 and a rail positioning device 100.
[Structure of rail fixing device 9]
The role of the rail fixing device 9 is to carry the rail positioning device 100 to a predetermined height, attach the rail 11 to a predetermined position on the wall surface 2, drill holes in the wall surface, place anchors, and attach brackets, etc., which are necessary at that time. To do. Therefore, the rail fixing device 9 includes a robot arm 15, an end effector 16 that is replaced according to each work, a tool pedestal 10 that stores tools to be attached to the end effector 16, and a work floor 7 on which the robot arm 15 is installed. , A winder 4 attached to the suspension beam 3 to raise and lower the work floor 7 and a sling 6 to which the winder rope 5 of the winder 4 is connected are provided. The winder 4, the winder rope 5, and the sling 6 function as elevating means for the rail fixing device 9.
[Structure of rail positioning device 100]
Next, the detailed structure of the rail positioning device 100 will be described with reference to FIGS. 1 to 3.
FIG. 2 is a view in which only the rail positioning device 100 is taken out from FIG. 1, and FIG. 3 is a schematic view of FIG. 2 as viewed from above.
　レール位置決め装置１００は、それ自体に昇降機能がないため、作業床７に設置された台座８に載置して昇降させる。レール位置決め装置１００を昇降させるにあたっては、作業床７の台座８にレール位置決め装置１００を載置し、ワインダ４を動作させる。ワインダ４はワインダロープ５を巻上げ、若しくは巻下げ、レール位置決め装置１００が所定の位置に移動した時に停止する。そして、レール位置決め装置１００が壁面２への突っ張りが完了すると、ワインダ４が動作し、作業床７がレール位置決め装置１００の下方の位置になるように移動する。 Since the rail positioning device 100 itself does not have an elevating function, it is placed on a pedestal 8 installed on the work floor 7 to elevate and elevate. When raising and lowering the rail positioning device 100, the rail positioning device 100 is placed on the pedestal 8 of the work floor 7 and the winder 4 is operated. The winder 4 winds up or lowers the winder rope 5, and stops when the rail positioning device 100 moves to a predetermined position. Then, when the rail positioning device 100 completes the tension to the wall surface 2, the winder 4 operates and the work floor 7 moves so as to be in a position below the rail positioning device 100.
　レール位置決め装置１００は、レール１１を所定位置まで移動させ、保持するための装置である。レール固定装置９は、レール位置決め装置１００によって保持されたレール１１を壁面２に固定する。そのため、レール位置決め装置１００は、レール固定装置９がレール１１を壁面２に固定するまで、レール１１を保持する。 The rail positioning device 100 is a device for moving and holding the rail 11 to a predetermined position. The rail fixing device 9 fixes the rail 11 held by the rail positioning device 100 to the wall surface 2. Therefore, the rail positioning device 100 holds the rail 11 until the rail fixing device 9 fixes the rail 11 to the wall surface 2.
　レール位置決め装置１００は、レールゲージ１０１と、レール把持部１０２と、前後位置調整部１０３と、左右位置調整部１０４と、ベース１０５と、壁面接触部１０６（接触部）と、制御部１０７と、レールの位置を検出する受光部１０８と、突っ張り力を検出する力覚センサ１０９（突っ張り力検出部）から構成される。前後位置調整部１０３と左右位置調整部１０４は、レール把持部１０２で把持したレール１１をレール固定位置に移動させるレール位置調整部としての機能を有する。制御部１０７はこのレール位置調整部を制御する。 The rail positioning device 100 includes a rail gauge 101, a rail grip portion 102, a front-rear position adjusting portion 103, a left-right position adjusting portion 104, a base 105, a wall surface contact portion 106 (contact portion), and a control unit 107. It is composed of a light receiving unit 108 that detects the position of the rail and a force sensor 109 (tension force detection unit) that detects the tension force. The front-rear position adjusting unit 103 and the left-right position adjusting unit 104 have a function as a rail position adjusting unit that moves the rail 11 gripped by the rail gripping unit 102 to the rail fixed position. The control unit 107 controls the rail position adjusting unit.
　レールゲージ１０１は、対向する２本のレール１１間の距離を合わせるため用いられる。 The rail gauge 101 is used to match the distance between two opposing rails 11.
　レール把持部１０２は、レールゲージ１０１の左右に備えられており、対向する２本のレール１１を把持する。 The rail gripping portions 102 are provided on the left and right sides of the rail gauge 101, and grip the two opposing rails 11.
　ベース１０５は、レールゲージ１０１の左右方向中央部を支点Ａ１１２によって回動可能に支持する。 The base 105 rotatably supports the central portion of the rail gauge 101 in the left-right direction by the fulcrum A112.
　左右位置調整部１０４は、ベース１０５に備えられており、壁面２と接触し、左右方向に伸縮可能となっている。また、左右位置調整部１０４は、突っ張り力を発生させながら、レールゲージ１０１を左右方向に移動させる。 The left-right position adjusting unit 104 is provided on the base 105, comes into contact with the wall surface 2, and can expand and contract in the left-right direction. Further, the left-right position adjusting unit 104 moves the rail gauge 101 in the left-right direction while generating a tension force.
　壁面接触部１０６は、左右位置調整部１０４の左右に接続されており、左右位置調整部１０４が発生する突っ張り力によって壁面に接触し、押圧される。 The wall surface contact portion 106 is connected to the left and right of the left / right position adjustment unit 104, and is in contact with and pressed against the wall surface by the tension force generated by the left / right position adjustment unit 104.
　前後位置調整部１０３は、ベース１０５の左右にそれぞれ備えられており、レールゲージ１０１の左右のそれぞれと支点Ｂによって回動可能に接続されると共に前後方向に伸縮可能となっている。前後位置調整部１０３は、レールゲージ１０１を前後方向に移動させる。 The front-rear position adjusting portions 103 are provided on the left and right sides of the base 105, and are rotatably connected to each of the left and right sides of the rail gauge 101 by a fulcrum B and can be expanded and contracted in the front-rear direction. The front-rear position adjusting unit 103 moves the rail gauge 101 in the front-rear direction.
　ベース１０５には、前後位置調整部１０３の伸縮動作に合わせ、支点Ａ１１２が前後方向に動くのを許容する長穴１０５ａが形成されている。実施例１における前後位置調整部１０３と、左右位置調整部１０４は、電動、油圧、空圧等を駆動力とし、伸縮するピストン部（伸縮部）により力を発生させるリニアアクチュエータとしている。 The base 105 is formed with an elongated hole 105a that allows the fulcrum A112 to move in the front-rear direction in accordance with the expansion / contraction operation of the front-rear position adjusting unit 103. The front-rear position adjusting unit 103 and the left-right position adjusting unit 104 in the first embodiment are linear actuators that use electric, hydraulic, pneumatic, or the like as driving force and generate a force by a piston portion (expanding / contracting portion) that expands / contracts.
　力覚センサ１０９は、左右位置調整部１０４と壁面接触部の間に配置され、突っ張り力（壁面からの反力）を検出する。 The force sensor 109 is arranged between the left-right position adjusting portion 104 and the wall surface contact portion, and detects a tension force (reaction force from the wall surface).
　レールの位置検出にあたっては、レーザ光２０１を用いる。図１に示すように、昇降路１の下部には２つのレーザ鉛直器２００が設置され、レーザ鉛直器２００から鉛直方向に照射された２本のレーザ光２０１を基準芯として活用する。レーザ光２０１は、レールゲージ１０１に受光部取付板１１１を介して取付けられた４象限フォトディテクタ等の受光部１０８（位置検出部）で検出する。受光部１０８はレールゲージ１０１の位置を検出する。 Laser light 201 is used to detect the position of the rail. As shown in FIG. 1, two laser vertical devices 200 are installed in the lower part of the hoistway 1, and two laser beams 201 irradiated in the vertical direction from the laser vertical device 200 are used as reference cores. The laser beam 201 is detected by a light receiving unit 108 (position detection unit) such as a four-quadrant photodetector attached to the rail gauge 101 via the light receiving unit mounting plate 111. The light receiving unit 108 detects the position of the rail gauge 101.
　図４は、実施例１に関するレール位置決め装置のブロック図である。制御部１０７は、演算部と、制御プログラム等が記憶された記憶部と、記憶部に記憶された制御プログラム、受光部１０８の検出値、力覚センサ１０９の検出値に基づいて演算を行う演算部を備えている。そして、制御部１０７では、受光部１０８の検出値及び力覚センサ１０９の検出値に基づいて、前後位置調整部１０３及び左右位置調整部１０４を制御してレールゲージ１０１をレール１１の設置位置に移動させる。 FIG. 4 is a block diagram of the rail positioning device according to the first embodiment. The control unit 107 calculates based on the calculation unit, the storage unit in which the control program or the like is stored, the control program stored in the storage unit, the detection value of the light receiving unit 108, and the detection value of the force sensor 109. It has a department. Then, the control unit 107 controls the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 based on the detected value of the light receiving unit 108 and the detected value of the force sensor 109 to move the rail gauge 101 to the installation position of the rail 11. Move it.
　制御部１０７は、受光部１０８で検出されたレーザ光２０１に基づいて、昇降路内における平面座標を検出し、レール１１の設置位置を判断する。そして、前後位置調整部１０３及び左右位置調整部１０４を動作させる制御信号を出力する。なお、受光部１０８には、遠方で広がったレーザ光２０１を再び収束させるビームコンプレッサ等を備えると検出精度を向上させることができる。
The control unit 107 detects the plane coordinates in the hoistway based on the laser beam 201 detected by the light receiving unit 108, and determines the installation position of the rail 11. Then, a control signal for operating the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 is output. If the light receiving unit 108 is provided with a beam compressor or the like that reconverges the laser beam 201 spread in the distance, the detection accuracy can be improved.
　次に、レール位置決め装置１００の動作を説明する。レール１１は、乗りかご（図示せず）を挟むように対を成して昇降路1内に設置される。２本のレール１１は、レール位置決め装置１００のレール把持部１０２で把持される。レール把持部１０２は、レール１１を把持するためのクランプ機構を備えており、レールゲージ１０１の両端に取付けられている。このレールゲージ１０１の剛体部の長さは、所定のレール間距離と等しく、また、レール把持面が平行になっているため、レール把持部１０２でレール１１を把持すると、対を成す２本のレール間距離と平行が出る仕組みとなっている。 Next, the operation of the rail positioning device 100 will be described. The rails 11 are installed in the hoistway 1 in pairs so as to sandwich the car (not shown). The two rails 11 are gripped by the rail grip portion 102 of the rail positioning device 100. The rail grip portion 102 includes a clamp mechanism for gripping the rail 11, and is attached to both ends of the rail gauge 101. Since the length of the rigid body portion of the rail gauge 101 is equal to the predetermined distance between the rails and the rail gripping surfaces are parallel, when the rail 11 is gripped by the rail gripping portion 102, two pairs are formed. The mechanism is parallel to the distance between the rails.
　レール１１は、前後位置調整部１０３及び左右位置調整部１０４によって並進移動させる。レールゲージ１０１には、前後方向に伸縮可能な前後位置調整部１０３が支点Ｂ１１３を介して接続されており、前後位置調整部１０３は、ベース１０５に取付けられている。さらにベース１０５には、左右方向に伸縮可能な左右位置調整部１０４が取付けられており、左右位置調整部１０４の左右先端部の壁面接触部１０６を、対向する壁面２に押付けた際に発生する反力を利用することで、レール１１を前後左右に動かし、所定位置まで移動させるものである。左右位置調整部１０４と壁面接触部の間には、力覚センサ１０９が備えられており、力覚センサ１０９は壁面への突っ張り力（反力）を検出し、左右位置調整部１０４の移動を制御するために用いる。レール位置決め装置１００の落下を防ぐためには、左右位置調整部１０４による突っ張り力が所定値以上になるように制御部１０７で制御する必要がある。突っ張り力はレール位置決め装置１００の自重、レール１１の剛性を考慮する必要があることから、制御部１０７ではこれらを考慮し、突っ張り力の所定値を算出する。上述したように、実施例１では最下部から最上部までの複数のレール１１が昇降路１内に搬入及び連結され、壁面２にブラケット１２で固定されていない状態で存在している。レール把持部１０２で把持したレール１１には、ブラケット１２で固定されていない他のレール１１の押付力や引き離し力が発生する。実施例１でのレール１１の剛性とは、押付力や引き離し力を意味する。左右位置調整部１０４は、突っ張り力が所定値以上に保持しつつ、左右方向に移動してレール１１を固定する左右位置を決定する。 The rail 11 is translated by the front-rear position adjusting unit 103 and the left-right position adjusting unit 104. A front-rear position adjusting portion 103 that can be expanded and contracted in the front-rear direction is connected to the rail gauge 101 via a fulcrum B113, and the front-rear position adjusting portion 103 is attached to a base 105. Further, a left-right position adjusting portion 104 that can be expanded and contracted in the left-right direction is attached to the base 105, and is generated when the wall surface contact portion 106 of the left-right tip portion of the left-right position adjusting portion 104 is pressed against the facing wall surface 2. By utilizing the reaction force, the rail 11 is moved back and forth and left and right to move it to a predetermined position. A force sensor 109 is provided between the left / right position adjusting unit 104 and the wall surface contact portion, and the force sensor 109 detects a tension force (reaction force) against the wall surface to move the left / right position adjusting unit 104. Used to control. In order to prevent the rail positioning device 100 from falling, it is necessary for the control unit 107 to control the tension force of the left / right position adjusting unit 104 so as to be equal to or higher than a predetermined value. Since it is necessary to consider the own weight of the rail positioning device 100 and the rigidity of the rail 11 as the tension force, the control unit 107 considers these factors and calculates a predetermined value of the tension force. As described above, in the first embodiment, the plurality of rails 11 from the bottom to the top are carried in and connected to the hoistway 1 and exist in a state where they are not fixed to the wall surface 2 by the bracket 12. The rail 11 gripped by the rail grip portion 102 generates a pressing force or a pulling force of another rail 11 that is not fixed by the bracket 12. The rigidity of the rail 11 in the first embodiment means a pressing force and a pulling force. The left-right position adjusting unit 104 determines the left-right position for fixing the rail 11 by moving in the left-right direction while maintaining the tension force at a predetermined value or more.
　次に２つの前後位置調整部１０３の移動量をそれぞれ調整することで、レール１１の捻じれも矯正することができる。なお、２つの前後位置調整部１０３とレールゲージ１０１は、支点Ｂ１１３を介して回動可能に接続され、レールゲージ１０１は、ベース１０５と支点Ａ１１２を介して回動可能に接続されているので、前後位置調整部１０３に掛かる負担が低減される。 Next, by adjusting the amount of movement of the two front-rear position adjusting units 103, the twist of the rail 11 can also be corrected. The two front-rear position adjusting portions 103 and the rail gauge 101 are rotatably connected via the fulcrum B113, and the rail gauge 101 is rotatably connected to the base 105 via the fulcrum A112. The load on the front-rear position adjusting unit 103 is reduced.
　図５は、壁面が傾斜している場合におけるレール位置決め装置の状態を示す図である。
図５では、壁面２が平行ではなく、やや傾斜した壁面となっている。 FIG. 5 is a diagram showing a state of the rail positioning device when the wall surface is inclined.
In FIG. 5, the wall surface 2 is not parallel but is a slightly inclined wall surface.
　図５に示すように、左右位置調整部１０４と壁面接触部１０６を接続する箇所に回転軸１１０を設置した。回転軸１１０は、壁面２の傾斜に合わせ、壁面接触部１０６を左右位置調整部に対して傾斜させる。実施例１では、左右位置調整部１０４と壁面接触部１０６とを回転軸１１０を介して接続するようにしたので、壁面の傾斜にならいレール位置決め装置１００を突っ張ることができる。なお、回転軸１１０は、少なくとも１軸以上備えるようにすると良い。また、左右位置調整部１０４と壁面接触部１０６との接続箇所に、回転方向を自由に変更できるユニバーサルジョイントを用いるようにしても良い。
〔レール位置決め作業の工程〕
　以下、図６を用いて、レール位置決め作業の工程を説明する。図６は、実施例１に関するレール位置決め作業のフローチャートである。 As shown in FIG. 5, the rotating shaft 110 is installed at a position where the left-right position adjusting portion 104 and the wall surface contact portion 106 are connected. The rotation shaft 110 inclines the wall surface contact portion 106 with respect to the left / right position adjusting portion in accordance with the inclination of the wall surface 2. In the first embodiment, since the left-right position adjusting portion 104 and the wall surface contact portion 106 are connected via the rotation shaft 110, the rail positioning device 100 can be stretched according to the inclination of the wall surface. The rotation shaft 110 may be provided with at least one shaft. Further, a universal joint capable of freely changing the rotation direction may be used at the connection point between the left-right position adjusting portion 104 and the wall surface contact portion 106.
[Rail positioning work process]
Hereinafter, the process of the rail positioning work will be described with reference to FIG. FIG. 6 is a flowchart of the rail positioning work according to the first embodiment.
　ここでは、前提として、レール位置決め装置１００の前後位置調整部１０３と左右位置調整部１０４の伸縮部は最小に縮まっており、また、レール位置決め装置１００は、レール固定装置９の作業床７の昇降により、レールを位置決めする高さまで移動した状態であるとする（レール固定装置９によってレール位置決め装置をレール位置決めする所定位置まで昇降させる工程）。レール位置決め作業は、制御部１０７の記憶部に記憶された制御プログラムによって実行される。 Here, as a premise, the front-rear position adjusting portion 103 and the left-right position adjusting portion 104 of the rail positioning device 100 are contracted to the minimum, and the rail positioning device 100 raises and lowers the work floor 7 of the rail fixing device 9. As a result, it is assumed that the rail has been moved to a height at which the rail is positioned (a step of raising and lowering the rail positioning device to a predetermined position for rail positioning by the rail fixing device 9). The rail positioning operation is executed by the control program stored in the storage unit of the control unit 107.
　まず、左右位置調整部１０４は、伸縮するピストン部を左右方向に伸ばし、壁面接触部１０６を壁面２に接触させ、レール位置決め装置１００を突っ張って固定する（ステップＳ１：左右位置調整部１０４の伸縮部を伸ばし、壁面に突っ張る工程）。レール位置決め装置１００が壁面２への突っ張りが完了すると、ワインダ４が動作し、作業床７がレール位置決め装置１００の下方の位置になるように移動する。 First, the left / right position adjusting unit 104 extends the expanding / contracting piston portion in the left-right direction, brings the wall surface contact portion 106 into contact with the wall surface 2, and stretches and fixes the rail positioning device 100 (step S1: expansion / contraction of the left / right position adjusting unit 104). The process of stretching the part and stretching it against the wall surface). When the rail positioning device 100 completes the tension to the wall surface 2, the winder 4 operates and the work floor 7 moves so as to be in a position below the rail positioning device 100.
　左右位置調整部１０４の壁面２への突っ張り力を力覚センサ１０９で検出し、壁面２への突っ張り力が所定値以上か否か判断する（ステップＳ２：左右位置調整部１０４の突っ張り力が所定値以上か否か判断する工程）。 The force sensor 109 detects the tension force of the left / right position adjusting unit 104 on the wall surface 2, and determines whether or not the tension force of the left / right position adjusting unit 104 is equal to or greater than a predetermined value (step S2: the tension force of the left / right position adjusting unit 104 is predetermined). The process of determining whether or not it is above the value).
　次に、レール位置決め装置１００のレール把持部１０２でレール１１を把持する（ステップＳ３：レール把持部１０２でレールを把持する工程）。この際、レール把持部１０２が、２本のレール１１に接触するように前後位置調整部１０３及び左右位置調整部１０４の位置を微調整する。 Next, the rail 11 is gripped by the rail gripping portion 102 of the rail positioning device 100 (step S3: the step of gripping the rail by the rail gripping portion 102). At this time, the positions of the front-rear position adjusting portion 103 and the left-right position adjusting portion 104 are finely adjusted so that the rail grip portion 102 comes into contact with the two rails 11.
　その後、昇降路最下部に設置されたレーザ鉛直器２００から照射されたレーザ光２０１を受光部１０８で受光し、レール位置決め装置１００の現在位置座標を取得する（ステップＳ４：レール位置決め装置１００の現在位置座標を取得する工程）。 After that, the laser light 201 emitted from the laser vertical device 200 installed at the bottom of the hoistway is received by the light receiving unit 108, and the current position coordinates of the rail positioning device 100 are acquired (step S4: the current position of the rail positioning device 100). Step to acquire position coordinates).
　続いて、前後位置調整部１０３と左右位置調整部１０４を制御し、レール１１を所定の位置座標まで移動させ（ステップＳ５：前後・左右位置調整部を制御してレールを移動させる工程）、レールが所定の位置座標に在るか否かを判断する（ステップＳ６：レール１１が所定の位置座標に在るか否かを判断する工程）。レール１１の移動中には、力覚センサ１０９で、左右位置調整部１０４の壁面２への突っ張り力を監視し、レール位置決め装置１００が所定以上の突っ張り力か否かを判断する（ステップＳ７：レール１１が移動中に左右位置調整部１０４の突っ張り力が所定値以上か否か判断する工程）。 Subsequently, the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 are controlled to move the rail 11 to a predetermined position coordinate (step S5: a step of controlling the front-rear / left-right position adjusting unit to move the rail), and the rail. Determines whether or not is at a predetermined position coordinate (step S6: step of determining whether or not the rail 11 is at a predetermined position coordinate). While the rail 11 is moving, the force sensor 109 monitors the tension force of the left / right position adjusting unit 104 on the wall surface 2, and determines whether or not the rail positioning device 100 has a tension force equal to or greater than a predetermined value (step S7: A step of determining whether or not the tension force of the left / right position adjusting unit 104 is equal to or higher than a predetermined value while the rail 11 is moving).
　左右位置調整部１０４が所定以上の突っ張り力がある場合、ステップＳ５に戻り、処理を繰り返す。ステップＳ７において、左右位置調整部１０４が所定値以上の突っ張り力に達していない場合には、左右位置調整部１０４を制御して突っ張り力が所定以上となるように調整する（ステップＳ８：左右位置調整部１０４を制御して突っ張り力が所定以上となるように調整する工程）。 If the left / right position adjusting unit 104 has a tension force equal to or greater than a predetermined value, the process returns to step S5 and the process is repeated. In step S7, when the left / right position adjusting unit 104 does not reach the tension force equal to or more than a predetermined value, the left / right position adjustment unit 104 is controlled to adjust the tension force to be equal to or more than the predetermined value (step S8: left / right position). A step of controlling the adjusting unit 104 to adjust the tension force so as to be equal to or higher than a predetermined value).
　ステップＳ６において、レールが所定の位置座標に在る場合には、前後位置調整部１０３及び左右位置調整部１０４の動作を停止させ、レールの位置決め作業を完了する（ステップＳ９：レール位置決めを完了する工程）。 In step S6, when the rail is at a predetermined position coordinate, the operation of the front-rear position adjusting unit 103 and the left-right position adjusting unit 104 is stopped, and the rail positioning work is completed (step S9: rail positioning is completed). Process).
　レール位置決めが完了すると、レール固定装置９を動作させ、昇降路１の壁面２を穿孔し、アンカーボルトを打ち込む（ステップＳ１０：レール固定装置９によるレール固定作業を開始する工程）。そして、壁面２に打ち込んだアンカーボルトにブラケット１２を取付け、このブラケット１２にレール１１を固定し、レール固定作業を完了する（ステップＳ１１：レール固定作業を完了する工程）。 When the rail positioning is completed, the rail fixing device 9 is operated, the wall surface 2 of the hoistway 1 is drilled, and the anchor bolts are driven in (step S10: step of starting the rail fixing work by the rail fixing device 9). Then, the bracket 12 is attached to the anchor bolt driven into the wall surface 2, the rail 11 is fixed to the bracket 12, and the rail fixing work is completed (step S11: step of completing the rail fixing work).
　レール固定作業が完了すると、ワインダ４を動作させてワインダロープ５を巻上げ、作業床７の台座８にレール位置決め装置１００を載置する。レール位置決め装置１００の載置が完了すると、左右位置調整部１０４を縮小する方向に動作させ、突っ張り力を開放し、左右位置調整部１０４を最短化する（ステップＳ１２：左右位置調整部１０４を最短化する工程）。 When the rail fixing work is completed, the winder 4 is operated to wind up the winder rope 5, and the rail positioning device 100 is placed on the pedestal 8 of the work floor 7. When the mounting of the rail positioning device 100 is completed, the left / right position adjusting unit 104 is operated in the direction of contraction to release the tension force and the left / right position adjusting unit 104 is minimized (step S12: the left / right position adjusting unit 104 is shortened). Process to change).
　左右位置調整部１０４の最短化が完了すると、レール把持部１０２を動作させ、レール１１の把持を解放する（ステップＳ１３：レール把持部１０２を解放する工程）。レール１１の把持を解放すると、レール位置決め装置１００の全荷重がレール固定装置９に移る。レール１１の把持を解放した後、前後位置調整部１０３を縮小する方向に動作させ、前後位置調整部１０３を最短化する（ステップＳ１４：前後位置調整部１０３を最短化する工程）。そして、レール位置決め作業を終了する。 When the shortening of the left / right position adjusting portion 104 is completed, the rail grip portion 102 is operated to release the grip of the rail 11 (step S13: step of releasing the rail grip portion 102). When the grip of the rail 11 is released, the entire load of the rail positioning device 100 is transferred to the rail fixing device 9. After releasing the grip of the rail 11, the front-rear position adjusting unit 103 is operated in the direction of contraction to minimize the front-rear position adjusting unit 103 (step S14: step of minimizing the front-rear position adjusting unit 103). Then, the rail positioning work is completed.
　以上の工程で、レールの位置決めと固定が終了する。上述した一連の工程について高さを変え、階床分繰返していくことで、レール１１が壁面２に据付けられる。なお、実施例１では、壁面２への突っ張り力を検出する手段として、力覚センサ１０９を用いたが、左右位置調整部１０４の駆動電流を計測できる場合は、それを代替の検出手段として用いてもよい。また、上述したレール位置決め工程であるが、レール固定装置９は、必ずしも必須ではなく、レール固定作業は作業者が行い、レール位置決め作業のみ本発明のレール位置決め装置１００を使用する場合も含むものとする。 The above process completes the positioning and fixing of the rail. The rail 11 is installed on the wall surface 2 by changing the height of the series of steps described above and repeating the steps for each floor. In the first embodiment, the force sensor 109 was used as a means for detecting the tension force on the wall surface 2, but if the drive current of the left / right position adjusting unit 104 can be measured, it is used as an alternative detection means. You may. Further, although it is the rail positioning step described above, the rail fixing device 9 is not always indispensable, and the rail fixing work is performed by the operator, and the case where the rail positioning device 100 of the present invention is used only for the rail positioning work is included.
　実施例１によれば、レール１１が移動中に左右位置調整部１０４の突っ張り力が所定値以上か否か判断するようにしているので、左右位置調整部１０４が壁面からずれるのを抑制することができる。そして、実施例１によれば、レール位置決め動作に伴う突っ張り力の変動や壁面の状態に応じて精度良くレール設置位置を判断し、レール位置決め作業を自動化することのできるレール位置決め装置を提供することができる。 According to the first embodiment, since it is determined whether or not the tension force of the left / right position adjusting unit 104 is equal to or higher than a predetermined value while the rail 11 is moving, it is possible to prevent the left / right position adjusting unit 104 from shifting from the wall surface. Can be done. Then, according to the first embodiment, it is provided a rail positioning device capable of accurately determining the rail installation position according to the fluctuation of the tension force accompanying the rail positioning operation and the state of the wall surface, and automating the rail positioning work. Can be done.
　次に、実施例２について図７を用いて説明する。図７は、実施例２に係るレール位置決め装置を正面から見た一部拡大図である。実施例２において、実施例１と異なるところは壁面接触部１０６の構造にある。 Next, Example 2 will be described with reference to FIG. FIG. 7 is a partially enlarged view of the rail positioning device according to the second embodiment as viewed from the front. In the second embodiment, the difference from the first embodiment is the structure of the wall surface contact portion 106.
　上述した実施例１では、レール位置決め装置１００の壁面接触部１０６は、壁面２に面接触させるものであった。しかし、壁面２がコンクリート造で表面に凹凸や粉塵がある場合、壁面接触部１０６の単純な面接触だけでは、レールを並進移動させた際の壁面とのずれが生じてしまう場合がある。 In the first embodiment described above, the wall surface contact portion 106 of the rail positioning device 100 is in surface contact with the wall surface 2. However, when the wall surface 2 is made of concrete and has irregularities or dust on the surface, the simple surface contact of the wall surface contact portion 106 may cause a deviation from the wall surface when the rail is translated.
　この課題を解決する手段として、実施例２では、図７に示すような壁面接触部１０６の壁面２と対向する面に２本のピン１１４を取付けた。レール位置決め装置１００は左右対称のため、図７ではその半面のみ示したものである。 As a means for solving this problem, in the second embodiment, two pins 114 are attached to the surface of the wall surface contact portion 106 facing the wall surface 2 as shown in FIG. Since the rail positioning device 100 is symmetrical, only one side thereof is shown in FIG.
　実施例２において、壁面２には、事前に下穴１８が穿孔されている。下穴１８は、例えばレール固定装置９を用いて穿孔する。下穴１８には、壁面接触部１０６に取付けたピン１１４を挿入する。ピン１１４は、スパイクとして作用するため、レール並進移動時に発生する反力により壁面接触部１０６がずれることを抑制することができる。 In the second embodiment, the wall surface 2 is pre-drilled with a pilot hole 18. The pilot hole 18 is drilled using, for example, a rail fixing device 9. A pin 114 attached to the wall surface contact portion 106 is inserted into the prepared hole 18. Since the pin 114 acts as a spike, it is possible to prevent the wall surface contact portion 106 from being displaced due to the reaction force generated during the translational movement of the rail.
　実施例２によれば、壁面接触部１０６にピン１１４を設け、このピン１１４を壁面２に形成した下穴１８に挿入するようにしているので、壁面の凹凸や粉塵によるレール位置決め装置のズレを抑制することができる。 According to the second embodiment, since the pin 114 is provided in the wall surface contact portion 106 and the pin 114 is inserted into the prepared hole 18 formed in the wall surface 2, the rail positioning device may be displaced due to unevenness of the wall surface or dust. It can be suppressed.
　次に、実施例３について図８を用いて説明する。図８は、実施例３に係るレール位置決め装置を正面から見た一部拡大図である。実施例３において、実施例１及び実施例２と異なるところは接触部の構造にある。 Next, Example 3 will be described with reference to FIG. FIG. 8 is a partially enlarged view of the rail positioning device according to the third embodiment as viewed from the front. In Example 3, the difference from Example 1 and Example 2 is in the structure of the contact portion.
　実施例２では、レール位置決め装置１００の壁面接触部１０６が突っ張る対象はコンクリート壁面であったが、鉄骨造の昇降路１も存在する。そこで、実施例３では、接触部を、実施例２に示したぴん１１４付の壁面接触部１０６に代えて、磁力を発生する磁力発生部１１５とした。実施例２では、磁力発生部１１５を鉄骨１９に吸着させ、突っ張るようにした。ここで磁力発生部１１５は、空圧やソレノイドにより磁力のＯＮ／ＯＦＦが切り替えられるもの或いは、電磁気力を発生させるものを想定している。実施例３においても鉄骨の面が傾いている場合があるため、回転軸１１０を備え、接触する面にならう構造が好ましい。 In the second embodiment, the object to which the wall contact portion 106 of the rail positioning device 100 is stretched is a concrete wall surface, but there is also a steel-framed hoistway 1. Therefore, in the third embodiment, the contact portion is a magnetic force generating portion 115 that generates a magnetic force instead of the wall surface contact portion 106 with the pin 114 shown in the second embodiment. In Example 2, the magnetic force generating portion 115 was attracted to the steel frame 19 so as to be stretched. Here, the magnetic force generating unit 115 is assumed to be one in which the magnetic force is switched ON / OFF by pneumatic pressure or a solenoid, or one in which an electromagnetic force is generated. Since the surface of the steel frame may be tilted also in the third embodiment, a structure provided with the rotating shaft 110 and following the contact surface is preferable.
　実施例３によれば、壁面接触部１０６を、磁力発生部１１５に換装し、この磁力発生部１１５を鉄骨に吸着するようにしているので、鉄骨造の昇降路１内がであってもレール位置決め装置のズレを抑制することができる。 According to the third embodiment, the wall surface contact portion 106 is replaced with the magnetic force generating portion 115 so that the magnetic force generating portion 115 is attracted to the steel frame. Therefore, even if the inside of the steel-framed hoistway 1 is inside the rail. It is possible to suppress the deviation of the positioning device.
　次に、実施例４について図９を用いて説明する。図９は、実施例４に係るレール位置決め装置を正面から見た一部拡大図である。実施例４において、実施例１乃至実施例３と異なるところは突っ張り力検出部にある。実施例１乃至実施例３では、突っ張り力検出部として、左右位置調整部１０４の可動部先端に力覚センサ１０９を接続し、力覚センサ１０９にて突っ張り力の検出を行っていた。 Next, Example 4 will be described with reference to FIG. FIG. 9 is a partially enlarged view of the rail positioning device according to the fourth embodiment as viewed from the front. In the fourth embodiment, the difference from the first to third embodiments is in the tension force detection unit. In the first to third embodiments, the force sensor 109 is connected to the tip of the movable portion of the left / right position adjusting unit 104 as the tension force detection unit, and the tension sensor 109 detects the tension force.
　実施例４では、力覚センサ１０９に代えて、図９に示すようなバネ等の弾性体１１６を用い、この弾性体１１６の変形量を変位検出部１１７で検出し、バネ係数と変位の積で突っ張り力を算出するようにしている。或いは、所定値以上の突っ張り力の有無のみを検出する場合は、変位検出部１１７は、コンタクトスイッチ等にしても構わない。 In the fourth embodiment, instead of the force sensor 109, an elastic body 116 such as a spring as shown in FIG. 9 is used, the amount of deformation of the elastic body 116 is detected by the displacement detection unit 117, and the product of the spring coefficient and the displacement. I try to calculate the tension force with. Alternatively, when only the presence or absence of a tension force equal to or higher than a predetermined value is detected, the displacement detection unit 117 may be a contact switch or the like.
　実施例４によれば、レール位置決め動作に伴う突っ張り力の変動や壁面の状態に応じて精度良くレール設置位置を判断し、レール位置決め作業を自動化することのできるレール位置決め装置を提供することができる。 According to the fourth embodiment, it is possible to provide a rail positioning device capable of accurately determining the rail installation position according to the fluctuation of the tension force accompanying the rail positioning operation and the state of the wall surface and automating the rail positioning work. ..
　次に、実施例５について図１０を用いて説明する。図１０は、実施例５に係るレール位置決め装置を正面から見た図である。実施例５において、実施例１乃至実施例４と異なるところは、左右位置調整部１０４と、壁面接触部１０６或いは磁力発生部１１５の間に着脱可能な接続部１１８を設けたことにある。 Next, Example 5 will be described with reference to FIG. FIG. 10 is a front view of the rail positioning device according to the fifth embodiment. In the fifth embodiment, the difference from the first to fourth embodiments is that a detachable connecting portion 118 is provided between the left / right position adjusting portion 104 and the wall surface contact portion 106 or the magnetic force generating portion 115.
　実施例５では、図１０に示すように、昇降路１の壁面２の片側がコンクリート造で、その対面が鉄骨の場合を想定している。 In Example 5, as shown in FIG. 10, it is assumed that one side of the wall surface 2 of the hoistway 1 is made of concrete and the opposite side is made of steel.
　実施例５では、左右位置調整部１０４と、壁面接触部１０６或いは磁力発生部１１５の間に接続部１１８を設け、脱着し易い構造とした。接続部１１８はボルト固定式でも良いが、作業性を考慮し、ピン式やワンタッチカプラ式等が好ましい。 In the fifth embodiment, a connecting portion 118 is provided between the left-right position adjusting portion 104 and the wall surface contact portion 106 or the magnetic force generating portion 115 so that the structure can be easily attached and detached. The connection portion 118 may be a bolt-fixed type, but a pin type or a one-touch coupler type is preferable in consideration of workability.
　実施例５によれば、コンクリート造りの壁面や鉄骨といった昇降路1内の構造に種類に合わせ、最適な接触部を選択することができるので、レール位置決め装置のズレを抑制することができる。 According to the fifth embodiment, the optimum contact portion can be selected according to the type of the structure in the hoistway 1 such as a concrete wall surface or a steel frame, so that the deviation of the rail positioning device can be suppressed.
　以上説明したように、各実施例によれば、壁面の状態や材質によらず、レール１１を並進移動させた際の反力によるレール位置決め装置１００の壁面接触部１０６のずれを防ぐことが可能になるため、レール位置決め精度と作業性の向上が図れるという効果がある。 As described above, according to each embodiment, it is possible to prevent the wall contact portion 106 of the rail positioning device 100 from being displaced due to the reaction force when the rail 11 is moved in translation regardless of the state and material of the wall surface. Therefore, there is an effect that the rail positioning accuracy and workability can be improved.
　なお、本発明は、上記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施例は本発明を分かり易く説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施例の構成の一部を他の実施例の構成に置き換えることが可能であり、また、ある実施例の構成に他の実施例の構成を加えることも可能である。また、各実施例の構成の一部について、他の構成の追加・削除・置換をすることが可能である。 The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.
　１…昇降路、２…壁面、３…吊りビーム、４…ワインダ、５…ワインダロープ、６…スリング、７…作業床、８…台座、９…レール固定装置、１０…ツール台座、１１…レール、１２…ブラケット、１３…ワイヤ、１４…ピットベース、１５…ロボットアーム、１６…エンドエフェクタ、１７…レール据付システム、１８…下穴、１９…鉄骨、１００…レール位置決め装置、１０１…レールゲージ、１０２…レール把持部、１０３…前後位置調整部、１０４…左右位置調整部、１０５…ベース、１０６…壁面接触部、１０７…制御部、１０８…受光部、１０９…力覚センサ、１１０…回転軸、１１１…受光部取付板、１１２…支点Ａ、１１３…支点Ｂ、１１４…ピン、１１５…磁力発生部、１１６…弾性体、１１７…変位検出部、１１８…接続部、２００…レーザ鉛直器、２０１…レーザ光 1 ... hoistway, 2 ... wall surface, 3 ... hanging beam, 4 ... winder, 5 ... winder rope, 6 ... sling, 7 ... work floor, 8 ... pedestal, 9 ... rail fixing device, 10 ... tool pedestal, 11 ... rail , 12 ... Bracket, 13 ... Wire, 14 ... Pit base, 15 ... Robot arm, 16 ... End effector, 17 ... Rail installation system, 18 ... Pilot hole, 19 ... Steel frame, 100 ... Rail positioning device, 101 ... Rail gauge, 102 ... Rail gripping part, 103 ... Front and rear position adjusting part, 104 ... Left and right position adjusting part, 105 ... Base, 106 ... Wall contact part, 107 ... Control part, 108 ... Light receiving part, 109 ... Force sensor, 110 ... Rotating shaft , 111 ... light receiving part mounting plate, 112 ... fulcrum A, 113 ... fulcrum B, 114 ... pin, 115 ... magnetic force generating part, 116 ... elastic body, 117 ... displacement detecting part, 118 ... connecting part, 200 ... laser vertical device, 201 ... Laser light

Claims (10)

  1. 　昇降路内に設置するレールを位置決めするレール位置決め装置において、
    　対向する２本のレール間の距離を合わせるためのレールゲージと、
    　前記レールゲージの左右に備えられ、対向する２本のレールを把持するレール把持部と、
    　前記レールゲージの左右方向中央部を回動可能に支持するベースと、
    　前記ベースに備えられ、壁面と接触し、左右方向に伸縮可能な左右位置調整部と、
    　前記左右位置調整部の左右に接続され、壁面若しくは鉄骨に接触する接触部と、
    　前記ベースの左右にそれぞれ備えられ、前記レールゲージの左右のそれぞれと回動可能に接続されると共に前後方向に伸縮可能な一対の前後位置調整部と、
    　前記レールゲージの位置を検出する位置検出部と、
    　前記壁面若しくは前記鉄骨と接触する前記左右位置調整部の突っ張り力を検出する突っ張り力検出部と、
    　前記位置検出部及び前記突っ張り力検出部の検出値に基づいて、前記前後位置調整部及び前記左右位置調整部を制御して前記レールゲージを前記レールの設置位置に移動させる制御部と、
    を備えたことを特徴とするレール位置決め装置。     In a rail positioning device that positions rails installed in the hoistway
    A rail gauge for adjusting the distance between two opposing rails,
    A rail grip portion provided on the left and right sides of the rail gauge to grip two opposing rails, and a rail grip portion.
    A base that rotatably supports the central portion of the rail gauge in the left-right direction,
    A left-right position adjustment unit provided on the base that comes into contact with the wall surface and can expand and contract in the left-right direction.
    With the contact parts connected to the left and right of the left and right position adjustment parts and in contact with the wall surface or the steel frame,
    A pair of front-rear position adjusting portions, which are provided on the left and right sides of the base, are rotatably connected to each of the left and right sides of the rail gauge, and can be expanded and contracted in the front-rear direction.
    A position detection unit that detects the position of the rail gauge, and
    A tension force detecting unit that detects the tension force of the left / right position adjusting unit that comes into contact with the wall surface or the steel frame, and a tension force detecting unit.
    A control unit that controls the front-rear position adjustment unit and the left-right position adjustment unit to move the rail gauge to the installation position of the rail based on the detection values of the position detection unit and the tension force detection unit.
    A rail positioning device characterized by being equipped with.
  2. 　請求項１において、
    　前記制御部は、前記突っ張り力が所定値以上になるように前記左右位置調整部を制御することを特徴とするレール位置決め装置。     In claim 1,
    The control unit is a rail positioning device characterized in that the left and right position adjusting units are controlled so that the tensioning force becomes equal to or higher than a predetermined value.
  3. 　請求項２において、
    　前記突っ張り力は、少なくとも前記レール位置決め装置の自重、前記レールの剛性から算出することを特徴とするレール位置決め装置。     In claim 2,
    A rail positioning device, characterized in that the tension force is calculated from at least the weight of the rail positioning device and the rigidity of the rail.
  4. 　請求項１乃至３の何れか１項において、
    　前記左右位置調整部と前記接触部とは、１軸以上の回転軸を備えて接続されたことを特徴とするレール位置決め装置。     In any one of claims 1 to 3,
    A rail positioning device characterized in that the left-right position adjusting portion and the contact portion are connected with one or more rotating shafts.
  5. 　請求項１乃至３の何れか１項において、
    　前記左右位置調整部と前記接触部とは、ユニバーサルジョイントで接続されたことを特徴とするレール位置決め装置。     In any one of claims 1 to 3,
    A rail positioning device characterized in that the left-right position adjusting portion and the contact portion are connected by a universal joint.
  6. 　請求項１乃至３の何れか１項において、
    　前記接触部の前記壁面と対向する面には、１本以上のピンを備えたことを特徴とするレール位置決め装置。     In any one of claims 1 to 3,
    A rail positioning device characterized in that one or more pins are provided on a surface of the contact portion facing the wall surface.
  7. 　請求項１乃至３の何れか１項において、
    　前記接触部は、磁力発生する磁力発生部としたことを特徴とするレール位置決め装置。     In any one of claims 1 to 3,
    The rail positioning device is characterized in that the contact portion is a magnetic force generating portion that generates a magnetic force.
  8. 　請求項１乃至３の何れか１項において、
    　前記左右位置調整部と前記接触部の間に弾性体を備えたことを特徴とするレール位置決め装置。     In any one of claims 1 to 3,
    A rail positioning device characterized in that an elastic body is provided between the left-right position adjusting portion and the contact portion.
  9. 　請求項１乃至３の何れか１項において、
    　前記接触部は、前記左右位置調整部から着脱可能としたことを特徴とするレール位置決め装置。     In any one of claims 1 to 3,
    The rail positioning device is characterized in that the contact portion is detachable from the left / right position adjusting portion.
  10. 　昇降路内に設置するレールを位置決めするレール位置決め方法において、
    　レール位置決め装置は、レールゲージと、前記レールゲージに備えられたレール把持部と、左右方向に伸縮し、壁面と接触して突っ張り力を発生させると共に、前記レールゲージを左右方向に移動させる左右位置調整部と、前記レールゲージを前後方向に移動させる前後位置調整部と、前記左右位置調整部及び前記前後位置調整部を制御する制御部とを備え、
    　前記制御部は、
    　前記レール位置決め装置がレール位置決めする所定位置まで昇降した後、
    　前記左右位置調整部の伸縮部を伸ばし、壁面に突っ張る工程と、
    　前記左右位置調整部の突っ張り力が所定値以上か否か判断する工程と、
    　前記レール把持部で前記レールを把持する工程と、
    　前記前後位置調整部及び前記左右位置調整部を制御して前記レールを移動させる工程と、
    　前記レールが移動中に、前記左右位置調整部の突っ張り力が所定値以上か否か判断する工程と、
    　前記左右位置調整部が所定値以上の突っ張り力に達していない場合、前記左右位置調整部を制御して突っ張り力が所定以上となるように調整する工程と、
    　前記レールが所定の位置座標に在るか否かを判断する工程と、
    を備えたことを特徴とするレール位置決め方法。     In the rail positioning method for positioning the rails installed in the hoistway,
    The rail positioning device expands and contracts in the left-right direction with the rail gauge and the rail grip portion provided on the rail gauge, generates a tension force in contact with the wall surface, and moves the rail gauge in the left-right direction. It includes an adjusting unit, a front-rear position adjusting unit that moves the rail gauge in the front-rear direction, and a control unit that controls the left-right position adjusting unit and the front-rear position adjusting unit.
    The control unit
    After the rail positioning device moves up and down to a predetermined position for rail positioning,
    The process of extending the expansion and contraction part of the left and right position adjustment part and stretching it to the wall surface,
    A step of determining whether or not the tension force of the left-right position adjusting portion is equal to or higher than a predetermined value, and
    The process of gripping the rail with the rail gripping portion and
    A step of controlling the front-rear position adjusting unit and the left-right position adjusting unit to move the rail, and
    A step of determining whether or not the tension force of the left / right position adjusting portion is equal to or higher than a predetermined value while the rail is moving.
    When the left-right position adjusting unit does not reach a tension force equal to or higher than a predetermined value, a step of controlling the left-right position adjustment unit to adjust the tension force so as to be equal to or higher than a predetermined value.
    The process of determining whether or not the rail is at a predetermined position coordinate, and
    A rail positioning method characterized by being equipped with.
PCT/JP2021/006560 2020-03-23 2021-02-22 Rail positioning device and rail positioning method WO2021192776A1 (en)

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