EP3323762A1 - Dispositif de montage destiné à exécuter un processus d'installation dans une cage d'ascenseur - Google Patents

Dispositif de montage destiné à exécuter un processus d'installation dans une cage d'ascenseur Download PDF

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Publication number
EP3323762A1
EP3323762A1 EP16199429.8A EP16199429A EP3323762A1 EP 3323762 A1 EP3323762 A1 EP 3323762A1 EP 16199429 A EP16199429 A EP 16199429A EP 3323762 A1 EP3323762 A1 EP 3323762A1
Authority
EP
European Patent Office
Prior art keywords
fluid
mounting device
fluid reservoir
mounting
pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16199429.8A
Other languages
German (de)
English (en)
Inventor
Andrea CAMBRUZZI
Erich Bütler
Philipp Zimmerli
Raphael Bitzi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventio AG
Original Assignee
Inventio AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inventio AG filed Critical Inventio AG
Priority to EP16199429.8A priority Critical patent/EP3323762A1/fr
Publication of EP3323762A1 publication Critical patent/EP3323762A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • B66B19/002—Mining-hoist operation installing or exchanging guide rails

Definitions

  • the invention relates to a mounting device for carrying out an installation process in an elevator shaft of an elevator installation according to the preamble of claim 1.
  • a mounting device for performing an installation process in an elevator shaft of an elevator system is described.
  • repetitive assembly work such as drilling holes, screwing in screws, etc. can be partially or fully automated.
  • Various assembly tools such as a drill, a screwdriver or a gripper are used to carry out the various assembly work.
  • a tool change system can be used, which works with compressed air as the operating fluid.
  • the compressed air may be provided by a compressor which, due to its weight and size, is usually not disposed on the mounting device itself but separated from the mounting device at a suitable location in or near the hoistway and with the mounting device via a compressed air hose must be connected.
  • a space must first be found for the compressor from which it can be connected to the mounting device on which it can not be damaged and on which it interferes as little as possible with the assembly work.
  • Such a mounting device is used in particular in high elevator shafts with, for example, more than 50 storeys, so that a very long compressed air hose used or that the compressor during use in the elevator shaft once or several times must be brought to another location in or on the elevator shaft.
  • the inventive mounting device for carrying out an installation process in an elevator shaft of an elevator installation has a carrier component and a mechatronic installation component, which is held on the carrier component.
  • the carrier component is adapted to be displaced relative to the hoistway and positioned at different heights within the hoistway.
  • the mechatronic installation component is designed to perform an assembly step as part of the installation process at least partially automated.
  • the mounting device has a fluid reservoir, which provides a pressurized fluid.
  • the fluid reservoir is arranged in particular on the carrier component.
  • Said fluid serves, in particular, as operating fluid for components which have to be supplied for operation with an operating fluid.
  • a hose or tube for supplying a component which must be supplied with operating fluid may be provided on the mounting device itself. Since the mounting device must be regularly supplied with components to be installed, such as screws or elevator part holder in the form of so-called bracket elements or lower rail parts, it can also easily and without much effort, the fluid reservoir can be exchanged or filled if necessary. The consumption of operating fluid is usually very low, since often only one tool change system must be supplied with operating fluid. This is rarely a change or filling of the fluid reservoir necessary. The operation of the mounting device in the elevator shaft is therefore particularly simple.
  • the mounting device may include a device for cleaning Drill holes that must be supplied with operating fluid. Said device can be provided, for example, to blow out so-called cuttings from a borehole by means of the operating fluid.
  • a tool change system is exemplified for all components that need to be supplied with operating fluid.
  • a fluid is understood to mean a gas or a liquid.
  • the fluid may also be designed so that it is liquid in the fluid reservoir and gaseous outside the fluid reservoir under normal ambient conditions.
  • the fluid is designed in particular as air, oxygen or nitrogen.
  • the fluid is in a completely filled fluid reservoir, for example under a pressure between 250 and 350 bar.
  • the fluid reservoir is designed in particular as a compressed air cylinder.
  • Compressed air cylinders are available on the market in a large selection in various designs and sizes. They can thus be procured easily and comparatively inexpensively.
  • a completely filled compressed air cylinder for example, there is a pressure of 300 or 330 bar.
  • the compressed air cylinder may for example have a volume between 1 and 9 liters, in particular between 1.5 and 3 liters.
  • the compressed air cylinder for example, from a pressure vessel made of steel, aluminum or a composite composite, a thinner steel inner body, which is reinforced with fiber reinforced plastic exist.
  • a pressure reducer is arranged at an outlet of the fluid reservoir. It can thus be ensured that the components supplied with the operating fluid are supplied with the operating fluid at a constant operating pressure independently of the pressure in the fluid reservoir. This is of course only possible if there is still sufficient pressure in the fluid reservoir.
  • the operating pressure may for example be between 3 and 8 bar, in particular 6 bar.
  • a pressure reducer is here to understand a pressure valve for installation in a hose or pipe system, which ensures despite different pressures on its input side, ie in the fluid reservoir, that on its output side, a certain output pressure is not exceeded.
  • the mounting device has a monitoring device which monitors a level in the fluid reservoir.
  • the monitoring device can thus recognize when the fluid reservoir has to be replaced or refilled and thus enables easy handling of the mounting device.
  • the monitoring device detects that the fluid reservoir has reached a fill level below an adjustable threshold value.
  • filling level is meant here the amount of operating fluid that the fluid reservoir can still provide. It does not require that exactly the still available amount of operating fluid is determined. Rather, it is also possible that a substitute value is determined or estimated, that is, for example, the pressure in the fluid reservoir.
  • the monitoring device has a control device, is signal-connected to a control device or is part of a control device of the mounting device.
  • the information that the level is below a threshold value is further processed by the monitoring device itself or another control device.
  • the monitoring of the level can be done in several ways.
  • a pressure of the fluid in the form of an operating fluid can be measured at one or more points and closed based on the measured values on the level.
  • the monitoring device has for this purpose at least one pressure sensor which measures the pressure of the operating fluid. Based on the measured pressure can be concluded that the level in the fluid reservoir.
  • the measured pressure can also be used as a replacement for the level. In this case, it is particularly monitored whether the measured pressure drops below a pressure threshold. Instead of just one pressure threshold, several pressure thresholds can be monitored. As soon as a pressure threshold is undershot, this is displayed by the monitoring device, for example, or forwarded to a control device of the mounting device, which then initiates appropriate measures. If the monitoring device is part of the control device of the mounting device, the information within the control device is processed further.
  • the pressure sensor may in particular be arranged on the fluid reservoir and measure the pressure in the fluid reservoir.
  • the pressure sensor is arranged in particular at the outlet of the fluid reservoir, that is before the pressure reducer.
  • one or more alternative or additional pressure sensors may be arranged behind the pressure reducer, that is to say for example in feed lines following the pressure reducer.
  • the readings of these pressure sensors may also be used to detect leaks in the lines or to estimate the extent of leaks.
  • the monitoring device is provided to estimate the level of the fluid reservoir based on the used fluid. If it is known how much fluid was consumed from the start of the estimation, for example, starting from a completely filled pressure reservoir, the level can be closed and monitored as described. Thus, the monitoring can be carried out very inexpensively.
  • the monitoring device can be stored, for example, how much fluid is needed for a tool change. Starting from the filling level at the start of the estimation, it is possible to draw conclusions about the level of the tool with knowledge of the tool changes made.
  • the accuracy of the estimation can be increased if, in addition, a leakage of fluid is taken into account. The leakage can be determined for example by means of experiments.
  • the estimate of the level based on the spent fluid may be performed alternatively or additionally to the use of pressure sensors.
  • the monitoring device is provided to estimate a fluid requirement for an upcoming mounting section and to release the mounting section only if the estimated level of the fluid reservoir covers the estimated fluid requirement.
  • the mounting portion is in this case only started when the monitoring device has released the mounting portion. This can advantageously be ensured that a started mounting section can also be completed and does not have to be interrupted, which would lead to an increased time requirement.
  • a mounting section may, for example, to the assembly or Fixing of several elevator part holders in the form of so-called bracket elements or rail bracket lower parts act on a common height in the elevator shaft.
  • the elevator part holders which must be fixed at a height in the elevator shaft, are also referred to as a so-called garland, which may comprise, for example, four to 8 elevator part holder.
  • garland which may comprise, for example, four to 8 elevator part holder.
  • the mounting device would have to leave the fixed position and be brought into a position in which the replacement or filling of the fluid reservoir is possible , Subsequently, the described preparatory steps would have to be carried out again. This would be very time consuming.
  • the described loss of time can be avoided if the monitoring device estimates the fluid requirement for the upcoming mounting section, that is, for example, the mounting of a ring. It is known which individual assembly steps have to be carried out for this and how many tool changes are necessary for this. Based on this, the fluid requirement for the mounting section can be estimated.
  • the mounting device is in particular designed so that it releases the mounting portion only when the estimated level of the fluid reservoir covers the estimated fluid requirement.
  • the monitoring device is provided to estimate a fluid requirement for an upcoming mounting section and to release the mounting section only if the estimated level of the fluid reservoir covers the estimated fluid requirement and a safety margin. This can be completed particularly safe a started mounting section.
  • the safety margin may be, for example, 10 to 20% of the estimated fluid requirement.
  • Fig. 1 a mounted in an elevator shaft 10 of an elevator installation 12 mounting device 14 is shown, by means of which elevator part holder in the form of lower rail members 15 can be fixed to a shaft wall 18.
  • the elevator shaft 10 extends in a main extension direction 11, which in the Fig. 1 is vertically aligned.
  • the mounting device 14 has a carrier component 20 and a mechatronic installation component 22.
  • the carrier component 20 is designed as a frame on which the mechatronic installation component 22 is mounted.
  • This frame has dimensions which make it possible to displace the carrier component 20 vertically within the elevator shaft 10, that is, for example, to move to different vertical positions on different floors within a building.
  • the mechatronic installation component 22 is executed in the illustrated example as an industrial robot 24 which is mounted hanging down on the frame of the carrier component 20. One arm of the industrial robot 24 can be moved relative to the carrier component 20 and, for example, be shifted towards the shaft wall 18 of the elevator shaft 10.
  • the carrier component 20 is via a serving as a support means 26 steel cable with a displacement component 28 in the form of a motor-driven winch connected, which is mounted at the top of the elevator shaft 10 at a stop 29 on the ceiling of the elevator shaft 10.
  • a displacement component 28 in the form of a motor-driven winch connected, which is mounted at the top of the elevator shaft 10 at a stop 29 on the ceiling of the elevator shaft 10.
  • the mounting device 14 also has a fixing component 30, by means of which the carrier component 20 can be fixed within the elevator shaft 10 in the lateral direction, that is to say in the horizontal direction.
  • Fig. 2 shows an enlarged view of a mounting device 14th
  • the carrier component 20 is designed as a cage-like frame in which a plurality of horizontally and vertically extending spars form a mechanically loadable structure.
  • tethers 32 which can be connected to the support means 26.
  • the mechatronic installation component 22 is implemented using an industrial robot 24.
  • the industrial robot 24 is equipped with a plurality of robot arms pivotable about pivot axes.
  • the industrial robot may have at least six degrees of freedom, that is, an assembly tool 34 guided by the industrial robot 24 may be moved in six degrees of freedom, that is, for example, three rotational degrees of freedom and three translational degrees of freedom.
  • the industrial robot can be designed as a vertical articulated robot, as a horizontal articulated robot or as a SCARA robot or as a Cartesian robot or gantry robot.
  • the robot can be coupled to various mounting tools 34 at its cantilevered end.
  • the assembly tools 34 may differ in terms of their design and purpose.
  • the mounting tools 34 may be held to the carrier component 20 such that the cantilevered end of the industrial robot 24 can be approached and coupled to one of them.
  • the industrial robot 24 can do this for example via a Tool change system 13, which is designed so that it allows at least the handling of several such assembly tools 34.
  • the tool change system 13 allows an automatic change of the mounting tool 34, so without a fitter must intervene.
  • the tool change system 13 is operated with an operating fluid in the form of compressed air.
  • a fluid reservoir in the form of a compressed air cylinder 16 is arranged on the carrier component 20.
  • the compressed air cylinder 16 is in particular connected to the carrier component 20 so that it can be easily removed and replaced by a new compressed air cylinder.
  • One of the assembly tools 34 is designed as a drilling tool, similar to a drill.
  • the installation component 22 can be configured to allow at least partially automated controlled drilling of mounting holes in one of the shaft walls 18 of the hoistway 10.
  • Another assembly tool 34 is designed as a screwdriver to at least partially screw screw anchors or screws in previously drilled mounting holes in the shaft wall 18 of the elevator shaft 10.
  • Another mounting tool 34 is configured as a gripper to attach at least partially a rail bracket bottom 15 to the shaft wall 18.
  • a magazine component 36 may be provided on the carrier component 20.
  • the magazine component 36 may serve to store track base members 15 to be installed and provide the installation component 22.
  • screw anchors or screws can be stored and provided, which can be screwed by means of the installation component 22 in prefabricated mounting holes in the shaft wall 18.
  • a control device 35 is also arranged, which controls the industrial robot 24 including the tool change system 13.
  • the control device 35 may additionally be connected to a higher-level control device or other control devices, not shown. It is also possible that no control device is arranged directly on the mounting device, but in or near the hoistway and connected by cables to the mounting device.
  • Fig. 3 shows a simplified representation of an industrial robot 24 of a mounting device with a tool changing system 13.
  • a mounting tool 34 is connected in the form of a screwdriver with the industrial robot 24.
  • the industrial robot 24 has in this simplified representation only two joints 52.
  • the industrial robot 24 is controlled by the control device 35 so that it can start various controlled positions.
  • the tool changing system 13 is arranged, which consists of a robot-side, first quick-change connection 53 and a tool-side, second quick-change connection 54.
  • the second quick-change connection 54 is mainly hollow cylindrical in shape and has an inner circumferential groove 55, in the connected via a cage, not shown, on the first quick change port 53 balls 56 can engage.
  • the first quick-change connection 53 also has a compressed air-actuated plunger 57, which can be extended in the direction of the assembly tool 34 and retracted in the opposite direction. When extending in the direction of assembly tool 34, the balls 56 are pressed into the groove 55 of the second quick-change connector 54 and so a positive connection between the two quick-change terminals 53, 54 and thus manufactured between the industrial robot 24 and the assembly tool 34.
  • the industrial robot 24 is coupled to the assembly tool 34. If the connection is to be released again, the plunger 57 is retracted again and the balls 56 can be moved inwards again and leave the groove 55. The industrial robot 24 can then be moved away from the assembly tool 34 and separated from it.
  • the described connecting and disconnecting can be done fully automatically without the manual intervention of a worker or installer.
  • a compressed air cylinder 16 fluid reservoir In a completely filled compressed air cylinder 16, for example, a pressure between 300 and 350 bar prevails. This pressure is much too high for the actuation of the tool change system 13, which is why a pressure reducer 42 is arranged at the outlet 40 of the compressed air cylinder 16.
  • the pressure reducer 42 ensures that at its output, ie in a supply line 44 to the tool change system 13, a constant, lower pressure of for example 6 bar prevails, with which the tool changing system 13 can be operated.
  • a monitoring device 46 is provided which is connected via a first pressure sensor 48 directly to the outlet 40 of the compressed air cylinder 16, ie before the pressure reducer 42, and a second pressure sensor 50 in the supply line 44, ie behind the pressure reducer 42 , features.
  • the measured values of the pressure sensors 48, 50 are evaluated by the control device 35, which also controls the industrial robot 24. It is also possible that the monitoring device has a separate control device, which is in signal communication with the control device of the industrial robot.
  • the control device 35 and thus the monitoring device 46 monitor a level in the compressed air cylinder 16.
  • the pressure in the compressed air cylinder 16 is considered to be equivalent to the level of the compressed air cylinder. With a monitoring of the pressure in the compressed air cylinder 16 so that a monitoring of the level is performed.
  • the measured value of the second pressure sensor 50 serves, in particular, to check the measured value of the first pressure sensor 48. It is also possible for only one pressure sensor, in particular the pressure sensor 48, to be present.
  • the control device 35 monitors whether the pressure in the compressed air cylinder 16 drops below a first adjustable threshold of, for example, 20 bar. If this is the case, then it sends a corresponding message to a higher-level control device, not shown, which then causes a change of the compressed air cylinder. It is It is also possible that warning messages will be sent before reaching the first threshold.
  • the control device 35 Before a mounting section is started in the form of mounting a so-called ring of elevator part holders, the control device 35 checks whether the level of the compressed air cylinder 16, so here the pressure in the compressed air cylinder 16 sufficient to cover the compressed air demand for the complete mounting section.
  • the information necessary for the estimation of the compressed air requirement for the mounting section is stored, for example, by control device 35 or provided by a higher-level control device. This information mainly relates to the number of tool changes required for the mounting section, the compressed air consumption per tool change, and an estimate of the leakage occurring during the mounting section.
  • the controller 35 determines, as a result of the estimation of the compressed air requirement for the mounting section, a pressure difference by which the pressure in the compressed air cylinder 16 is likely to drop during the mounting section.
  • the control device 35 may additionally take into account a safety margin of, for example, 20% of the estimated pressure difference.
  • the control device 35 can estimate the fill level of the compressed air cylinder 16 on the basis of the consumed fluid.
  • the control device 35 starts from a completely filled compressed air cylinder 16.
  • the level is also considered equivalent to the pressure in the compressed air cylinder.
  • the necessary compressed air demand in the form of a pressure difference is deducted from the current fill level and, in addition, the occurring leakage is taken into account.
  • the pressure in the compressed air cylinder 16 can be estimated and monitored as described above.
  • control device 35 stores which pressure difference occurs during a tool change.
  • the leakage is determined in particular before the start of assembly by means of tests.

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EP16199429.8A 2016-11-18 2016-11-18 Dispositif de montage destiné à exécuter un processus d'installation dans une cage d'ascenseur Withdrawn EP3323762A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16199429.8A EP3323762A1 (fr) 2016-11-18 2016-11-18 Dispositif de montage destiné à exécuter un processus d'installation dans une cage d'ascenseur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16199429.8A EP3323762A1 (fr) 2016-11-18 2016-11-18 Dispositif de montage destiné à exécuter un processus d'installation dans une cage d'ascenseur

Publications (1)

Publication Number Publication Date
EP3323762A1 true EP3323762A1 (fr) 2018-05-23

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EP16199429.8A Withdrawn EP3323762A1 (fr) 2016-11-18 2016-11-18 Dispositif de montage destiné à exécuter un processus d'installation dans une cage d'ascenseur

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EP (1) EP3323762A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109534215A (zh) * 2018-12-12 2019-03-29 燕山大学 一种悬吊式井道作业机器人
CN112672970A (zh) * 2018-09-03 2021-04-16 因温特奥股份公司 用于在电梯设备的电梯竖井中实施安装过程的装配系统
CN113015687A (zh) * 2018-11-27 2021-06-22 因温特奥股份公司 具有对钻头上的磨损标记的自动识别机制的、用于在建筑物墙壁上自动钻出钻孔的装配装置和方法
CN113165847A (zh) * 2018-11-20 2021-07-23 因温特奥股份公司 用于自动化确定钻孔的钻孔位置的方法和安装装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05105362A (ja) * 1991-10-21 1993-04-27 Toshiba Corp 昇降路内作業装置
JPH08277076A (ja) * 1995-04-06 1996-10-22 Toshiba Fa Syst Eng Kk ガイドレール固定装置及び固定方法
US6164418A (en) * 1998-03-31 2000-12-26 Chen; Ching Hung Elevating work platform structure
WO2012035481A1 (fr) * 2010-09-15 2012-03-22 Master Drilling (Pty) Limited Agencement intégré de câble de levage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05105362A (ja) * 1991-10-21 1993-04-27 Toshiba Corp 昇降路内作業装置
JPH08277076A (ja) * 1995-04-06 1996-10-22 Toshiba Fa Syst Eng Kk ガイドレール固定装置及び固定方法
US6164418A (en) * 1998-03-31 2000-12-26 Chen; Ching Hung Elevating work platform structure
WO2012035481A1 (fr) * 2010-09-15 2012-03-22 Master Drilling (Pty) Limited Agencement intégré de câble de levage

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112672970A (zh) * 2018-09-03 2021-04-16 因温特奥股份公司 用于在电梯设备的电梯竖井中实施安装过程的装配系统
CN112672970B (zh) * 2018-09-03 2023-02-17 因温特奥股份公司 用于在电梯设备的电梯竖井中实施安装过程的装配系统
US11760607B2 (en) 2018-09-03 2023-09-19 Inventio Ag Mounting system for performing an installation operation in an elevator shaft of an elevator system
CN113165847A (zh) * 2018-11-20 2021-07-23 因温特奥股份公司 用于自动化确定钻孔的钻孔位置的方法和安装装置
US11703823B2 (en) 2018-11-20 2023-07-18 Inventio Ag Method and assembly device for the automated determination of a drilling position of a drill hole
CN113015687A (zh) * 2018-11-27 2021-06-22 因温特奥股份公司 具有对钻头上的磨损标记的自动识别机制的、用于在建筑物墙壁上自动钻出钻孔的装配装置和方法
CN113015687B (zh) * 2018-11-27 2023-07-14 因温特奥股份公司 用于在建筑物墙壁上自动钻出钻孔的装配装置和方法
CN109534215A (zh) * 2018-12-12 2019-03-29 燕山大学 一种悬吊式井道作业机器人
CN109534215B (zh) * 2018-12-12 2020-02-14 燕山大学 一种悬吊式井道作业机器人

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