ASSEMBLY DEVICE AND PROCESS FOR PERFORMING AN INSTALLATION PROCESS IN AN ELEVATOR WELL OF AN ELEVATO

专利摘要:
Automated assembly device for carrying out installations in an elevator shaft of an elevator installation. The present invention relates to a mounting device (1) for carrying out an installation process in an elevator shaft (103) of an elevator installation (101). the mounting device (1) has a support component (3) and a mechatronic installation component (5). the support member (3) is designed to be moved within the hoistway (103). the installation component (5) is retained in the support component (3) and is designed to perform, less semi-automatically, an assembly step within the installation process. the support component (3) also has a fixing component (19) which is designed to fix the support component (3) and/or the installation component (5) inside the hoistway (103) in a direction transverse to the vertical, that is, for example in a horizontal direction, respectively lateral.
公开号:BR112017026363B1
申请号:R112017026363-7
申请日:2016-06-30
公开日:2022-01-11
发明作者:Erich Bütler；Philipp Zimmerli；Raphael BITZI；Christian Studer；Andrea Cambruzzi
申请人:Inventio Ag；
IPC主号:

专利说明:

[001] The present invention relates to a mounting device, with the help of which installation procedures can be carried out in an elevator shaft of an elevator installation. Furthermore, the invention relates to a method for carrying out an installation procedure in an elevator shaft of an elevator installation.
[002] A production of an elevator installation and, especially, an installation of components of the elevator installation, to be performed in this process, inside an elevator shaft in a building can generate a great effort and high costs, as it is necessary assemble a series of components in different positions within the hoistway.
[003] Until now, assembly steps, with the help of which, for example, a component is installed inside the hoistway as part of an installation procedure, are mostly carried out by technicians, respectively by installation personnel. . Typically, in this case, a person goes to a position within the elevator shaft where the component is to be installed and there he installs the component in a desired location, as, for example, holes are drilled in a wall of the elevator. well and the component is fixed to the well wall by means of screws screwed into these holes or by means of pins inserted therein. For this, the person can use tools and/or machines.
[004] Especially in the case of very long elevator installations, i.e. so-called high-rise elevators, with the help of which large height differences in tall buildings must be overcome, the number of components to be installed can be very large. in the hoistway and therefore the installation procedures entail a high installation effort as well as high installation costs.
[005] JP 3 214801 B2 describes a mounting device for aligning guide rails for an elevator car in an elevator shaft. By means of the mounting device it is possible for pre-assembled guide rails to be aligned by installation personnel in the hoistway and to be fixed on retaining profiles in the form of clamp elements installed in the hoistway by the installation personnel. For this purpose, the mounting device has a screw-in device, which is an integral component of the mounting device. Furthermore, the mounting device has a fixing device, by means of which the mounting device can be supported laterally on one of the aforementioned clamp elements which are installed by the installation personnel.
[006] JP3034960B2 and JPH05105362A describe a similar mounting device.
[007] Therefore, there may be a need to reduce labor effort and/or costs for installing components within an elevator shaft of an elevator installation. Also, for example, there may be a need to reduce a risk of personal injury during installation procedures within a hoistway of an elevator facility. In addition, for example, there may be a need to be able to perform installation procedures in an elevator shaft within short periods of time.
[008] At least one of the mentioned needs can be met through an assembly device, respectively an assembly process, according to the present invention. Advantageous embodiments are defined in the embodiments, as well as in the description that follows.
[009] According to an aspect of the invention, a mounting device is proposed for carrying out an installation procedure in an elevator shaft of an elevator installation. The mounting fixture features a support component and a mechatronic installation component. The support member is designed to be displaced with respect to the hoistway, i.e., within the hoistway, and to be positioned at different heights within the hoistway. The installation component is retained in the supporting component and is designed to carry out an assembly step within the installation procedure, at least semi-automatically, preferably fully automatically.
[0010] The support component also has a fixing component, which is designed to fix the support component and/or the installation component inside the hoistway in a direction transverse to the vertical, that is, for example, in a horizontal, respectively lateral direction.
[0011] By fixing in the lateral direction it can be understood, in this case, that the supporting component, together with the installation component installed on it, can be carried not only vertically, for example with the help of the displacement component, for a position at a desired height within the hoistway, otherwise the support component can also be fixed there with the aid of the clamping component also in a horizontal direction.
[0012] The fixing component is designed to support laterally on the walls of the hoistway, in such a way that the supporting component can no longer move in a horizontal direction in relation to the walls. By a support on a wall, in this context, it must be understood that the fastening component is supported directly and without interleaving pre-mounted components on the wall, such as, for example, clamp elements, that is, that it can introduce forces in the Wall. In this case, support can occur in different ways.
[0013] Due to the fastening component, it is advantageously possible for the mounting device to be used in a hoistway of an elevator installation without the installation personnel previously having to mount components to the walls of the hoistway. As a result, the installation of components in the hoistway can take place with particularly little effort and therefore particularly economically.
[0014] According to the invention, the fastening component has an immobile support element that extends longitudinally in a vertical direction.
[0015] Possible features and advantages of embodiments of the invention can be considered as based, among others, on ideas and knowledge described below, without, however, restricting the scope of the invention.
[0016] In a special configuration, the fixture is designed to fix at least one of the supporting components and the installation components inside the hoistway, in a direction along the vertical. As a result, the clamping also acts in the vertical direction and thus also prevents movement of the installation component in the vertical direction. As a result, the installation component can be securely fastened to the hoistway and, when an assembly step is carried out, it cannot escape either vertically or transversely to it and, therefore, jeopardize the correct execution of the assembly step.
[0017] The fastening component is specially aligned to be laterally pressed into or between walls of the hoistway. A tamping of this type can also be seen as a support in elevator shaft walls. For this purpose, the fastening component can have, for example, suitable supports, punches, levers or the like. The supports, punches or levers can be specially designed so that they can be moved out towards the wall of the hoistway and thus can be pressed against the wall. In this case, it would be possible for supports, punches or levers to be arranged on opposite sides of the support component or the installation component, all of which can be moved outwards.
[0018] Alternatively, it is possible that supports, punches or levers that can be moved outwards are arranged only on one side and on the opposite side a support element that is fixed is arranged. The support element especially has an extended shape elongated in the vertical direction and especially extends at least through the entire vertical expansion of the support member. It presents, for example, a basic form mainly in the form of a beam. The mounting device is specially installed in the hoistway in such a way that the support element is arranged on a side with door openings in the walls of the hoistway. Due to the extended elongated shape, the support element also allows sufficient support even when the mounting device is to be fixed in the region of a door opening.
[0019] The support element can be specially designed in such a way that its distance to the support component is manually adjustable, especially that it is adjustable in different stages. The distance is only manually adjustable and only takes place before the mounting device is inserted into the hoistway. With this, the clamping device can be adjusted to the dimensions of the hoistway.
[0020] When tamping the support component in relation to the walls of the elevator shaft, a deformation of the support component may occur. This is particularly the case when support or tamping takes place in the region of a door opening. Due to deformation, the relative position of a loader component described above may change in relation to the installation component, which can lead to problems in receiving tools and components to be installed through the installation component. Such problems can be avoided, for example, if the support component is produced so rigid that it does not deform during support or tamping, or the loader components are arranged in relation to the installation component in such a way that their relative positions with respect to each other do not change even in the event of a deformation of the supporting component.
[0021] It would also be possible for the fastening device to have suction cups, by means of which a holding force could occur in relation to a wall of the elevator shaft and, consequently, a fixation of the supporting component in relation to the walls of the shaft of elevator. For example, in the suction cups, a low pressure could be actively generated by means of a pump to increase the holding force. By means of the suction cups, the support component would rest on the walls of the elevator shaft. Fixation by means of suction cups would also act in the vertical direction.
[0022] It would also be possible for the supporting component to be temporarily fixed by means of fastening means, such as, for example, in the form of screws, pins or needles, on one or more walls of the elevator shaft and thereby it leaned against the walls. This support would also act in the vertical direction. This temporary attachment would be undone when the supporting component had to be moved to another position within the hoistway.
[0023] Furthermore, it would be possible that in the case of using a tool within an assembly step, only that respective tool would be fixed in relation to a wall of the elevator shaft. For this purpose, a frame, in relation to which the tool is movably guided, can be fixed to a wall of the hoistway by means of suction cups, for example. Alternatively, this mentioned frame could also be temporarily fixed to a wall of the hoistway by means of fixing means, in the form of screws, pins or needles, for example.
[0024] As the fixing component fixes the supporting component in a lateral direction inside the elevator shaft, it is possible to avoid, for example, that during an assembly step, in which the installation component acts and, for example, exerts transverse forces on the supporting member, the supporting member can move in the horizontal direction inside the hoistway. In other words, the fixing component can almost serve as a counter-support for the installation component incorporated into the supporting component, so that the installation component can support laterally on the walls of the hoistway indirectly through the fixing component. . Such lateral support may be necessary, for example, especially during a drilling process, in order to be able to absorb the horizontally acting forces formed therein and to be able to avoid, respectively, dampening the vibrations.
[0025] As indicated at the outset, it has been recognized that installation procedures for assembling components within a hoistway of an elevator installation can entail considerable labor expenditure, which up to now, for the most part, is performed by human installation team. Depending on the size of the elevator installation and, consequently, the number of components to be assembled, an assembly of all the components necessary for the elevator installation inside the elevator shaft can often take several days or even several weeks.
[0026] Embodiments of the invention are based, among others, on the idea of being able to carry out, at least semi-automatically, installation procedures inside an elevator shaft of an elevator installation with the help of an appropriately designed mounting device. Obviously, a full automation of the assembly steps to be carried out in this case would be advantageous.
[0027] Within the framework of installation procedures, in this case, it is possible to automatically carry out especially highly repetitive assembly steps, ie assembly steps that have to be carried out several times in the installation of the elevator installation. For example, to install a guide rail inside an elevator shaft, it is typically necessary to fix a series of retaining profiles on the walls of the elevator shaft, and for this, initially it is necessary to drill holes, for example, in many points along the hoistway and then each retaining profile needs to be bolted.
[0028] For this automation purpose, it is proposed that an assembly device be provided that, on the one hand, presents a support component and, on the other hand, presents a mechatronic installation component retained in this support component.
[0029] The support component can be designed in different ways. For example, the support component can be designed as a simple platform, frame, frame, cabin or similar. In this case, the dimensions of the support component must be selected in such a way that the support component can be received without problems in the hoistway and can be moved within the hoistway. A mechanical dimensioning of the supporting component must be selected in such a way that it can reliably support the mechatronic installation component held therein and, eventually, can withstand the static and dynamic forces exerted by the installation component during the execution of a mounting.
[0030] The installation component must be mechatronic, that is, it must have mechanical, electronic and information technique cooperating elements or modules.
[0031] For example, the installation component must have an appropriate mechanical system to be able to handle tools, for example, within an assembly stage. In that case, the tools can be carried by the mechanical system, for example, appropriately to an assembly position and/or can be properly guided during an assembly step. The tools can be supplied with energy, in the form of electrical energy, for example via the installation component. It is also possible for the tools to have their own power supply, for example via batteries, accumulators or a separate power supply via cables.
[0032] Alternatively, the installation component may also have an appropriate mechanical system that configures a tool itself.
[0033] Electronic elements or modules of the mechatronic installation component can serve, for example, to properly command or control mechanical elements or modules of the installation component. These electronic elements or modules can therefore serve as controls for the installation component.
[0034] In addition, the installation component can have information technology elements or modules, with the help of which it can be deduced, for example, to which position a tool must be taken and/or how the tool must be activated there and/or conducted during an assembly step.
[0035] An interaction between the mechanical, electronic and information technical elements or modules must take place, in this case, in such a way that within the scope of the installation procedure, at least one assembly step can be carried out semi-automatically or fully automatically by the mounting device.
[0036] Furthermore, guide components can be provided in the support component, with the help of which the support component can be guided during a vertical displacement within the hoistway along one or more walls of the hoistway. Guide components can be designed, for example, as support rollers that roll along the walls of the hoistway. Depending on the arrangement of the support rollers on the support component, from one to in particular four support rollers can be provided.
[0037] It is also possible that inside the hoistway there are tensioned guide cables that are used to guide the supporting component. In addition, guide rails can be temporarily incorporated to guide the support component in the hoistway. Furthermore, it is possible for the support member to be hung by means of two or more flexible and load-bearing support means, such as, for example, cables, a chain or straps.
[0038] According to a form of execution, the mechatronic installation component features an industrial robot.
[0039] An industrial robot can be understood as a universal machine, mostly programmable, to handle, assemble and/or process work pieces and components. These robots are designed to be used in an industrial field and have so far been used in the industrial manufacture of complex goods in large quantities of parts, for example in the manufacture of automobiles.
[0040] Usually, an industrial robot has a so-called manipulator, a so-called effector and a control unit. The manipulator can be, for example, one or more robot arms pivotable around one or more axes and/or displaceable along one or more directions. The effector can be, for example, a tool, a claw or the like. The control unit can serve to properly direct the manipulator and/or the effector, i.e., for example, to properly displace and/or guide them.
[0041] The industrial robot is specially designed to be coupled to different assembly tools at its cantilevered end. In other words, the manipulator is designed to be coupled to different effectors. This makes particularly flexible use of the industrial robot and therefore the mounting device possible.
[0042] The industrial robot control unit especially features a so-called power unit and a control PC. The control PC performs the calculations properly for the desired industrial robot movements and sends control orders to the power unit to command the individual electric motors of the industrial robot, and the power unit converts these orders into concrete commands for the electric motors. The power unit is arranged, in particular, on the supporting component, while the control PC is not arranged on the supporting component, but on or next to the hoistway. If the power unit were not arranged on the supporting component, then a series of cable connections would have to be routed through the elevator shaft to the industrial robot. Due to the arrangement of the power unit on the support component, it is mainly necessary to provide for the industrial robot only one current supply and one communication connection, in the form of an Ethernet connection, for example between the control PC and the power unit, especially by means of a so-called hanging cable. This makes a particularly simple cable connection possible, which, in addition, due to the small number of cables, is quite robust and not subject to defects. Other functions can be implemented, for example safety monitoring in the industrial robot control unit, for which further cable connections between the control PC and the power unit may be required.
[0043] The industrial robot can also have a so-called passive auxiliary arm that can only be moved together with the robot arm, and especially that features a device for retaining a component, such as a retaining clamp, for example. For fixing the retaining clamp to a wall of the hoistway, the robot arm can be moved, for example, in such a way that the clamp is housed by the passive auxiliary arm and when properly fastened, it is retained on the wall. in the correct position, by means of a screw, for example.
[0044] Often, industrial robots are equipped with different sensors, with the help of which they can identify information, for example, about the environment, about working conditions, about components to be processed or similar. For example, with the help of sensors it is possible to detect forces, pressures, accelerations, temperatures, positions, distances, etc. to be properly evaluated afterwards.
[0045] After an initial programming, an industrial robot is typically able to execute a workflow in a semi-automatic or fully automatic way, that is, in a largely autonomous way. A way of executing the workflow, in this case, can vary within certain limits, for example, depending on sensor information. In addition, a control of an industrial robot can eventually run in self-learning mode.
[0046] Depending on how its components are configured mechanically and/or electrically, as well as how these components can be controlled as an aid to the industrial robot's control unit, an industrial robot may be able to perform different assembly steps within the scope of of an installation procedure in an elevator shaft, respectively, to be able to adapt to different conditions during such an assembly step.
[0047] Advantageous properties in this field can already be made available in many parts of industrial robots already developed, as they are already in use in other technical areas, and eventually only need to be adapted to particular conditions in the installation procedures in elevator shafts. of elevator facilities. For example, in order to bring the industrial robot to a desired position within the elevator shaft, it is incorporated into the support component, whereby the support component together with the industrial robot and, eventually, other installation components can be moved. to a desired position within the elevator shaft.
[0048] As an alternative to the configuration as an industrial robot, the mechatronic installation component can also be configured differently. Among others, mechatronic machines built especially for the aforementioned application are conceivable, in a (semi)automated elevator installation, in which it is possible to insert, for example, special drills, screwing elements, power components, etc. For example, in this case, linearly displaceable drilling tools, screwdrivers and similar tools could be used.
[0049] According to an embodiment, the mounting device may also have a positioning component, which is designed to determine at least one position and orientation of the mounting device within the hoistway. In other words, the mounting device, with the help of its positioning component, must be able to determine its situation or position in relation to the current position and/or the current orientation within the hoistway.
[0050] In other words, the positioning component can be provided to determine an exact position of the mounting device within the hoistway with a desired accuracy, such as, for example, an accuracy of less than 10 cm, preferably less than 1 cm or less than 1 mm. Also an orientation of the mounting device can be determined with high precision, i.e., for example, an accuracy of less than 10°, preferably less than 5° or 1°.
[0051] Eventually, in this case, the positioning component can be designed to measure the elevator shaft from its current position. In this way, the positioning component can identify, for example, where it is currently located in the elevator shaft, how big the distances are from walls, a roof and/or a floor of the elevator shaft, for example. Furthermore, the positioning component can identify, for example, how far it is from a theoretical position, so that based on this information, the mounting device can be moved in the desired way to reach the theoretical position.
[0052] The positioning component can determine the position of the mounting device in different ways. For example, a position determination using optical measurement principles is conceivable. For example, laser distance measuring devices can measure distances between the positioning component and the walls of the hoistway. Other optical measurement processes are also conceivable, such as stereoscopic measurement process or triangulation-based measurement process. In addition to optical measurement processes, the most different position determination processes are also conceivable, such as, for example, based on radar reflectivity or similar.
[0053] According to one embodiment, the installation component is designed to perform several different assembly steps at least semi-automatically, preferably fully automatically. Especially in this case, the installation component can be designed to employ different assembly tools in the different assembly stages, such as a drill, a screwdriver element and/or a gripper, for example.
[0054] The ability to be able to use different assembly tools puts the mechatronic installation component in a position to perform different types of assembly steps at the same time or successively during a process and installation, in order, finally, to be able to take a component within the elevator shaft to an appropriate position, for example.
[0055] The installation component is specially designed to receive the respective assembly tool used in the different types of assembly steps, before performing the assembly step. With this, the installation component can deposit an assembly tool not required for the next assembly step and receive the assembly tool required for this, that is, it can replace the assembly tools. In this way, the installation component can always be coupled with just the precisely required assembly tool. Consequently, the installation component operates with a small mounting space and can perform mounting steps at many points. Therefore, it can be used very flexibly. If the installation component were to be always coupled with all the assembly tools required for the different assembly steps, it would require a significantly larger assembly space. Consequently, the respective assembly tools could be used in far fewer locations.
[0056] According to an embodiment, the assembly device also has a tool loader component that is designed to store the assembly tools required for different assembly steps and to make them available to the installation component. As a result, assembly tools that are not required can be safely stowed away and thus can be protected against falling during the execution of work steps and when moving the assembly device in the hoistway.
[0057] For example, according to one embodiment, the installation component is designed to controllably drill holes in an elevator shaft wall at least semiautomatically as an assembly step.
[0058] For this, the installation component can use an appropriate drilling tool. In this case, both the tool and the installation component itself must be properly designed to account for the conditions encountered within the hoistway during the assembly step.
[0059] For example, walls of an elevator shaft where components are to be mounted are often made of concrete, especially reinforced concrete. When drilling holes in concrete, strong vibrations and intense forces can occur. Both a drilling tool and the installation component itself must be properly designed to be able to withstand these vibrations and forces.
[0060] For this, for example, it may be necessary to protect an industrial robot, used as an installation component, appropriately against damage due to strong vibrations and/or due to high forces acting on it. For example, it may be advantageous to provide one or more damping elements in the installation component to dampen or absorb vibrations. It is also possible for one or more damping elements to be arranged elsewhere in the combination formed by the assembly tool and the installation component. For example, a damping element can be integrated into the assembly tool or it can be arranged in a connecting element between the installation component and the assembly tool. In this case, the assembly tool and the connecting element can be considered as part of the installation component. A damping element is designed, for example, as one or more rubber dampers arranged in parallel, which are commercially available in a wide variety and at low cost. Also a single rubber damper can be considered as a damping element. It is also possible for a damping element to be designed as a telescope-shaped damper.
[0061] Used drills are subject to wear and tear and can also be damaged, for example, when encountering armor. For the identification of a worn or defective drill, it is possible, for example, to monitor a forward impulse during drilling and/or a duration for the production of a drill with a desired depth. When a drop below a forward thrust threshold value and/or a duration threshold value is exceeded, the drill used will be identified as no longer in order and a corresponding warning will be generated.
[0062] According to an embodiment, the installation component can be designed to, as an assembly step, screw screws into holes in a wall of the elevator shaft at least semi-automatically.
[0063] Especially, the installation component can be designed to screw concrete bolts into pre-drilled holes in an elevator shaft concrete wall. With the help of these concrete screws, for example, highly load-bearing retention points can be created inside the hoistway, to which components can be fastened, for example. In this case, concrete screws can be screwed directly into the concrete, that is, without necessarily using dowels and, therefore, allow a quick and easy assembly. However, for screwing screws, especially concrete screws, high forces may be required, respectively high rotational moments, which must be made available by the installation component, respectively by an assembly tool that can be handled by it.
[0064] According to another embodiment, the installation component can be designed to, as an assembly step, install components on the wall of the hoistway at least semi-automatically. In this context, components can be the most different well materials, such as retaining profiles, guide rail parts, screws, pins, clamps or the like.
[0065] According to one form of implementation, the assembly device also has a loader component that is designed to store components to be installed and make them available to the installation component.
[0066] For example, the loader component can house a number of screws, especially concrete screws, and make them available to the installation component if needed. In this case, the loader component can either actively supply the stored components to the installation component or make the components passively available, such that the installation component can actively pull these components out and then assemble them. , for example.
[0067] Eventually, the loader component can be designed to store different types of components and make them available at the same time or sequentially to the installation component. Alternatively, several different charger components can be provided on the mounting device.
[0068] According to an embodiment, the mounting device may also have a displacement component that is designed to move the support component vertically within the hoistway.
[0069] In other words, the mounting device itself may be designed to, by means of its displacement component, adequately displace its supporting component within the hoistway. In this case, the displacement component will generally have a drive unit, with the help of which the support component can be moved within the elevator shaft, i.e., for example, between different floors of a building. Furthermore, the displacement member will have a control unit, with the aid of which the drive unit can be controlled controlled in such a way that the supporting member can be brought to a desired position within the hoistway.
[0070] Alternatively to the fact that the displacement component itself is part of the mounting fixture, it is also possible to provide a displacement component externally. For example, a drive unit pre-assembled in the hoistway can be provided as a displacement component. Eventually, this drive unit can already be a drive motor that will later serve for the installation of an elevator, with the help of which, in the already installed state, an elevator cabin must be moved and which can be used to move the component. support during the preceding installation procedure. In that case, provision can be made for establishing a possibility of data communication between the mounting device and the external displacement component, in such a way that the mounting device can induce the displacement component to move the support component to a desired position within of the elevator shaft.
[0071] In a similar way to the already assembled elevator installation, in this case the support component can be connected with a counterweight through a flexible support means, capable of withstanding tensile loads, such as, for example, a cable, a chain or a belt, and the drive unit can act between the supporting component and the counterweight. In addition, for the displacement of the support component, the same drive configurations are possible for the displacement of elevator cabins.
[0072] The displacement component can be produced in different ways, to be able to displace the support component together with the installation component retained therein within the hoistway.
[0073] For example, according to one embodiment, the displacement component can be fixed to the support component of the mounting device or to a stop point above, inside the hoistway and can have a flexible support means, capable of withstanding tensile loads, such as, for example, a cable, chain or belt, one end of which is retained in the displacement component and the other end of which is fixed in the other respective element, i.e. at the stopping point, above, inside the hoistway, respectively on the support member. In other words, the displacement member may be installed on the supporting component of the mounting device and a support means retained in the displacement member, by means of its other end, be fixed at the top at a retention point within the well. of elevator. Or conversely, the displacement member can be fixed above, at the retention point in the hoistway, and the free end of its support means can then be fixed to the support member of the mounting device. The displacement member can then directedly displace the support member within the hoistway by displacing the support means.
[0074] For example, a displacement component of this type can be envisaged as a kind of winch, in which a flexible cable can be wound over a winch that is driven by an electric motor, for example. The winch can be fixed to the supporting component of the mounting device or alternatively, for example, above the hoistway, on a hoistway cover, for example. The free end of the cable can then be installed in front and above the retaining point in the hoistway, respectively below in the supporting member. By winding and unwinding the cable in a directed manner on the winch, it is then possible to move the mounting device inside the hoistway.
[0075] Alternatively, the displacement component may be installed on the supporting component and may be designed to, by moving a moving component, exert a force on a wall of the hoistway to displace the support component within the elevator shaft by moving the drive component along the wall.
[0076] In other words, the displacement component can be placed directly on the supporting component and, with the help of its moving component, it can actively move along the wall of the hoistway.
[0077] For example, for this purpose, the displacement component may have a drive unit that moves one or more movement components in the form of wheels or rollers, with the wheels or rollers being pressed against the wall of the elevator shaft, in such a way that the wheels or rollers set in rotation by the drive unit can roll along the wall as far as possible without slipping and, in this process, can displace the displacement component, together with the supporting component installed on it, inside the pit of elevator.
[0078] Alternatively, it would be conceivable that a moving component of a displacement component would transmit forces to the elevator shaft wall otherwise. For example, sprockets could serve as drive components and mesh with a rack mounted on the wall, in order to move the displacement component vertically in the elevator shaft.
[0079] In a special configuration of this form of execution, the support component can be designed in two parts. In a first part, the installation component is installed. In a second part, the fastening component is installed. The support component may then further have an alignment component which is designed to align the first support component part with respect to the second support component part, through rotation about a spatial axis, for example.
[0080] In such a configuration, the fastening member may secure the second part of the supporting member within the hoistway as it laterally abuts the walls of the hoistway. Particularly preferably, the fastening member is designed to support the second part of the support member on a wall on the shaft access side and on a wall opposite it. The support member aligning member may then align the other, first support member part in a desired manner with respect to the laterally attached second support member part as, for example, the alignment member rotates. that first part around at least one spatial axis. This also moves the installation component installed in the first part along with it. In this way, the installation component can be brought to a position and/or orientation, in which it can carry out a desired assembly step, in an easy and targeted manner.
[0081] According to an embodiment, the assembly device also has an armature detection component that is designed to detect armature inside a wall of the elevator shaft.
[0082] The reinforcement detection component is therefore able to detect reinforcement that, for the most part, cannot be visually identified and that is lodged deep inside a wall, such as, for example, a steel profile . Information about the existence of such reinforcement can be advantageous, for example, when, as an assembly step, holes must be drilled in a wall of the elevator shaft, because then it will be possible to avoid drilling the reinforcement and, consequently, damage to the armor, such as, eventually, damage to a piercing tool.
[0083] In addition, the mounting device may have a scanning component, by means of which it is possible to measure a distance in relation to an object, such as an elevator shaft wall, for example. The scanning component can be guided, for example, through the installation component in a defined movement along the wall of the hoistway and can permanently measure the distance to the wall. With this it is possible to draw conclusions about an angular position of the wall and about the state of the wall in terms of unevenness, protrusions or existing holes. The information obtained can be used, for example, for an adaptation of the direction of the installation component, such as, for example, a change of a planned drilling position.
[0084] Alternatively or additionally, the scan component can be driven in a region where a clamp element is to be mounted, in a zigzag pattern along the wall and generate a wall height profile from the measured distances. As already described, this height profile can be used to adapt the direction of the installation component.
[0085] Another aspect of the invention relates to a method for performing an installation procedure in an elevator shaft of an elevator installation. The process presents an incorporation of a mounting device according to an embodiment described herein, in an elevator shaft; a controlled displacement of the mounting device inside the hoistway and, finally, an at least semi-automatic, preferably fully automatic attachment of at least one of the supporting components and the installation components inside the hoistway, in one direction transverse to the vertical, through lateral support on the walls of the hoistway, and carrying out an assembly step as part of the installation procedure with the help of the assembly device.
[0086] In other words, the assembly device described above can be used to carry out assembly steps of an installation procedure in a hoistway in a semi-automated or fully automated and, consequently, partially, respectively, fully autonomous way. .
[0087] According to the invention, the mounting device is introduced into the hoistway in such a way that a support element, extending longitudinally in the vertical direction, is arranged in front of a wall of the hoistway with door openings. This makes it possible to secure the support component securely also in the region of door openings.
[0088] It should be noted that some possible features and advantages of the invention are described here in relation to different forms of execution. In particular, features are described partly in connection with a mounting device according to the invention and partly in connection with a process according to the invention for carrying out an installation procedure in an elevator shaft. One skilled in the art recognizes that features can be suitably combined, adapted or interchanged to arrive at other embodiments of the invention. Especially, one skilled in the art recognizes that device features which are described in relation to the mounting device can be adapted in an analogous way to describe an embodiment of the process according to the invention and vice versa.
[0089] Next, embodiments of the invention will be described with reference to the corresponding drawings, and neither the drawings nor the descriptive part should be considered as restricting the invention.
[0090] Figure 1 shows a perspective view of an elevator shaft of an elevator installation, with a mounting device housed therein, according to an embodiment of the present invention.
[0091] Figure 2 shows a perspective view of a mounting device according to an embodiment of the present invention.
[0092] Figure 3 shows a top view of an elevator shaft of an elevator installation, with a mounting device housed therein, according to an alternative embodiment of the present invention.
[0093] Figure 4 shows a side view of an elevator shaft of an elevator installation with a mounting device housed therein and its power and communication connections.
[0094] Figure 5 shows a part of an installation component designed as an industrial robot, with a damping element and an assembly tool attached thereto, in the form of a drill.
[0095] Figure 6 shows a part of an installation component designed as an industrial robot, with a damping element in a connecting element for an assembly tool in the form of a drill.
[0096] Figures 7a and 7b show reinforcements on a wall of an elevator shaft in two regions where interrelated holes must be drilled, and an illustration of a search for possible drilling positions.
[0097] Figures 8a and 8b show reinforcements on a wall of an elevator shaft in two regions where interrelated holes must be drilled, and an illustration of an alternative search for possible drilling positions.
[0098] The figures are only schematic and out of scale. The same reference numbers in the different figures refer to the same characteristics or the same effect.
[0099] Figure 1 shows an elevator shaft 103 of an elevator installation 101, in which a mounting device 1 according to an embodiment of the present invention is arranged. The mounting device 1 has a support component 3 and a mechatronic installation component 5. The support component 3 is designed as a frame, on which the mechatronic installation component 5 is mounted. This frame has dimensions that make it possible to move the component from support 3 inside the elevator shaft 103 vertically, i.e. along the vertical 104, i.e., for example, moving to different vertical positions on different floors within a building. The mechatronic installation component 5, in the example shown, is designed as an industrial robot 7, which is installed hanging down from the frame of the supporting component 3. In this case, an arm of the industrial robot 7 can be moved relative to to the support member 3 and, for example, be moved towards a wall 105 of the elevator shaft 3.
[00100] The support member 3 is connected with a displacement member 15 in the form of a motor-driven winch, through a steel cable that serves as a support means 17, which winch is installed above, in the shaft of elevator 103 at a stopping point 107 on the hoistway cover 103. With the aid of the displacement member 15, the mounting device 1 can be moved inside the hoistway 103 vertically for the entire length of the hoistway 103.
[00101] The mounting device 1 also has a fixing component 19, with the aid of which the support component 3 can be fixed inside the hoistway 103 in a lateral direction, that is, in a horizontal direction. For this purpose, the fastening member 19 on the front side of the supporting member 3 and/or the punch (not shown) on a rear side of the supporting member 3 can be moved forwards, respectively towards the back, and thereby In this way, wedge the support member 3 between walls 105 of the hoistway 103. In this process, the fastening member 19 and/or the punch can be expanded outwards with the help of a hydraulic system or the like, for example, to fix the support member 3 in elevator shaft 103 in horizontal direction. Alternatively, it would be conceivable to fix only parts of the installation component 5 in a horizontal direction, as, for example, a drill is properly supported on walls of the hoistway 103.
[00102] Figure 2 shows an enlarged view of a mounting device 1 according to an embodiment of the present invention.
[00103] Support component 3 is designed as a cage-like frame, in which several horizontally and vertically extended stringers form a structure capable of supporting mechanical load. A dimensioning of the stringers and any shoring provided is designed in such a way that, in this case, the supporting component 3 can resist forces that occur during different assembly steps carried out by the installation component 5, as part of an installation procedure in the elevator shaft 103.
[00104] Retaining cables 27 are installed on the cage-like support member 3 above, which can be connected with a support means 17. By moving the support means 17 into the hoistway 103, i.e., by winding, respectively unwinding, the flexible support means 17 on the hoist of the displacement member 15, the support member 3 can therefore be moved vertically pendently within the hoistway 103.
[00105] In an alternative configuration (not shown) of the mounting device 1, the displacement component 15 could also be provided directly on the supporting component 3 and, for example, by means of a winch, pull up or down the support member 3 on a support means 17 rigidly fixed at the top of the elevator shaft 3.
[00106] In another possible configuration (not shown), the displacement member 15 could also be fixedly mounted directly to the support member 3 and, for example, drive rollers via a drive unit, which rollers are pressed firmly against walls 105 of the hoistway 103. In this configuration, the mounting device 1 could automatically move vertically inside the hoistway 103, without first having to carry out installations inside the hoistway 103, especially without having to, for example, For example, providing support means 17 inside the elevator shaft 103.
[00107] The support component 3 can also be provided with guide components in the form of support rollers 25, for example, with the help of which the support component 3 can be guided along one or more walls 105 of the hoistway 103 during a vertical displacement within the elevator shaft 103.
[00108] On the side of the supporting component 3, the fixing component 19 is provided. In the example shown, the fixing component 19 is designed with an elongated stringer that extends in a vertical direction, which can be displaced in a horizontal direction with respect to the frame of the support component 3. For this purpose, the stringer can be incorporated into the support component 3 via a lockable hydraulic cylinder, for example, or a self-locking motor spindle. When the fixture member spar 19 is moved away from the support member frame 3, it will move laterally towards one of the walls 105 of the elevator shaft 103. Alternatively or completely, punches on the back side of the support member 3 could be moved backwards to expand the support member 3 in the hoistway 103. In this way, the support member 3 can be wedged into the hoistway 103 and thus, for example, during a one-step execution assembly, fix the support component 3 inside the elevator shaft 103 in the lateral direction. In that state, the forces that are introduced on the support member 3 can be transmitted to the walls 105 of the hoistway 103, preferably without the support member 3 being able to move within the hoistway 103 or to come into vibrations.
[00109] In a special configuration (not shown in detail), support component 3 can be produced in two parts. In this case, the installation component 5 can be placed on a first part and the fixing component 19 can be placed on a second part. In such a configuration, an alignment component can also be provided on the support component 3, which enables controlled alignment of the first part of the support member 3, which supports the installation member 5, with respect to the second part of the support member 3 which is fixable inside the hoistway 103. For example, the alignment device can move the first part about at least one spatial axis with respect to the second part.
[00110] In this embodiment shown, the mechatronic installation component 5 is produced with the help of an industrial robot 7. It should be noted that, however, the mechatronic installation component 5 can be implemented in another way, such as, for example, with actuators, manipulators, effectors, etc. designed in different ways. In particular, the installation component could feature a mechatronic or robotic system specially adapted for use in an installation procedure within an elevator shaft 103 of an elevator installation 1.
[00111] In the example shown, the industrial robot 7 is provided with several robot arms pivoting around pivot axes. For example, the industrial robot can have at least six degrees of freedom, i.e. an assembly tool 9 driven by the industrial robot 7 can be moved with six degrees of freedom, i.e., for example, with three degrees of rotational freedom. and three translational degrees of freedom. For example, the industrial robot can be designed as a vertically articulated arm robot, a horizontally articulated arm robot or as a SCARA robot or as a Cartesian robot, respectively portal robot.
[00112] The robot, in its self-supporting end 8, can be coupled with different assembly tools 9. The assembly tools 9 can differ in terms of their dimensions and their application purposes. The mounting tools 9 can be retained on the support member 3 in a tool carrier component 14, such that the cantilevered end of the industrial robot 7 can be moved past them and can be coupled with one of them. For this purpose, the industrial robot 7 can, for example, have a tool change system that is designed in such a way that it makes it possible to handle at least several of these assembly tools 9.
[00113] One of the mounting tools 9 can be designed as a drilling tool, similar to a drill. By coupling the industrial robot 7 with such a drilling tool, it is possible to configure the installation component 5 to enable hole drilling, at least partially automated in a controlled manner, in one of the shaft walls 105 of the elevator shaft 103, for example. In this case, the drilling tool can be moved and handled by the industrial robot 7, for example, in such a way that the drilling tool, by means of a drill bit, drills holes in a planned position, for example in the concrete of the wall 105 of the hoistway 103, into which fixing screws can be screwed later, for example for fixing fasteners. In this case, the drilling tool as well as the industrial robot 7 can be suitably designed so that they can withstand, for example, the considerable forces and vibrations that occur when drilling into concrete.
[00114] Another mounting tool 9 can be designed as a screwdriver, for driving screws, at least semiautomatically, into pre-drilled holes in a wall 105 of the hoistway 103. In this case, the screwing device can be specially designed so that with its help it is possible to screw concrete screws into the concrete of a pit wall 105.
[00115] A loader component 11 can also be provided in the support component 3. The loader component 11 can serve to store components 13 to be installed and make them available to the installation component 5. In the example shown, the load component 13 loader 11 is arranged in a lower region of the frame of the supporting component 3 and houses different components 13 in the form of different profiles, for example, which are to be mounted on walls 105 inside the elevator shaft 103, to, for example, fix rails -guide in them for the installation of lift 101. In the loader component 11, screws can also be stored and provided which, with the help of the installation component 5, can be screwed into holes previously made in the wall 105.
[00116] In the example shown, the industrial robot 7 can automatically grab, for example, a fastening screw from the magazine component 11 and, for example, by means of an assembly tool 9 configured as a screwdriver, screw it in. incompletely in fixing holes pre-drilled in the wall 105. Then, an assembly tool 9 can be changed in the industrial robot 7 and, for example, a component 13 to be mounted can be grabbed from the loader component 11 Component 13 may have fixing slots. When component 13, with the help of installation component 5, is brought to a predicted position, then the fixing screws previously screwed in partially will be able to engage in these fixing slots, respectively, they will be able to extend through them. Then the assembly tool 9, configured as a screwdriver, can be reconfigured and the fixing screws can be tightened.
[00117] In the example shown, it is evident that with the help of the mounting device 1 it is possible to carry out, in a fully or at least partially automated way, an installation procedure in which components 13 are mounted on a wall 5, as the component Installation 5 initially drills holes in the wall 105 and then fixes components 13 in these holes with the aid of fixing screws.
[00118] An automated installation procedure of this type can be performed relatively quickly and can help to save considerable installation expenditure and, consequently, time and costs, especially in installation work to be carried out several times repeatedly inside a well. elevator. Since the mounting device can carry out the installation procedure in a largely automated way, it is then possible to reduce interactions with the human installation team or at least to reduce them to a smaller scale, in such a way that even the risks, which are typical, in the scope of such installation procedures, especially accident risks for installation personnel, can be clearly reduced.
[00119] In order to be able to precisely position the mounting device 1 inside the hoistway 103, a positioning component 21 can also be provided. The positioning component 21 can be securely mounted, for example, on the support component 3 and , thereby being moved together when displacement of the mounting device 1 within the hoistway 3 occurs. Alternatively, the positioning member 21 could also be arranged in another position within the hoistway 103 independently of the mounting device 1 and from there you can determine a current position of the mounting device 1.
[00120] The positioning component 21 can make use of different measurement principles, in order to be able to accurately determine the current position of the mounting device 1. Especially optical measurement processes seem to be suitable to enable a desired precision in the determination of position, from , for example, less than 1 cm, preferably less than 1 mm, inside the hoistway 103. A control unit of the mounting device 1 can evaluate signals from the positioning component 21 and, based on these signals, can determine an actual positioning with respect to a theoretical positioning within the hoistway 103. Based on this, initially, the control unit can then, for example, move, respectively allow to be moved, the support member 3 within the hoistway. elevator shaft 103 to a desired height. Then, the control unit, based on the actual position then determined, can properly direct the installation component 5, for example, to drill holes at desired points inside the hoistway 103, screw screws and/or finally , assemble components 13.
[00121] Furthermore, in that case, the mounting device 1 may have an armature sensing component 23. In the example shown, the armature sensing component 23 is housed in the magazine component 11 such as one of the mounting tools. assembly 9 and can be handled by the industrial robot 7. In this way, the armature detection component 23 can be taken by the industrial robot 7 to a desired position, in which, for example, a hole in the wall 105 must then be drilled. Alternatively, however, the armature detection component 23 could also be provided in another way in the mounting device 1.
[00122] The armature detection component 23 is designed to detect armature within the wall 105 of the elevator shaft 103. For this, the armature detection component can use, for example, physical measurement methods, in which The electrical and/or magnetic properties of the typically metallic reinforcement within a concrete wall are used to identify the exact position of this reinforcement.
[00123] If a reinforcement inside the wall 105 has been identified with the help of the reinforcement detection component 23, then a control unit of the mounting device 1 can correct, for example, previously assumed positions of holes for screws to be drilled , in such a way that no crossing occurs between the bolt holes and the reinforcement.
[00124] In summary, a mounting device 1 is described, with which, for example, it is possible to carry out, with the help of robots, an installation procedure partially or fully automated inside an elevator shaft 103. In this case, the mounting device 1 can at least support the installation personnel during the installation of components of the elevator installation 101 inside the elevator shaft 103, i.e., for example, carry out preliminary work. Work steps that occur in particular several times, i.e. that are repetitive, can be carried out automatically and therefore quickly, accurately, risk-free and/or cost-effectively. The steps of the installation procedure carried out in an assembly process can differ in terms of individual work steps to be carried out, an evolution of work steps and/or a necessary interaction between man and machine. For example, the mounting device 1 may, in fact, automatically carry out parts of the installation procedure, but the installation personnel may interact with the mounting device 1 in the sense that mounting hardware 9 can be replaced manually and/or or that components can later be inserted into the loader component manually, for example. Intermediate work steps that are carried out by installation personnel are also conceivable. A functional scope of a mechatronic installation component 5 provided for in mounting device 1 can cover all or only part of the work steps listed below:
[00125] - The elevator shaft 103 can be measured. In that case, for example, openings of doors 106 can be detected; an exact alignment of the hoistway 103 can be identified and/or a layout of the shaft can be optimized. Eventually, the actual measurement data of the elevator shaft 103 obtained through a measurement process can be synchronized with plant data, as indicated, for example, in a CAD model of the elevator shaft 103.
[00126] - It is possible to determine an orientation and/or location of the mounting device 1 within the elevator shaft 103.
[00127] - Reinforcement irons or reinforcement can be detected on walls 105 of elevator shaft 103.
[00128] - Preliminary work can then be carried out, such as drilling work, milling work, cutting work etc., these preliminary work being carried out by the installation component 5 of the mounting device 1, preferably in a semi-automatic or fully automatic.
[00129] - Then components 13 can be installed, such as fasteners, interface elements and/or clamp elements. For example, concrete screws can be screwed into previously drilled holes, pins can be driven in, parts can be welded together, nailed and/or glued or the like.
[00130] - Well components and/or material, such as clamps, rails, well door elements, screws and the like can be handled with the help of the mounting device 1 or in a fully automated way.
[00131] - Material and/or components can be inserted later automatically and/or with the support of personnel in the mounting device 1.
[00132] Through these and other possible work steps, in an installation procedure inside an elevator shaft 103, it is possible to synchronize work steps and a work progress and, for example, minimize interactions between machine and man, this that is, it is possible to create a system that works as autonomously as possible. Alternatively, a less complex and therefore more robust system can be employed for an assembly device, in which case automation is only implemented to a lesser degree and typically more interactions between machine and man are required.
[00133] The displacement component for the displacement of the mounting device in the hoistway can also be arranged on the support component of the mounting device and act on walls of the hoistway. Such a mounting device 1 in an elevator shaft 103 is shown in figure 3 in a top view. A displacement component 115 has two electric motors 151, which are arranged on the support component 3 of the mounting device 1. On opposite sides of the support component 3, a swivel axis 153 is respectively fixed by means of two guides 152 respectively. Two wheels 154 with resistance to rotation with respect to the axles 153 are respectively fixed to the axles 154. The wheels 154 can roll on walls 105 of the elevator shaft 103 and are pressed against the respective wall by means of compression devices, not shown. The electric motors 151 are drive connected with the axles 153 by means of a drive link 155, in the form, for example, of sprockets and a chain, and thereby can drive the wheels 154 and move the support member. 3 inside elevator shaft 103.
[00134] In the support component 3 in figure 3, moreover, on a side on which there is no displacement component 115, there is arranged a fixing component that consists of a support element 119 and a telescopic cylinder 120. The support element 119 is arranged such that it lies on one side with door openings 106, not shown in Figure 3, on the walls 105 of the elevator shaft 103 (similarly to Figure 1). Therefore, the mounting device 1 is incorporated into the hoistway 103 in such a way that the support element 119 is arranged correspondingly.
[00135] The longitudinally extended support element 119 has a basic shape mainly in the form of a cube or beam and is aligned in a vertical direction. Analogously to the exposition in figures 1 and 2, it extends along the entire vertical expansion of the support member 3 and, furthermore, projects in both directions beyond the support member. The support element 119 is connected to the support member 3 via two cylindrical-shaped connecting elements 123. The connecting elements 123 consist of two parts not shown separately, which can be manually pushed into each other and pulled out of each other, which can be fixed in various positions. With this it is possible to set a distance 122 between the support element 119 and the support component 3.
[00136] On the side of the support member 3 opposite the support element 119, a telescopic cylinder 120 is arranged in the center. The telescopic cylinder 120 has an extensible punch 121, which is connected with an extension element 124 U-shaped. The punch 121 can extend outwardly towards the wall 105 of the elevator shaft 103 until the support element 119 and the extension element 124 connected with the punch 121 abut walls 105 of the elevator shaft 103 and, consequently, the support element 3 is pressed against the walls 105. With this, the support component 3 is fixed in the vertical direction and in the horizontal direction, that is, transversely to the vertical direction. In the example shown, the telescopic cylinder 120 is moved in and out by an electric motor. However, other types of drive are also conceivable, such as pneumatic or hydraulic, for example.
[00137] The telescopic cylinder 120 shown in figure 3 is arranged on or in the region of an upper side of the support member 3. Similarly, the support member 3 also has a telescopic cylinder in or in the region of its bottom side.
[00138] It is also possible that respectively two telescopic cylinders or more than two, for example three or four telescopic cylinders, are arranged at a certain height. In this case, for example, the punch of the telescopic cylinders can come to abut the wall of the elevator shaft, without inserting an extension element.
[00139] A fastening component consisting of a supporting element and telescopic cylinders is also possible in combination with a mounting device, which can be moved inside the hoistway by means of a support means, as shown in the figures 1 and 2.
[00140] The mounting device must be powered in the hoistway and communication with the mounting device is required. Figure 4 shows power and communication connections for a mounting device 1 in an elevator shaft 103. Mounting device 1 comprises a supporting component 3 and a mechatronic installation component 5 in the form of a robot. industrial robot 7. The industrial robot 7 is controlled by a control unit, which consists of a power component 156 arranged in the support component 3 and by a control PC 157 arranged on a floor of the building outside the elevator shaft 103. The control PC 157 and the power component 156 are connected to each other via a communication line 158, in the form of an Ethernet line, for example. The communication line 158 is part of a so-called drop cable 159, which also includes power lines 160, through which the mounting device is supplied with electrical energy from a voltage source 161. lines shown inside mounting fixture 1.
[00141] The power component 156 of the industrial robot 7 is therefore supplied with electrical energy through the electrical current lines 160 and is in communication connection with the control PC 157 through the communication line 158. The control PC 157 can thus send control signals to the power component 156 via the communication line 158, which can then convert these into concrete commands for each of the electric motors, not shown, of the industrial robot 7 and thereby , for example, moving the industrial robot 7 as predetermined by the control PC 157.
[00142] In figure 5 is shown a part of an installation component 5, designed as an industrial robot 7, with a damping element 130 and an assembly tool attached thereto, in the form of a drill 131. In the drill 131 is inserted a drill bit 132 which can be driven by the drill 131. The damping element 130 consists of several rubber pads 136 arranged in parallel, each of which can be considered as a damping element. The damping element 130 is inserted into an arm 133 of the industrial robot 7 and divides it into a first part 134 on the drill side and a second part 135. The damping element 130 connects the two parts 134, 135 of the arm 133 of the industrial robot 7 and forwards the impacts and vibrations introduced through the drill 132 to the second part in a dampened manner.
[00143] According to figure 6, a damping element 130 can also be arranged on a connecting element 137 of an industrial robot 7 for an assembly tool in the form of a drill 131. The damping element is constructed basically the same as the element 130 in Figure 5. The connecting element 137 is firmly connected with the drill 131, such that the industrial robot 7 receives the combination of the connecting element 137 with the drill 131 for drilling a hole in a wall of the elevator shaft.
[00144] It is also possible for a damping element to be designed as an integral component of a drill press.
[00145] To monitor wear of the drill bit 132 of the drill 131, a forward thrust during drilling and/or a duration when drilling to a desired depth is monitored. If it falls below a forward thrust threshold value and/or exceeds a duration threshold value, the drill used will be considered to be no longer in order and a warning will be generated.
[00146] Based on figures 7a and 7b, a process for producing an image of the position of armatures within a wall of an elevator shaft and a process for fixing a corresponding first and second drilling position are described. .
[00147] In figure 7a is shown a region 140 of a wall of an elevator shaft, in which a drilling must be performed in a first drilling position. For a better description of the process, region 140 is divided into grid squares, which are marked with successive letters from A to J to the right and with increasing numbers from 1 to 10 downwards. This distribution was performed analogously in figure 7b.
[00148] In the region 140 shown in Figure 7a, a first and a second armature 141, 142 run from top to bottom, at least in the region 140 shown they run in a straight line and parallel to each other. In this case, the first armature 141 runs from B1 to B10 and the second armature 142 runs from I1 to I10. Additionally, a third and fourth armature 143, 144 run from left to right, whereby, at least in the region shown, they run in a straight line and parallel to each other. In this case, the third armature 143 runs from A4 to J4 and the fourth armature 144 runs from A10 to J10.
[00149] To produce an image of the shown position of the armatures 141, 142, 143, 144, the armature detection component 23 is driven by the installation component 5 several times along the wall 105 of the hoistway. In this process, the armature detection component 23 is initially driven several times from top to bottom (and vice versa) and then from left to right (and vice versa). During movement, the armature sensing component 23 permanently provides the distance 145 from the nearest armature 143 in the direction of movement, such that from the known position of the armature sensing component 23 and the mentioned distance 145, it is possible to generate the image of the position of the armatures 141, 142, 143, 144.
[00150] As soon as the position of the armatures 141, 142, 143, 144 is known, it becomes possible to determine a first possible region 146 for the first drilling position. In figure 7a, this first possible region 146 is a rectangle with edges C5, H5, C9 and H9.
[00151] The region 147 of an elevator shaft wall shown in figure 7b is laterally displaced, for example, with respect to the region 140 in figure 7a. In this region 147 a second perforation must be carried out, however, the perforation position cannot be freely chosen, but must be arranged in a predetermined way with respect to the first perforation position in the region 140 according to figure 7a. . The second puncturing position, corresponding to the first puncturing position, must be, for example, laterally displaced a certain distance with respect to the first puncturing position. In the example shown, region 147 in Figure 7b is laterally displaced by that distance from region 140 in Figure 7a. Corresponding first and second perforation positions in the example shown are arranged in matching grid squares in Figures 7a and 7b. If, therefore, the first perforation is performed in the grid square B2 in the region 140 of Figure 7a, the second perforation will have to be performed in the region 147 of Figure 7b also in the grid square B2. This ensures that the second perforation is correctly positioned in relation to the first perforation.
[00152] Since the reinforcements on the walls are not evenly aligned along their entire length, then the trajectories of the reinforcements 141, 142, 143, 144 in Figure 7b are not identical to those in Figure 7a. The first armature 141 runs, in figure 7b, from D1 to D10 and the second armature 14w2 runs from J1 to J10. The third armature 143, in Fig. 7b, runs from A5 to J5 and the fourth armature 144, as in Fig. 7a, runs from A10 to J10.
[00153] As described in relation to figure 7a, after an image of reinforcements 141, 142, 143, 144 has been generated also for region 147 in figure 7b, it becomes possible to determine a second possible region 148 for the second drilling position. In figure 7b, this second possible region 148 is a rectangle with edges E6, I6, E9 and I9. The possible regions for the first and second perforation positions are obtained from the region where the first region 146 and the second region 148 overlap. As a result, for the first perforation position a rectangular region 149 results and for the second position of drilling results in a rectangular region 150, respectively with edges E6, H6, E9, H9. From these regions 149, 150 a grid square can be selected for the first and second perforation position. In the example shown in figures 7a, 7b, the first perforation position 170 in figure 7a and the second perforation position 171 in figure 7b are fixed, respectively in the grid square E7.
[00154] Based on figures 8a and 8b an alternative process for fixing a first perforation position and a corresponding second perforation position is described. The arrangement of the armatures 141, 142, 142, 144 in figure 8a corresponds to the arrangement in figure 7a and the arrangement in figure 8b corresponds to the arrangement in figure 7b. The distribution of the grid squares is also identical.
[00155] Initially, the possible positions for the first drilling position are determined according to figure 8a. For this purpose, with the aid of the reinforcement detection component 23, it is checked whether a perforation is possible in a desired perforation position, D5 in this case. That's the case here. Then other possible positions are searched for the first drilling position. For this, starting from the desired drilling position D5, other squares of the grid are tested in a clockwise spiral, that is, in this case, E5, E6 and D6 successively. As soon as four possible positions have been found, the search for other possible positions is stopped. If one of the positions was not possible due to armor, the search would continue until up to four possible positions were found.
[00156] Next, as shown in figure 8b, a second possible drilling position is sought. Due to the described combination of the two puncturing positions, the second puncturing position must be on the same grid square as the first puncturing position. First of all, it is checked whether the desired puncturing position, i.e. D5 in this case, is also possible for the second puncturing position. In the example shown, this is not possible due to a collision with the armature 141, so that, similarly to the procedure for the first drilling position, the search continues in a spiral fashion. The second possible position E5 is not possible, due to a collision with the armature 143. The third possible position E6 is possible, such that in the example shown in figures 8a and 8b, the first perforation position 172 in figure 8a and the second perforation position 173 in figure 8b are respectively fixed in grid square E6.
[00157] Finally, it is worth noting that concepts such as "present", "encompass", etc. they do not exclude any other element or step and concepts such as "one" or "one" do not exclude a multiplicity. It should also be noted that features or steps that have been described with reference to one of the above examples of execution can also be used in combination with other characteristics or steps of other examples of execution described above. Reference numbers in the embodiments should not be considered as limitations.

权利要求:
Claims (13)
[0001]
1. Mounting device (1) for carrying out an installation procedure in an elevator shaft (103) of an elevator installation (101), the mounting device (1) having a supporting component (3) ; a mechatronic installation component (5); the support member (3) being designed to be displaced with respect to the hoistway (103) and to be positioned at different heights within the hoistway (103); wherein the installation component (5) is retained in the support component (3) and is designed to perform, at least semi-automatically, an assembly step within the framework of the installation procedure, the support component (3) being features a fastening member (19, 119; 120) which is designed to secure at least one of the support members (3) and installation components (5) inside the hoistway (103) in a transverse vertical direction ( 104), wherein the fastening member (19; 119, 120) is designed to support laterally on walls (105) of the elevator shaft (103), characterized in that the fastening member (19; 119, 120 ) has a support element (119) which is stationary and extends longitudinally in a vertical direction.
[0002]
2. Mounting device according to claim 1, characterized in that the fixing component (19; 119, 120) is designed to fix at least one of the support components (3) and installation components (5) inside the elevator shaft (103) in a direction along the vertical (104).
[0003]
3. Mounting device according to claim 1 or 2, characterized in that the fastening component (19; 119, 120) is designed to be laterally pressed into walls (105) of the elevator shaft (103).
[0004]
4. Mounting device according to claim 3, characterized in that the fastening component (120) has at least one extensible punch (121).
[0005]
Mounting device according to any one of claims 1 to 4, characterized in that a distance (122) of the support element (119) in relation to the support component (3) is manually adjustable.
[0006]
Mounting device according to any one of claims 1 to 5, characterized in that it also has a positioning component (21), which is designed to determine at least one of a position and an orientation of the mounting device (1) inside the elevator shaft (103).
[0007]
7. Assembly device according to any one of claims 1 to 6, characterized in that the installation component (5) is designed to carry out different types of assembly steps at least semi-automatically.
[0008]
8. Assembly device according to claim 7, characterized in that the installation component (5) is designed to use different assembly tools (9) in different types of assembly steps.
[0009]
9. Mounting device according to any one of claims 1 to 8, characterized in that the installation component (5) is designed to perform at least one of the following assembly steps - at least partially automatic drilling of holes in a wall (105) of the elevator shaft (103); - screwing, at least semiautomatically, screws into holes in a wall (105) of the elevator shaft (103); - at least partially automatic installation of components on the wall (105) of the elevator shaft (103).
[0010]
10. Assembly device according to any one of claims 1 to 9, characterized in that it also has a charger component (11), and the charger component (11) is designed to house components (13) to be installed and to make them available to the installation component (5).
[0011]
11. Mounting device according to any one of claims 1 to 10, characterized in that it also has a displacement component (15) which is designed to move the support component (3) vertically inside the elevator shaft (103). ).
[0012]
12. Assembly device according to any one of claims 1 to 11, characterized in that the installation component (5) has an industrial robot (7).
[0013]
Method for carrying out an installation procedure in an elevator shaft (103) of an elevator installation (101), featuring - introduction of a mounting device (1) as defined in any one of claims 1 to 13 , in the elevator shaft (103); - controlled displacement of the mounting device (1) inside the elevator shaft (103); - fixing at least one of the support components (3) and installation components (5) inside the elevator shaft (103) in a direction transverse to the vertical (104) through lateral support on walls (105) of the shaft elevator (103); - at least partially automatic execution of an assembly step within the framework of the installation procedure with the aid of the assembly device (1), characterized in that the assembly device (1) is inserted into the hoistway (103) of a such that a support element (119) extending longitudinally in vertical direction is arranged in front of a wall (105) of the elevator shaft (103) with door openings (106).

类似技术:

---

公开号 | 公开日 | 专利标题

---

BR112017026363B1|2022-01-11|ASSEMBLY DEVICE AND PROCESS FOR PERFORMING AN INSTALLATION PROCESS IN AN ELEVATOR WELL OF AN ELEVATOR INSTALLATION

---

US11111109B2|2021-09-07|Method and mounting device for carrying out an installation operation in an elevator shaft

---

AU2017365063B2|2020-10-22|Method for mounting and alignment device for aligning a guide rail of an elevator system

---

AU2018340225B2|2021-10-21|Locating system and method for determining a current position in a lift shaft of a lift system

---

BR112017026263B1|2021-12-28|ASSEMBLY DEVICE AND PROCESS FOR PERFORMING AN INSTALLATION PROCEDURE IN AN ELEVATOR WELL OF AN ELEVATOR SYSTEM

同族专利:

---

公开号 | 公开日

---

AU2016299144B2|2019-07-11|

---

AU2016299143B2|2019-06-27|

---

BR112017026263A2|2018-09-11|

---

IL256596A|2021-05-31|

---

WO2017016780A1|2017-02-02|

---

RU2018106279A3|2019-12-16|

---

EP3325395B1|2019-11-20|

---

EP3325394B1|2019-11-20|

---

CA2988505A1|2017-02-02|

---

IL256596D0|2018-02-28|

---

EP3325396A1|2018-05-30|

---

BR112017026754A2|2018-08-28|

---

BR112017026363A2|2017-12-07|

---

MX2018000986A|2018-06-07|

---

AU2016299141B2|2019-08-08|

---

EP3325395A1|2018-05-30|

---

US20180208439A1|2018-07-26|

---

US20180215588A1|2018-08-02|

---

MX2018000985A|2018-06-07|

---

HK1247176A1|2018-09-21|

---

SG11201800099XA|2018-02-27|

---

CN107848768A|2018-03-27|

---

WO2017016783A1|2017-02-02|

---

PH12018500001A1|2018-07-09|

---

US10850946B2|2020-12-01|

---

RU2018106279A|2019-08-26|

---

SG11201800577WA|2018-02-27|

---

CA2987484A1|2017-02-02|

---

PL3325395T3|2020-05-18|

---

HK1247175A1|2018-09-21|

---

CN107848767B|2021-03-12|

---

RU2018106302A|2019-08-27|

---

AU2016299141A1|2018-02-22|

---

US10843902B2|2020-11-24|

---

MY187853A|2021-10-26|

---

CN107922166B|2020-01-10|

---

WO2017016782A1|2017-02-02|

---

CN107922166A|2018-04-17|

---

KR20180032567A|2018-03-30|

---

BR112017026754B1|2022-01-11|

---

US20180208438A1|2018-07-26|

---

CA2988509A1|2017-02-02|

---

RU2722774C2|2020-06-03|

---

RU2715066C2|2020-02-25|

---

RU2018106302A3|2019-12-20|

---

SG11201800575SA|2018-02-27|

---

ZA201801168B|2019-07-31|

---

US10836610B2|2020-11-17|

---

HK1248199A1|2018-10-12|

---

EP3325396B1|2022-03-16|

---

MX2018000988A|2018-06-07|

---

EP3325394A1|2018-05-30|

---

AU2016299144A1|2018-02-15|

---

CN107848767A|2018-03-27|

---

KR20180032569A|2018-03-30|

---

AU2016299143A1|2018-02-15|

---

ZA201801169B|2019-07-31|

---

ES2769749T3|2020-06-29|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

---

DE1431059A1|1964-11-02|1968-10-17|Loedige Alois Dipl Ing|Elevator system|

---

JPS585436B2|1975-08-29|1983-01-31|Matsushita Electric Ind Co Ltd|

---

SU988733A1|1981-08-28|1983-01-15|Опытно-Механический Завод "Главленстройматериалов" Ленгорисполкома|Device for securing lift cage guideway|

---

JPS642986A|1987-06-25|1989-01-06|Mitsubishi Electric Corp|Installation device for elevator|

---

US5020641A|1990-06-20|1991-06-04|Otis Elevator Company|Method and apparatus for erecting hydraulic elevator rails|

---

JPH0455276A|1990-06-21|1992-02-21|Toshiba Corp|Apparatus installing method and device in elevator tower|

---

JP3034960B2|1990-12-28|2000-04-17|株式会社東芝|Equipment installed in hoistway|

---

JPH05105362A|1991-10-21|1993-04-27|Toshiba Corp|Working device in hoistway|

---

DE4200518A1|1992-01-11|1993-07-15|Bosch Gmbh Robert|METAL SEARCH DETECTOR|

---

JPH05228897A|1992-02-13|1993-09-07|Toshiba Corp|Concrete drilling device|

---

RU2044681C1|1992-11-05|1995-09-27|Акционерное общество "Западно-Сибирский металлургический комбинат"|Belt conveyor with lower carrying run|

---

JPH07151119A|1993-12-01|1995-06-13|Toshiba Corp|Installation device and tightening method of anchor bolt|

---

JPH08245116A|1995-03-14|1996-09-24|Toshiba Corp|Installation engineering of elevator|

---

JP3214801B2|1995-04-06|2001-10-02|東芝アイティー・コントロールシステム株式会社|Guide rail fixing device and fixing method|

---

JPH08290875A|1995-04-21|1996-11-05|Hitachi Building Syst Eng & Service Co Ltd|Drilling device for elevator installation|

---

JPH09300114A|1996-05-17|1997-11-25|Press Kogyo Kk|Drilling device with robot|

---

US5855721A|1997-03-11|1999-01-05|The Regents Of The University Of California|Non-destructive method of determining the position and condition of reinforcing steel in concrete|

---

KR100288534B1|1998-06-25|2002-06-20|정명세|Multiple coil probes capable of measuring the depth and thickness of reinforcing bars in concrete at the same time and measuring methods using them|

---

US6772091B1|1998-12-08|2004-08-03|Geophysical Survey Systems, Inc.|Determining the depth of reinforcing bars in a concrete structure using electromagnetic signals|

---

US6926473B2|2000-06-20|2005-08-09|Actuant Corporation|Hand drill attachment|

---

AT454248T|2005-11-16|2010-01-15|Metabowerke Gmbh|MOTORALLY DRIVEN DRILLING HAMMER|

---

DE102007060636A1|2007-12-17|2009-06-18|Robert Bosch Gmbh|Electric hand tool, in particular a drill and / or chisel hammer, with a Tilgereinheit|

---

US9664808B2|2009-03-06|2017-05-30|Milwaukee Electric Tool Corporation|Wall scanner|

---

AT507338B1|2008-09-26|2010-07-15|Ltw Intralogistics Gmbh|DRIVEN DRILLING POSITIONER, ESPECIALLY SELF-DRIVING, AUTOMATIC DRILLING ROBOT|

---

JP5778581B2|2008-12-05|2015-09-16|オーチス エレベータ カンパニーＯｔｉｓ Ｅｌｅｖａｔｏｒ Ｃｏｍｐａｎｙ|Elevator system and installation method|

---

US8517642B2|2009-02-11|2013-08-27|Phil Borunda|Tool mounted stud finder|

---

FI20090389A|2009-10-23|2011-04-24|Kone Corp|A method of making a lift|

---

DE102012104993A1|2012-06-11|2013-12-12|Thyssenkrupp Elevator Ag|Method and assembly system for mounting elevator components|

---

FI123925B|2012-08-17|2013-12-13|Kone Corp|Procedure for managing elevator related data|

---

CN102926548B|2012-10-11|2015-05-06|中冶天工上海十三冶建设有限公司|Drill hole locating method for rear-mounted pre-buried steel plate on reinforced concrete surface|

---

CN103123016B|2013-02-28|2014-11-12|浙江国联设备工程有限公司|Construction method for laying gas pipelines along bridge|

---

GB201419182D0|2014-10-28|2014-12-10|Nlink As|Mobile robotic drilling apparatus and method for drilling ceillings and walls|

---

CN104742116B|2015-02-10|2017-01-04|浙江瑞鹏机器人科技有限公司|A kind of novel robot with five degrees of freedom mechanism|

---

EP3085660B1|2015-04-23|2020-10-28|Kone Corporation|A method and an arrangement for installing elevator guide rails|

---

AU2017382160A1|2016-12-19|2019-06-06|Druggability Technologies Ip Holdco Limited|Pharmaceutical formulations of suvorexant|EP3107856B1|2014-02-21|2020-04-22|Wurtec Elevator Products & Services|False car device|

---

DK3436390T3|2016-03-31|2020-07-27|Inventio Ag|METHOD AND INSTALLATION DEVICE FOR CARRYING OUT AN INSTALLATION PROCESS IN AN ELEVATOR SHAFT OF AN ELEVATOR SYSTEM|

---

CN109071181B|2016-04-20|2020-12-29|因温特奥股份公司|Method and assembly device for carrying out an installation operation in an elevator shaft of an elevator installation|

---

EP3544920A1|2016-11-24|2019-10-02|Inventio AG|Method for mounting and alignment device for aligning a guide rail of an elevator system|

---

WO2018145984A1|2017-02-08|2018-08-16|Inventio Ag|Method for fixing a rail bracket of an elevator system, and elevator system|

---

WO2018153522A1|2017-02-23|2018-08-30|Siemens Wind Power A/S|Assembly assisting device for assisting of the assembling of two wind turbine components of a wind turbine and method for assembling of the two wind turbine components|

---

SG11201906935TA|2017-03-06|2019-09-27|Inventio Ag|Mounting system for performing an installation operation in a lift shaft of a lift system|

---

CN110461755B|2017-03-27|2021-11-05|因温特奥股份公司|Method and assembly device for carrying out an installation operation in an elevator shaft of an elevator installation|

---

EP3681836B1|2017-09-13|2021-06-23|Inventio AG|Installation device for use in an elevator shaft|

---

WO2019052971A1|2017-09-15|2019-03-21|Inventio Ag|Device and method for the automated implementation of an assembly step in a lift shaft|

---

US11235954B2|2017-09-27|2022-02-01|Inventio Ag|Alignment device and method for mounting a guide rail in an elevator shaft of an elevator system|

---

DE102017223644A1|2017-12-22|2018-12-06|Thyssenkrupp Ag|Method for attaching a drive unit of a linear drive in a lift shaft|

---

EP3546127A1|2018-03-28|2019-10-02|Inventio AG|Setting tool and method for percussive driving of an anchor bar into a borehole|

---

JP2020007095A|2018-07-06|2020-01-16|株式会社日立ビルシステム|Elevator installation device|

---

WO2020025288A1|2018-07-31|2020-02-06|Inventio Ag|Device and a method for removing a tool from a tool holder|

---

US20210323793A1|2018-09-03|2021-10-21|Inventio Ag|Mounting system for performing an installation operation in an elevator shaft of an elevator system|

---

EP3856672A1|2018-09-26|2021-08-04|Inventio AG|Method for planning and at least partially installing an elevator system in an elevator shaft|

---

EP3883876A1|2018-11-20|2021-09-29|Inventio AG|Method and mounting device for automated determination of a drilling position of a drill hole|

---

CN109205445B|2018-11-23|2019-08-02|燕山大学|It is a kind of for install cage guide from climbing robot|

---

EP3887300A1|2018-11-27|2021-10-06|Inventio AG|Mounting device and method for the automated drilling of holes in building walls with automated detection of wear marks on the drill|

---

US11059701B2|2018-12-06|2021-07-13|Tk Elevator Innovation And Operations Gmbh|Methods and apparatuses for lifting elevator cars during installation|

---

WO2020120190A1|2018-12-13|2020-06-18|Inventio Ag|Method for the at least partially automated planning of an installation of lift components of a lift system|

---

CN113439065A|2019-03-05|2021-09-24|因温特奥股份公司|Measuring device for measuring an elevator shaft and use of a measuring device for measuring an elevator shaft|

---

AU2020249031A1|2019-03-27|2021-10-14|Inventio Ag|Assembly device and method for carrying out an installation process in a lift shaft of a lift system|

---

KR20210149813A|2019-04-15|2021-12-09|인벤티오 아게|Setting tool and method for driving an anchor rod into a bore hole by impact|

---

DE102019207842A1|2019-05-28|2020-12-03|Thyssenkrupp Ag|Holding device for a drilling device for assembly purposes in an elevator system|

---

EP3766818A1|2019-07-16|2021-01-20|KONE Corporation|A method and an arrangement for installing elevator guide rails into an elevator shaft|

---

EP3766820A1|2019-07-16|2021-01-20|KONE Corporation|A method and an arrangement for elevator guide rail installation|

---

JP2021042073A|2019-09-13|2021-03-18|株式会社東芝|Work support device and work support method|

---

WO2021089480A1|2019-11-08|2021-05-14|Inventio Ag|Installation device for use in a lift shaft|

---

WO2021094137A1|2019-11-12|2021-05-20|Inventio Ag|Mounting frame for displacing and fixing in a shaft|

---

WO2021094138A1|2019-11-12|2021-05-20|Inventio Ag|Mounting frame for displacing and fixing in a shaft|

---

WO2021144154A1|2020-01-17|2021-07-22|Inventio Ag|Mobile transport device and method for introducing an installation frame into a shaft|

---

WO2021156167A1|2020-02-07|2021-08-12|Inventio Ag|Installation device for carrying out installation steps on a wall and method for exchanging a tool of an installation apparatus|

---

WO2021160447A1|2020-02-11|2021-08-19|Inventio Ag|Assembly apparatus for implementing assembly steps on a wall and method for arranging a magazine component on an assembly apparatus|

---

WO2021180510A1|2020-03-12|2021-09-16|Inventio Ag|Method for forming a guide structure for guiding an elevator car in an elevator shaft|

---

CN112520533A|2020-12-10|2021-03-19|漳州市高林电梯有限公司|Automatic construction equipment of elevator|

---

CN112520534A|2020-12-10|2021-03-19|漳州市高林电梯有限公司|Intelligent elevator installation system|

---

CN112917140A|2021-02-25|2021-06-08|联想新视界设备服务有限公司|Elevator L board installation device|

法律状态:
2020-07-07| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

---

2021-08-24| B350| Update of information on the portal [chapter 15.35 patent gazette]|

---

2021-10-13| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

---

2022-01-11| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 30/06/2016, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

---

申请号 | 申请日 | 专利标题

---

EP15178287.7|2015-07-24|

---

EP15178287|2015-07-24|

---

PCT/EP2016/065240|WO2017016780A1|2015-07-24|2016-06-30|Automated mounting device for performing assembly jobs in an elevator shaft of an elevator system|

---