EP3325395B1 - Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage - Google Patents

Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage Download PDF

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Publication number
EP3325395B1
EP3325395B1 EP16733547.0A EP16733547A EP3325395B1 EP 3325395 B1 EP3325395 B1 EP 3325395B1 EP 16733547 A EP16733547 A EP 16733547A EP 3325395 B1 EP3325395 B1 EP 3325395B1
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EP
European Patent Office
Prior art keywords
component
elevator shaft
mounting device
wall
installation
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.)
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Application number
EP16733547.0A
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German (de)
English (en)
French (fr)
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EP3325395A1 (de
Inventor
Andrea CAMBRUZZI
Erich Bütler
Philipp Zimmerli
Raphael Bitzi
Christian Studer
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Inventio AG
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Inventio AG
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Priority to PL16733547T priority Critical patent/PL3325395T3/pl
Publication of EP3325395A1 publication Critical patent/EP3325395A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
    • B66B11/0005—Constructional features of hoistways
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/02—Guideways; Guides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/02—Guideways; Guides
    • B66B7/023—Mounting means therefor
    • B66B7/024—Lateral supports

Definitions

  • the present invention relates to a mounting device by means of which installation operations in an elevator shaft of an elevator installation can be carried out. Furthermore, the invention relates to a method for performing an installation process in an elevator shaft of an elevator installation.
  • a production of an elevator installation and in particular a thereby to be carried out installation of components of the elevator system within a hoistway in a building can cause high costs and / or high costs, since a large number of components must be mounted at different positions within the hoistway.
  • Assembly steps by means of which, for example, a component is installed within the elevator shaft as part of an installation process, have so far mostly been carried out by technicians or installation personnel.
  • a person goes to a position within the hoistway to which the component is to be installed and installed there at a desired location the component, for example by holes are drilled in a shaft wall and the component with screws screwed into these holes or inserted Bolt is attached to the shaft wall.
  • the person can use tools and / or machines for this purpose.
  • a mounting device for aligning guide rails for an elevator car in an elevator shaft is described.
  • the mounting device can be aligned by installation personnel in the hoistway pre-assembled guide rails and attached to installation staff in the elevator shaft holding profiles in the form of bracket elements.
  • the mounting device has a screwing device which is an integral part of the mounting device.
  • the mounting device also has a fixing device, by means of which the mounting device can be supported laterally on one of the above, by installation personnel mounted bracket elements.
  • JP3034960B2 , JPH07151119A and JP3214801B2 describe similar mounting devices.
  • a mounting device for carrying out an installation process in an elevator shaft of an elevator installation.
  • the mounting device has a carrier component and a mechatronic installation component.
  • the carrier component is adapted to move relative to the hoistway, i. for example, within the hoistway, to be relocated and positioned at different heights within the hoistway.
  • the installation component is held on the carrier component and adapted to perform an assembly step in the context of the installation process at least partially automatically, preferably fully automatically.
  • the installation component is designed to drill holes in a wall of the elevator shaft at least partially controlled as an assembly step.
  • the installation component can use a suitable drilling tool for this purpose. Both the tool and the installation component itself should be designed to be suitable to meet the conditions occurring during the assembly step within the hoistway.
  • the mounting device further comprises a reinforcement detection component, which is designed to detect a reinforcement within a wall of the elevator shaft.
  • embodiments of the invention are based on the idea of being able to perform at least partially automated installation processes within an elevator shaft of an elevator installation with the aid of a suitably designed mounting device. A complete automation of this case to be performed assembly steps would of course be advantageous.
  • assembly steps which have to be carried out many times during the installation of the elevator installation, can be carried out automatically.
  • a plurality of support profiles must be attached to walls of the hoistway, for this purpose, for example, first holes must be drilled at many points along the hoistway and then a retaining profile must be screwed.
  • the automation is proposed to provide a mounting device, on the one hand has a carrier component and on the other hand held on this carrier component mechatronic installation component.
  • the carrier component can be configured in different ways.
  • the carrier component can be designed as a simple platform, frame, scaffold, cabin or the like. Dimensions of the carrier component should be chosen such that the carrier component can be easily absorbed in the elevator shaft and relocated within this elevator shaft.
  • a mechanical design of the carrier component should be chosen so that it can reliably support the mechatronic installation component held thereon and, if appropriate, can withstand static and dynamic forces exerted by the installation component upon performing an assembly step.
  • the installation component should be mechatronic, that is, have cooperating mechanical, electronic and information technology elements or modules.
  • the installation component should have suitable mechanics, e.g. be able to handle tools within an assembly step.
  • the tools can be brought by the mechanics, for example, suitably to a mounting position and / or be performed suitably during an assembly step.
  • the tools can be powered by the installation component with energy, for example in the form of electrical energy. It is also possible that the tools have their own power supply, for example batteries, accumulators or a separate power supply via cable.
  • the installation component itself may have a suitable mechanism that forms a tool.
  • Electronic elements or modules of the mechatronic installation component can serve, for example, to suitably control or control mechanical elements or modules of the installation component. Such electronic elements or modules can thus serve, for example, as a control for the installation component.
  • the installation component may have information technology elements or modules, by means of which, for example, it can be deduced to which Position a tool brought and / or how the tool is operated and / or guided there during an assembly step.
  • An interaction between the mechanical, electronic and information technology elements or modules should take place such that at least one assembly step can be carried out semi-automatically or fully automatically by the mounting device as part of the installation process.
  • Guide components can also be provided on the carrier component, by means of which the carrier component can be guided during vertical displacement within the elevator shaft along one or more of the walls of the elevator shaft.
  • the guide components may for example be designed as support rollers, which roll on the walls of the elevator shaft. Depending on the arrangement of the support rollers on the carrier component, it is possible to provide one to, in particular, four support rollers.
  • guide cables are stretched, which are used to guide the carrier component.
  • temporary guide rails for guiding the carrier component can be mounted in the elevator shaft.
  • the carrier component is suspended by means of two or more loadable, bendable suspension elements such as ropes, a chain or belt.
  • the mechatronic installation component comprises an industrial robot.
  • An industrial robot can be understood as a universal, generally programmable machine for handling, assembling and / or machining workpieces and components. Such robots are designed for use in an industrial environment and have previously been used, for example, in the industrial production of complex goods in large numbers, for example in automobile production.
  • an industrial robot has a so-called manipulator, a so-called effector and a controller.
  • the manipulator may, for example, be a robot arm pivotable about one or more axes and / or displaceable along one or more directions.
  • the effector may be, for example, a tool, a gripper or the like.
  • the controller can serve the Manipulator and / or the effector suitable to control, that is, for example, suitable to relocate and / or lead.
  • the industrial robot is in particular designed to be coupled at its cantilever end with various assembly tools.
  • the manipulator is designed to be coupled to different effectors. This allows a particularly flexible use of the industrial robot and thus the mounting device.
  • the control of the industrial robot has in particular a so-called power unit and a control PC.
  • the control PC carries out the actual calculations for the desired movements of the industrial robot and sends control commands for controlling the individual electric motors of the industrial robot to the power unit, which then converts them into concrete controls of the electric motors.
  • the power unit is arranged in particular on the carrier component, whereas the control PC is not arranged on the carrier component, but in or next to the elevator shaft. If the power unit were not arranged on the carrier component, a multiplicity of cable connections would have to be led via the elevator shaft to the industrial robot.
  • the power unit on the carrier component for the industrial robot mainly only a power supply and a communication link, for example in the form of an Ethernet connection between the control PC and power unit must be provided in particular via a so-called hanging cable.
  • This allows a particularly simple cable connection, which is also very robust and prone to failure because of the small number of cables. It can be implemented other functions, such as a security monitoring in the control of the industrial robot, for the other cable connections between the control PC and power unit may be required.
  • the industrial robot can also have a so-called passive auxiliary arm, which can only be moved together with the robot arm, and in particular has a device for holding a component, for example a retaining clip.
  • a component for example a retaining clip.
  • the robot arm can be moved, for example, so that the headband is received by the passive auxiliary arm and is held in the proper position, for example by means of a screw on the wall in the correct position.
  • industrial robots are also equipped with various sensors that allow them to transmit information about their environment, working conditions, for example can recognize processing components or the like. For example, sensors, forces, pressures, accelerations, temperatures, positions, distances, etc. can be detected in order to subsequently evaluate them appropriately.
  • an industrial robot After initial programming, an industrial robot is typically able to perform a semi-automatic or fully automatic, ie largely autonomous, workflow.
  • An execution of the workflow can be varied, for example, depending on sensor information within certain limits.
  • a controller of an industrial robot may optionally be self-learning.
  • An industrial robot may thus be able to perform various assembly steps as part of an installation procedure in an elevator shaft, due to a way in which its components are mechanically and / or electrically configured, and a way in which these components can be controlled by means of the control of the industrial robot to adapt to different circumstances during such an assembly step.
  • advantageous properties can already be provided in large parts of ready-developed industrial robots, as they are already in use in other fields of technology, and if necessary need only be adapted to particular conditions during installation processes in elevator shafts of elevator installations.
  • this is attached to the carrier component, wherein the carrier component can be moved together with the industrial robot and optionally other installation components to a desired position within the hoistway.
  • the mechatronic installation component can also be designed in a different way. Conceivable, inter alia, especially for the stated application in a (semi) automated elevator installation constructed mechatronic machines in which, for example, special drills, screwdrivers, feeding components, etc. are used. For example, linearly displaceable drilling tools, screwdriving tools and the like could be used here.
  • Walls of a hoistway to which components are to be mounted for example, often consist of concrete, in particular reinforced concrete.
  • walls of a hoistway to which components are to be mounted for example, often consist of concrete, in particular reinforced concrete.
  • vibrations and forces can occur.
  • Both a Drilling tool as well as the installation component itself should be designed to withstand such vibrations and forces.
  • one or more damping elements are provided in the installation component to dampen or absorb vibrations. It is also possible that one or more damping elements are arranged at a different location in the combination of assembly tool and installation component.
  • a damping element may for example be integrated in the assembly tool or arranged in a connecting element between installation component and assembly tool. In this case, the mounting 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 buffers arranged in parallel, which are available on the market in a large selection and at low cost. Even a single rubber buffer can be considered as a damping element. It is also possible that a damping element is designed as a telescopic damper.
  • the Arm istsdetektionskomponente is thus able to detect a mostly non-visually recognizable, deepened inside a wall reinforcement such as a steel profile.
  • Information about the existence of such a reinforcement may be advantageous, for example, if holes are to be drilled as a mounting step in a wall of the hoistway, since then a drilling of the reinforcement and thus both a damage to the reinforcement as well as possibly a damage to a drilling tool can be avoided.
  • the armor detection component is in particular designed to output a distance to a reinforcement.
  • Such devices are available at low cost.
  • these devices use inductive methods in which a magnetic field is generated by means of coils. If there are electrically conductive parts, so for example reinforcements in the magnetic field, the magnetic field is changed. This change can be recorded and evaluated. Since the devices can only detect changes in the magnetic field, they must be moved during the measurement or detection process. So they can not be placed on a wall and directly create and output an image of the location of reinforcements in a wall. In order to create such an image, the Arm istsdetektionskomponente can be guided along a wall and continuously the distance to a reinforcement, in particular in the direction of movement are detected. For example, by a multiple, grid-shaped process a very accurate image of the position of the reinforcements in the wall can be created.
  • the mounting device may further include a positioning component configured to determine at least one of a position and an orientation of the mounting device within the hoistway.
  • the mounting device should be able, with the aid of its positioning component, to determine its position or pose with regard to the current spatial position and / or orientation within the elevator shaft.
  • the positioning component may be arranged to detect a precise position of the mounting device within the hoistway with a desired accuracy, for example, an accuracy of less than 10 cm, preferably less than 1 cm or less than 1 mm.
  • Orientation of the mounting device can also be performed with high accuracy, i. For example, an accuracy of less than 10 °, preferably less than 5 ° or 1 °, are found.
  • the positioning component may in this case be designed to measure the elevator shaft from its current position.
  • the positioning component can, for example, recognize where it is currently located in the hoistway, how large, for example, distances to walls, a ceiling and / or a floor of the hoistway, etc.
  • the positioning component can detect how far they are from a Target position is located so that based on this information, the mounting device can be moved in the desired manner to reach the desired position.
  • the positioning component can determine the position of the mounting device in different ways. For example, a position determination using optical measuring principles is conceivable. For example, laser distance measuring devices can distances between the positioning component and Measure the walls of the elevator shaft. Other optical measuring methods such as stereoscopic measuring methods or triangulation-based measuring methods are also conceivable. In addition to optical measuring methods, a wide variety of other positioning methods are also conceivable, for example based on radar reflections or the like.
  • the installation component is designed to execute several different assembly steps at least partially automatically, preferably fully automatically.
  • the installation component may in this case be designed to carry out various assembly tools, such as e.g. a drill, a screwdriver and / or a gripper to use.
  • the ability to use various assembly tools enables the mechatronic installation component to perform various assembly steps simultaneously or sequentially during an installation process, for example, to ultimately locate a component within the hoistway at a suitable location.
  • the installation component is in particular designed to receive the assembly tool used in each case during the various types of assembly steps before the assembly step is carried out.
  • the installation component can thus store a not required for the next assembly step assembly tool and record the required mounting tool, so change assembly tools.
  • the installation component can thus always be coupled only with the currently required assembly tool.
  • the installation component thus manages with a small space and can perform assembly steps in many places. It is therefore very flexible. If the installation component were always coupled with all the assembly tools required for the various assembly steps, it would require significantly more space. The respective assembly tools could thus be used in significantly fewer places.
  • the mounting device further comprises a tool magazine component, which is designed to store mounting tools required for different assembly steps and to provide the installation component.
  • a tool magazine component which is designed to store mounting tools required for different assembly steps and to provide the installation component.
  • the installation component may be designed to at least partially screw screws into holes in a wall of the elevator shaft as an assembly step.
  • the installation component can be designed to screw concrete screws in prefabricated holes in a concrete wall of the elevator shaft.
  • high-load points can be created, where, for example, components can be attached.
  • Concrete screws can be screwed directly into concrete, that is, without necessarily using dowels, and thus enable quick and easy installation.
  • high forces or torques may be required, which the installation component or an assembly tool handled by it should be able to provide.
  • the installation component can be designed to mount components on the wall of the hoistway at least partially automatically as an assembly step.
  • Components may in this context include a wide variety of shaft material, such as e.g. Holding profiles, parts of guide rails, screws, bolts, clamps or the like.
  • the mounting device further comprises a magazine component, which is designed to store components to be installed and to provide the installation component.
  • the magazine component can accommodate a variety of screws, particularly concrete screws, and provide them to the installation component as needed.
  • the magazine component can either actively supply the stored components to the installation component or passively provide the components in such a way that the installation component can actively remove these components and then mount them, for example.
  • the magazine component may be configured to support various components and provide them simultaneously or sequentially to the installation component.
  • several different magazine components can be provided in the mounting device.
  • the mounting device may further comprise a displacement component which is adapted to displace the carrier component vertically within the hoistway.
  • the mounting device itself may be configured to shift its carrier component within the hoistway suitably by means of its displacement component.
  • the displacement component will generally have a drive by means of which the carrier component can be moved within the elevator shaft, i. For example, between different floors of a building can be moved.
  • the displacement component will have a control by means of which the drive can be operated controlled such that the carrier component can be brought to a desired position within the elevator shaft.
  • a displacement component can also be provided externally.
  • a drive pre-assembled in the elevator shaft can be provided as the displacement component.
  • this drive may already be a later serving for the elevator drive machine, by means of the finished installed state, an elevator car to be moved and which can be used during the previous installation process for moving the carrier component.
  • it can be provided to establish a data communication possibility between the mounting device and the external displacement component, so that the mounting device can cause the displacement component to move the carrier component within the elevator shaft to a desired position.
  • the carrier component can be connected to a counterweight by means of a resilient load-bearing, such as a rope, a chain or a belt, and the drive can act between the carrier component and the counterweight.
  • a resilient load-bearing such as a rope, a chain or a belt
  • the same drive configurations as for the transfer of elevator cars are possible for the displacement of the carrier component.
  • the displacement component can be designed in different ways in order to be able to be able to move the carrier component together with the installation component held on it within the elevator shaft.
  • the displacement component can either be fixed to the carrier component of the mounting device or at a stop at the top inside the elevator shaft and have a trainable, flexible suspension means such as a rope, a chain or a belt, one end of which is held on the displacement component is and whose other end is fixed to the respective other element, that is at the stop above the elevator shaft or on the carrier component.
  • the displacement component may be attached to the support component of the mounting device, and a support means held on the displacement component may be attached at its other end to the top of a support point within the hoistway.
  • the displacement component can be fixed at the top of the breakpoint in the elevator shaft and the free end of its support means can then be fixed to the carrier component of the mounting device.
  • the displacement component can then displace the carrier component within the elevator shaft by displacing the suspension element.
  • such a displacement component can be provided as a kind of winch, in which a flexible cable can be wound onto a for example driven by an electric motor winch.
  • the winch can either be fixed to the carrier component of the mounting device or, alternatively, for example, in the top of the elevator shaft, for example on an elevator shaft ceiling.
  • the free end of the rope can then be placed opposite either at the top of the breakpoint in the elevator shaft or at the bottom of the carrier component.
  • the displacement component may be attached to the carrier component and configured to exert a force on a wall of the hoistway by moving a movement component to displace the carrier component within the hoistway by moving the movement component along the wall.
  • the displacement component may be directly attached to the carrier component and actively move along the wall of the elevator shaft by means of its component of motion.
  • the displacement component for this purpose may have a drive which moves one or more movement components in the form of wheels or rollers, wherein the wheels or rollers are pressed against the wall of the hoistway, so that the wheels or rollers set in rotation by the drive can roll along the wall as slippery as possible and thereby displace the displacing component together with the carrier component attached to it within the hoistway.
  • a movement component of a displacement component transmits forces to the wall of the elevator shaft in a different manner.
  • gears could serve as a component of motion and engage with a rack mounted on the wall to displace the displacement component vertically in the hoistway.
  • the carrier component further comprises a fixing component which is adapted to support the carrier component and / or the installation component within the elevator shaft in a direction transverse to the vertical, i. for example, in a horizontal or lateral direction to fix.
  • fixing in the lateral direction can be understood to mean that the carrier component, together with the installation component attached to it, can not only be brought vertically, for example by means of the displacement component, to a position at a desired height within the elevator shaft, but the carrier component can then be set there by means of the fixing component can also be fixed in the horizontal direction.
  • a support on a wall is to be understood in particular as meaning that the fixing component is supported directly and without the interposition of components preassembled on the wall, such as bracket elements, for example, so that forces can be introduced into the wall.
  • the support can be done in different ways.
  • the fixing component is designed to fix at least one of the carrier component and the installation component within the elevator shaft in a direction along the vertical.
  • the fixing component can be designed, for example, to be supported or caulked laterally on walls of the elevator shaft, so that the carrier component can no longer move in a horizontal direction relative to the walls.
  • the fixing may for example have suitable supports, stamp, lever or the like.
  • the supports, punches or levers can in particular so Be executed that they can be displaced outward towards the wall of the elevator shaft and thus pressed against the wall. It is possible that on opposite sides of the carrier component or the installation component supports, punches or levers are arranged, which are all displaced outwards.
  • the support element has an elongated shape in the vertical direction and in particular extends at least over the entire vertical extension of the carrier component. It has, for example, a mainly bar-shaped basic shape.
  • the mounting device is in particular introduced into the elevator shaft such that the support element is arranged on one side with door openings in the walls of the elevator shaft. Due to the elongated shape, the support element allows sufficient support even when the mounting device is to be fixed in the region of a door opening.
  • the support element may in particular be designed so that its distance from the carrier component is manually adjustable, in particular adjustable in different stages. The distance is adjustable only by hand and takes place only before the introduction of the mounting device in the elevator shaft.
  • the fixing device can be adapted to dimensions of the elevator shaft.
  • the fixing device has suction cups, via which a holding force against a wall of the elevator shaft and thus a fixation of Carrier component against walls of the elevator shaft can be done.
  • suction cups via which a holding force against a wall of the elevator shaft and thus a fixation of Carrier component against walls of the elevator shaft can be done.
  • the carrier component is supported on the walls of the elevator shaft.
  • the fixation by means of suction cups also works in the vertical direction.
  • the carrier component is temporarily fixed by means of fastening means, for example in the form of screws, bolts or nails on one or more walls of the elevator shaft and thus supported on the walls.
  • fastening means for example in the form of screws, bolts or nails
  • This support also works in the vertical direction. This temporary fixation is achieved when the carrier component is to be brought to a different position within the elevator shaft.
  • the carrier component can be supported on already mounted in the hoistway components, such as holding profiles and thus fixed.
  • the support can also be made so that it also acts in the vertical direction.
  • a frame against which the assembly tool is guided movably be fixed for example via suction cups on a wall of the elevator shaft.
  • the said frame can also be fixed temporarily by means of fastening means, for example in the form of screws, bolts or nails of a wall of the hoistway.
  • the carrier component By fixing the carrier component in the lateral direction within the elevator shaft, the carrier component can be prevented, for example, from moving horizontally within the elevator shaft during an assembly step in which the installation component operates and exerts lateral forces on the carrier component, for example.
  • the fixing component can serve as an abutment for the installation component attached to the carrier component, so that the installation component can be indirectly supported laterally on the walls of the elevator shaft via the fixing component.
  • Such lateral support may be necessary in particular during a drilling operation, in order to be able to absorb the horizontally acting forces that occur and to avoid or dampen vibrations.
  • the carrier component can be designed in two parts.
  • the installation component is attached to a first part.
  • On a second part of the fixing component is attached.
  • the carrier component may then further comprise an alignment component adapted to align the first part of the carrier component relative to the second part of the carrier component, for example by rotating about a spatial axis.
  • the fixing component can fix the second part of the carrier component within the elevator shaft, for example by being supported laterally on walls of the elevator shaft.
  • the fixing component is designed to support the second part of the carrier component on a shaft access side and a wall opposite thereto.
  • the alignment component of the carrier component may then align the other, first portion of the carrier component in a desired manner relative to the laterally fixed second portion of the carrier component, for example by the alignment component rotating that first portion about at least one spatial axis.
  • the installed on the first part installation component is mitverlagert.
  • the installation component can be brought in this way in a position and / or orientation in which this can easily and selectively perform a desired assembly step.
  • the mounting device may have a scanning component, by means of which a distance to an object, such as a wall of the elevator shaft can be measured.
  • the scanning component can be guided, for example, by means of the installation component in a defined movement along the wall of the elevator shaft and the distance to the wall can be measured continuously. This allows conclusions to be drawn on an angular position of the wall and on the condition of the wall with regard to unevenness, steps or existing holes.
  • the information obtained can be used, for example, to adapt the activation of the installation component, such as, for example, a change in a planned drilling position.
  • the scan component can be guided in a zig-zag pattern along the wall in an area in which a bracket element is to be mounted, and a height profile of the wall can be created from the measured distances. This height profile can be used as described for an adaptation of the control of the installation component.
  • a further aspect of the invention relates to a method for carrying out an installation process in an elevator shaft of an elevator installation.
  • the method comprises inserting a mounting device according to an embodiment as described herein into a hoistway, controlled displacing the mounting device within the hoistway and finally at least semi-automatic, preferably fully automatic, performing an assembly step as part of the installation procedure using the mounting device in the form at least partially automatically controlled drilling holes in a wall of the elevator shaft.
  • the mounting device described above can be used to partially or completely automated assembly steps of an installation process in an elevator shaft, and thus partially or completely autonomously perform.
  • a reinforcement detection component is guided along the wall of the elevator shaft by means of an installation component in order to detect a reinforcement within a wall of the elevator shaft.
  • a drill is understood in particular to mean a drilling machine into which a drilling insert can be inserted and driven by the drilling machine.
  • the drilling inserts used are subject to wear and can also be damaged, for example, when hitting a reinforcement.
  • a degree of wear can be determined and, for example, the feed adjusted as a function of the degree of wear. For example, a lower feed can be set to increasing degree of wear.
  • the armor detection component is in particular designed to output a distance to a reinforcement. From the known position of the reinforcement detection component and the distance to a reinforcement given by the reinforcement detection component, an image of the position of the reinforcements in the wall can be made. In particular, the reinforcement detection component is moved a plurality of times, in particular in a grid pattern, along the wall by means of the installation component. Based on the distances to reinforcements given by the reinforcement detection component and the positions of the reinforcement detection component, a very accurate image of the position of the reinforcements in the wall is thus created.
  • a first possible area for the first drilling position and a second possible area for the second drilling position are determined.
  • the first and the second drilling position are determined based on the predetermined arrangement of the drilling positions to each other and the two possible areas for the drilling positions.
  • an overlapping area between the two named areas is determined and the two drill positions are defined within this overlapping area.
  • first of all a plurality of possible positions for the first drilling position are determined and then it is checked whether the second drilling position is possible at a corresponding to a possible first drilling position position. As soon as a second drilling position corresponding to a possible first drilling position is found, in particular these two drilling positions are selected. It is also possible that a plurality of possible pairs of first and second drilling positions are determined and then one of these pairs can be selected as drilling positions.
  • an area in which a hole is provided can be divided into grid squares.
  • it is checked whether drilling is possible at a desired position. Subsequently, starting from the desired position, helical squares of the plan are checked until a predetermined number, for example four or six, of possible first drilling positions has been found.
  • a predetermined number for example four or six
  • the second drilling positions corresponding to the possible first drilling positions are checked. For this purpose, only the drilling positions can be checked, which correspond to a possible first drilling position or it can also proceed in a spiral.
  • Fig. 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 carrier component 3 and a mechatronic installation component 5.
  • the carrier component 3 is designed as a frame on which the mechatronic installation component 5 is mounted. This Frame has dimensions that allow the carrier component 3 within the elevator shaft 103 to move vertically, ie along the vertical 104, that is, for example, to move to different vertical positions at different floors within a building.
  • the mechatronic installation component 5 is executed in the illustrated example as an industrial robot 7, which is attached hanging down on the frame of the carrier component 3. An arm of the industrial robot 7 can be moved relative to the carrier component 3 and, for example, be shifted towards a wall 105 of the elevator shaft 3.
  • the carrier component 3 is connected via a serving as a support means 17 steel cable with a displacement component 15 in the form of a motor-driven winch, which is attached to the top of the elevator shaft 103 at a stop 107 on the ceiling of the elevator shaft 103.
  • a displacement component 15 in the form of a motor-driven winch, which is attached to the top of the elevator shaft 103 at a stop 107 on the ceiling of the elevator shaft 103.
  • the mounting device 1 further comprises a fixing component 19, by means of which the carrier component 3 within the elevator shaft 103 in the lateral direction, that is, in the horizontal direction, can be fixed.
  • the fixing component 19 on the front side of the carrier component 3 and / or punch (not shown) on a rear side of the carrier component 3 can be displaced forwards or backwards outwards and in this way caulk the carrier component 3 between walls 105 of the elevator shaft 103.
  • the fixing component 19 and / or the punches can be spread outwards, for example by means of a hydraulic system or the like, in order to fix the carrier component 3 in the elevator shaft 103 in the horizontal direction.
  • Fig. 2 shows an enlarged view of a mounting device 1 according to an embodiment of the present invention.
  • the carrier component 3 is designed as a cage-like frame in which a plurality of horizontally and vertically extending spars form a mechanically loadable structure. A dimensioning of the spars and any braces provided is designed such that the carrier component 3 can withstand forces that may occur during various installation steps carried out by the installation component 5 during an installation process in the elevator shaft 103.
  • tethers 27 are attached, which can be connected to a support means 17.
  • the displacement component 15 could also be provided directly on the carrier component 3 and, for example by means of a winch, pull up or lower the carrier component 3 on a suspension element 17 fixed rigidly in the elevator shaft 3.
  • the displacement component 15 could also be fixedly mounted directly to the carrier component 3 and drive, for example via a drive rollers that are pressed firmly against walls 105 of the elevator shaft 103.
  • the mounting device 1 could automatically vertically move within the hoistway 103 without installations within the hoistway 103 having to be made in advance, in particular without, for example, having to provide a support means 17 within the hoistway 103.
  • Guide components for example in the form of support rollers 25, can also be provided on the carrier component 3, with the aid of which the carrier component 3 can be guided during vertical displacement within the elevator shaft 103 along one or more of the walls 105 of the elevator shaft 103.
  • the fixing component 19 is provided laterally on the support component 3.
  • the fixing component 19 is formed with an elongated spar extending in the vertical direction, which can be displaced in the horizontal direction with respect to the frame of the carrier component 3.
  • the spar can be attached to the carrier component 3 via a blockable hydraulic cylinder or a self-locking motor spindle, for example.
  • punches could be displaced rearwardly to the support component 3 in the elevator shaft 103 to spreader.
  • the carrier component 3 within the elevator shaft 103 be caulked and fix, for example, during a performance of an assembly step, the carrier component 3 within the elevator shaft 103 in the lateral direction. Forces which are introduced onto the carrier component 3 can be transmitted in this state to the walls 105 of the elevator shaft 103, preferably without the carrier component 3 being able to shift within the elevator shaft 103 or becoming vibrated.
  • the carrier component 3 can be made in two parts.
  • the installation component 5 may be attached to a first part and the fixing component 19 may be attached to a second part.
  • an alignment component can also be provided on the carrier component 3, which enables a controlled alignment of the first part of the carrier component 3 carrying the installation component 5 with respect to the second part of the carrier component 3 that can be fixed within the elevator shaft 103.
  • the alignment device can move the first part about at least one spatial axis relative to the second part.
  • the mechatronic installation component 5 is implemented by means of an industrial robot 7. It should be noted, however, that the mechatronic installation component 5 can also be realized in other ways, for example with differently designed actuators, manipulators, effectors, etc. In particular, the installation component could be a mechatronics specially adapted for use in an installation process within an elevator shaft 103 of an elevator installation 1 or robotics.
  • the industrial robot 7 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 9 guided by the industrial robot 7 may be moved in six degrees of freedom, that is, for example, with 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 at its cantilevered end 8 with various assembly tools 9.
  • the assembly tools 9 may differ in terms of their design and their intended use.
  • the Mounting tools 9 can be held on the carrier component 3 in a tool magazine component 14 such that the cantilevered end of the industrial robot 7 can be approached and coupled to one of them.
  • the industrial robot 7 can have, for example, a tool change system which is designed such that it enables at least the handling of a plurality of such assembly tools 9.
  • One of the assembly tools 9 may be designed as a drilling tool, similar to a drill.
  • the installation component 5 can be configured to permit at least partially automated controlled drilling of holes, for example in one of the shaft walls 105 of the elevator shaft 103.
  • the drilling tool can in this case for example be moved and handled by the industrial robot 7 such that the drilling tool drills holes with a drill at a designated position, for example in concrete of the wall 105 of the hoistway 103 into which, for example, fastening screws for fastening fasteners can later be screwed.
  • the drilling tool as well as the industrial robot 7 can be designed to be suitable, for example, that they can withstand the considerable forces and vibrations occurring during drilling in concrete.
  • Another assembly tool 9 may be configured as a screwing device to at least partially screw screws in previously drilled holes in a wall 105 of the elevator shaft 103.
  • the screwing can be designed in particular such that with their help concrete screws in concrete a shaft wall 105 can be screwed.
  • a magazine component 11 can be provided on the carrier component 3.
  • the magazine component 11 may serve to store components 13 to be installed and to provide the installation component 5.
  • the magazine component 11 is arranged in a lower region of the frame of the carrier component 3 and accommodates various components 13, for example in the form of different profiles, which are to be mounted within the elevator shaft 103 on walls 105 in order, for example, to fix guide rails for the elevator installation 101 thereto to be able to.
  • screws can be stored and provided, which can be screwed by means of the installation component 5 in prefabricated holes in the wall 105.
  • the industrial robot 7 can, for example, automatically grasp a fastening screw from the magazine component 11 and, for example, screw it incompletely into previously drilled mounting holes in the wall 105 with a mounting tool 9 designed as a screwing device. Subsequently, an assembly tool 9 can be exchanged on the industrial robot 7 and, for example, a component to be mounted 13 are gripped from the magazine component 11.
  • the component 13 may have attachment slots. If the component 13 is brought into an intended position with the aid of the installation component 5, the fastening screws, which have been partially screwed in beforehand, can engage in or extend through these fastening slots. Subsequently, in turn, be reconfigured on the trained as a screw assembly tool 9 and the mounting screws are tightened.
  • an installation process in which components 13 are mounted on a wall 105 can be performed completely or at least partially automated by the installation component 5 first drilling holes in the wall 105 and then components 13 fastened in these holes with fixing screws.
  • Such an automated installation process can be carried out relatively quickly and can help save considerable installation effort and thus time and costs, in particular with multiple repetitive installation work to be performed within a hoistway. Since the mounting device can perform the installation process largely automated, interactions with human installation personnel can be avoided or at least reduced to a low level, so that otherwise typically occur in the context of such installation processes risks, especially accident risks for installation personnel can be significantly reduced.
  • a positioning component 21 can furthermore be provided.
  • the positioning component 21 may for example be permanently mounted on the carrier component 3 and thus be moved during the process of the mounting device 1 within the elevator shaft 3.
  • the positioning component 21 could also be arranged independently of the mounting device 1 at another position within the elevator shaft 103 and determine a current position of the mounting device 1 from there.
  • the positioning component 21 can use different measuring principles in order to be able to precisely determine the current position of the mounting device 1.
  • optical measuring methods seem to be suitable in order to allow a desired accuracy in the position determination of, for example, less than 1 cm, preferably less than 1 mm, within the elevator shaft 103.
  • a control of the mounting device 1 can evaluate signals from the positioning component 21 and determine an actual positioning relative to a desired positioning within the elevator shaft 103 on the basis of these signals. Based on this, the controller can then, for example, first drive or drive the carrier component 3 within the elevator shaft 103 to a desired height. Subsequently, the control, taking into account the then determined actual position, the installation component 5 suitably control, for example, to drill 3 holes at desired locations within the hoistway, screw in screws and / or ultimately to assemble components 13.
  • the mounting device 1 may in this case also have a Arm istsdetektionskomponente 23.
  • the reinforcement detection component 23 is accommodated in the magazine component 11 in a manner similar to one of the assembly tools 9 and can be handled by the industrial robot 7.
  • the armor detection component 23 can thus be brought by the industrial robot 7 to a desired position at which, for example, subsequently a hole is to be drilled in the wall 105.
  • the armor detection component 23 could be provided on the mounting device 1 in another way.
  • the reinforcement detection component 23 is configured to detect a reinforcement within the wall 105 of the hoistway 103.
  • the Arm istsdetektionskomponente for example, use physical measuring methods in which electrical and / or magnetic properties of the typically metallic reinforcement are used within a concrete wall to accurately detect this reinforcement.
  • control of the assembly apparatus 1 may correct, for example, previously assumed positions of bolt holes to be drilled such that no intersection occurs between the bolt holes and the reinforcement.
  • the displacement component for displacing the mounting device in the elevator shaft can also be arranged on the carrier component of the mounting device and act on walls of the elevator shaft.
  • a displacement component 115 has two electric motors 151, which are arranged on the carrier component 3 of the mounting device 1.
  • On opposite sides of the carrier component 3 is attached via two guides 152 each have a rotatable shaft 153.
  • On the axles 153 two wheels 154 are secured against rotation relative to the axles 153.
  • the wheels 154 can roll on walls 105 of the elevator shaft 103 and are pressed against the respective wall 105 via pressing devices, not shown.
  • the electric motors 151 are drive-connected via a drive connection 155, for example in the form of gears and a chain with the axles 153 and can thus drive the wheels 154 and displace the carrier component 3 within the elevator shaft 103.
  • a fixing component is arranged, which consists of a support member 119 and a telescopic cylinder 120.
  • the support member 119 is arranged so that it is on one side in the Fig. 3 not shown door openings 106 in the walls 105 of the elevator shaft 103 is located (analogous to Fig. 1 ).
  • the mounting device 1 is thus introduced into the elevator shaft 103, that the support member 119 is arranged accordingly.
  • the elongated support member 119 has a mainly cuboid or bar-shaped basic shape and is aligned in the vertical direction. Analogous to the representation in Fig. 1 and 2 it extends over the complete vertical extension of the carrier component 3 and also protrudes beyond the carrier component in both directions.
  • the support element 119 is connected via two cylindrical connecting elements 123 with the carrier component 3.
  • the connecting elements 123 consist of two parts which are not separately shown, which can be manually pushed into each other and pulled apart, whereby they can be fixed in several positions. Thus, a distance 122 between the support member 119 and the carrier component 3 can be adjusted.
  • a telescopic cylinder 120 is arranged centrally.
  • the telescopic cylinder 120 has an extendable punch 121, which is connected to a U-shaped extension member 124.
  • the punch 121 can be extended so far in the direction of the wall 105 of the elevator shaft 103, that the support element 119 and the extension member 124 connected to the punch 121 abut against walls 105 of the elevator shaft 103 and the carrier component 3 is thus caulked to the walls 105.
  • the carrier component 3 is thus fixed in the vertical direction and in the horizontal direction, ie transversely to the vertical direction.
  • the telescopic cylinder 120 is electromotive off and retracted. But there are also other types of drive, for example, pneumatically or hydraulically conceivable.
  • the in Fig. 3 illustrated telescopic cylinder 120 is arranged on or in the region of an upper side of the carrier component 3.
  • the carrier component 3 also has a telescopic cylinder on or in the region of its underside.
  • a fixation component consisting of a support element and telescopic cylinders is also possible in combination with a mounting device which, by means of a suspension element as in FIG Fig. 1 and 2 shown, can be moved within the hoistway.
  • the mounting device must be powered in the elevator shaft and it is necessary to communicate with the mounting device.
  • Fig. 4 energy and communication links to a mounting device 1 in a hoistway 103.
  • the industrial device robot 7 is controlled by a control which comprises a power element 156 arranged on the carrier component 3 and a control system arranged on a floor outside of the elevator shaft 103.
  • PC 157 exists.
  • the control PC 157 and the power unit 156 are connected to one another via a communication line 158, for example in the form of an Ethernet line.
  • the communication line 158 is part of a so-called hanging cable 159, which also includes power lines 160, via which the mounting device 1 is supplied by a voltage source 161 with electrical energy. For reasons of clarity, the lines within the mounting device 1 are not shown.
  • the power section 156 of the industrial robot 7 is thus supplied with electrical energy via the power lines 160 and is in communication communication with the control PC 157 via the communication line 158.
  • the control PC 157 can thus send control signals to the power unit 156 via the communication line 158, which then converts these into concrete controls of the individual electric motors of the industrial robot 7, not shown, and thus for example moves the industrial robot 7 as specified by the control PC 157.
  • Fig. 5 is a part of an executed as an industrial robot 7 installation component 5 with a damping element 130 and an assembly tool coupled thereto in the form of a drill 131 shown.
  • a drill bit 132 is used, which can be driven by the drill 131.
  • the damping element 130 consists of a plurality of parallel rubber bumpers 136, 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, drill-side part 134 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 gives attenuated shocks and vibrations to the second part 135 via the drilling insert 132.
  • a damping element 130 can also be used in a connection element 137 from an industrial robot 7 to an assembly tool in the form of a drill 131 be arranged.
  • the damping element is basically the same as the damping element 130 in FIG Fig. 5 built up.
  • the connecting member 137 is fixedly connected to the drill 131, so that the industrial robot 7 for drilling a hole in a wall of the elevator shaft, the combination of connecting element 137 and drill 131 receives.
  • a damping element is designed as an integral part of a drill.
  • a feed rate during drilling and / or a length of time to drill a hole of a desired depth is monitored.
  • the drill bit used is detected as no longer in order and generates a corresponding message.
  • a method for forming an image of the location of reinforcements within a wall of a hoistway and a method for defining a first and a corresponding second drilling position are described.
  • a region 140 of a wall of a hoistway is shown in which a bore is to be carried out at a first drilling position.
  • the area 140 is divided into grid squares, which are marked to the right with consecutive letters A to J and downwards with ascending numbers 1 to 10. This division was analogous in the Fig. 7b carried out.
  • area 140 extend first and second reinforcements 141, 142 from top to bottom, and at least in the illustrated area 140 are straight and parallel to each other.
  • the first reinforcement 141 extends from B1 to B10 and the second reinforcement 142 from I1 to I10.
  • third and fourth reinforcements 143, 144 run from left to right, whereby they run straight and parallel to each other at least in the area shown.
  • the third reinforcement 143 runs from A4 to J4 and the fourth reinforcement 144 from A10 to J10.
  • the reinforcement detection component 23 is guided by the installation component 5 several times along the wall 105 of the elevator shaft.
  • the Arm istsdetektionskomponente 23 is first several times from the top to down (and vice versa) and then from left to right (and vice versa) out.
  • the armor detection component 23 continuously provides the distance 145 to the armoring 143 closest to the direction of movement during the movement, so that from the known position of the armor detection component 23 and the said distance 145 the illustrated illustration of the position of the armaments 141, 142, 143, 144 can be created.
  • a first possible range 146 for the first drilling position may be determined.
  • this first possible area 146 is a rectangle with the corners C5, H5, C9 and H9.
  • the in Fig. 7b shown region 147 of a wall of a hoistway is, for example, laterally offset from the area 140 in Fig. 7a arranged.
  • this area 147 a second hole is to be performed, although the drilling position can not be freely selected, but in a predetermined manner to the first drilling position in the area 140 according to Fig. 7a must be arranged.
  • the second, corresponding to the first drilling position drilling position must, for example, laterally offset by a certain distance from the first drilling position.
  • the area 147 is in FIG Fig. 7b laterally offset from the area 140 in FIG Fig. 7a arranged.
  • Corresponding first and second drilling positions are in the example shown in the Fig. 7a and 7b arranged in matching grid squares.
  • the second hole in the area 147 of the Fig. 7b also be carried out in grid square B2. This ensures that the second hole is positioned correctly relative to the first hole.
  • FIG. 7b not identical as in Fig. 7a
  • the first reinforcement 141 extends in Fig. 7b from D1 to D10 and the second armor 142 from J1 to J10.
  • the third reinforcement 143 extends in Fig. 7b from A5 to J5 and the fourth reinforcement 144 as in Fig. 7a from A10 to J10.
  • a second possible range 148 for the second drilling position can be determined.
  • this second possible area 148 is a rectangle with the corners E6, I6, E9 and I9.
  • the possible ranges for the first and second drilling position result from the
  • FIG. 8a and 8b An alternative method for defining a first and a corresponding second drilling position is described.
  • the arrangement of the reinforcements 141, 142, 143, 144 in the Fig. 8a corresponds to the arrangement in the Fig. 7a and the arrangement in the Fig. 8b the arrangement in the Fig. 7b , Also identical is the division into grid squares.
  • Fig. 8a possible positions for the first drilling position determined. For this purpose, it is checked with the aid of the reinforcement detection component 23 whether a hole is possible here at a desired drilling position, here D5. This is the case here. Subsequently, further possible positions for the first drilling position are searched. For this purpose, starting from the desired drilling position D5 spiral clockwise further grid squares are checked, in this case successively E5, E6 and D6. As soon as four possible positions have been found, the search for further possible positions is aborted. If one of the positions would not have been possible due to reinforcement, it would continue to search until four possible positions had been found.
  • Fig. 8b shown a possible second drilling position sought. Due to the described assignment of the two drilling positions, the second drilling position must lie in the same grid square as the first drilling position. It is first checked whether the desired drilling position, ie here D5 is also possible for the second drilling position. In the example shown, this is not possible because of a collision with the reinforcement 141, so that spiraling is continued analogously to the procedure for the first drilling position. The second possible position E5 is not possible because of a collision with the reinforcement 143. The third possible position E6 is possible, so that in the in Fig. 8a and 8b illustrated example, the first drilling position 172 in Fig. 8a and the second drilling position 173 in FIG Fig. 8b in each case in the grid square E6 is determined.

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  • Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
EP16733547.0A 2015-07-24 2016-06-30 Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage Active EP3325395B1 (de)

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PL16733547T PL3325395T3 (pl) 2015-07-24 2016-06-30 Zautomatyzowane urządzenie montażowe do wykonywania instalacji w szybie dźwigu instalacji dźwigowej

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EP15178287 2015-07-24
PCT/EP2016/065246 WO2017016782A1 (de) 2015-07-24 2016-06-30 Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage

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EP16733545.4A Active EP3325394B1 (de) 2015-07-24 2016-06-30 Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage
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US (3) US10836610B2 (es)
EP (3) EP3325395B1 (es)
KR (2) KR102585413B1 (es)
CN (3) CN107848768A (es)
AU (3) AU2016299143B2 (es)
BR (3) BR112017026754B1 (es)
CA (3) CA2988505C (es)
ES (2) ES2910664T3 (es)
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