EP3325395B2 - 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
EP3325395B2
EP3325395B2 EP16733547.0A EP16733547A EP3325395B2 EP 3325395 B2 EP3325395 B2 EP 3325395B2 EP 16733547 A EP16733547 A EP 16733547A EP 3325395 B2 EP3325395 B2 EP 3325395B2
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EP
European Patent Office
Prior art keywords
component
elevator shaft
drilling
assembly
wall
Prior art date
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Application number
EP16733547.0A
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German (de)
English (en)
French (fr)
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EP3325395A1 (de
EP3325395B1 (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 PL16733547.0T priority Critical patent/PL3325395T5/pl
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    • 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 method for carrying out an installation process in an elevator shaft of an elevator system.
  • Assembly steps with the help 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 elevator shaft where the component is to be installed and installs the component at a desired location, for example by drilling holes in a shaft wall and attaching the component to the shaft wall with screws or bolts screwed into these holes.
  • the person can use tools and/or machines to do this.
  • a mounting device for aligning guide rails for an elevator car in an elevator shaft is described.
  • installation personnel can align pre-assembled guide rails in the elevator shaft and attach them to retaining profiles in the form of bracket elements installed by installation personnel in the elevator shaft.
  • the mounting device has a screw device for this purpose, 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 aforementioned bracket elements installed by installation personnel.
  • JP3034960B2 , JPH07151119A and JP3214801B2 describe similar mounting devices.
  • An assembly device not covered by the claims for carrying out an installation process in an elevator shaft of an elevator system has a carrier component and a mechatronic installation component.
  • the carrier component is designed to be displaced relative to the elevator shaft, i.e. for example within the elevator shaft, and to be positioned at different heights within the elevator shaft.
  • the installation component is held on the carrier component and designed to carry out an assembly step as part 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 as an assembly step in an at least partially automatically controlled manner.
  • the installation component can use a suitable drilling tool for this purpose. Both the tool and the installation component itself should be designed to cope with the conditions that arise during the assembly step inside the elevator shaft.
  • the mounting device further comprises a reinforcement detection component which is designed to detect reinforcement within a wall of the elevator shaft.
  • Drilling holes in the walls of an elevator shaft which are usually made of concrete, especially reinforced concrete, is difficult for human installation personnel very physically demanding. Drilling also creates dirt and noise and small pieces of wall can fly around. All of this can lead to health problems for the installation staff. It is therefore particularly advantageous if the drilling step can be carried out automatically or at least partially automatically by an assembly device. In particular, it is then not necessary for installation staff to be in the elevator shaft during drilling, which means there is no risk of health problems caused by drilling.
  • Embodiments of the invention are based, among other things, on the idea of being able to carry out installation processes within an elevator shaft of an elevator system in an at least partially automated manner using a suitably designed assembly device. Complete automation of the assembly steps to be carried out here would of course be advantageous.
  • an assembly device which, on the one hand, has a carrier component and, on the other hand, a mechatronic installation component held on this carrier component.
  • the support component can be designed in different ways.
  • the support component can be designed as a simple platform, frame, scaffolding, cabin or similar.
  • the dimensions of the support component should be selected such that the support component can be easily accommodated in the elevator shaft and moved within this elevator shaft.
  • the mechanical design of the support component should be selected such that it can reliably support the mechatronic installation component held on it and, if necessary, can withstand static and dynamic forces exerted by the installation component when carrying out an assembly step.
  • the installation component should be mechatronic, i.e. it should have interacting mechanical, electronic and information technology elements or modules.
  • the installation component should have a suitable mechanism to be able to handle tools during an assembly step.
  • the tools can be brought to an assembly position by the mechanism and/or guided during an assembly step.
  • the tools can be supplied with energy, for example in the form of electrical energy, via the installation component. It is also possible for the tools to have their own energy supply, for example via batteries, accumulators or a separate power supply via cable.
  • the installation component itself can also have a suitable mechanism that forms a tool.
  • Electronic elements or modules of the mechatronic installation component can, for example, be used to appropriately control or monitor mechanical elements or modules of the installation component. Such electronic elements or modules can therefore, for example, serve as a control for the installation component.
  • the installation component can have information technology elements or modules with the help of which it can be determined, for example, to which position a tool should be placed and/or how the tool should be operated and/or guided there during an assembly step.
  • Guide components can also be provided on the support component, with the aid of which the support component can be guided along one or more of the walls of the elevator shaft during vertical displacement within the elevator shaft.
  • the guide components can, for example, be designed as support rollers that roll along the walls of the elevator shaft. Depending on the arrangement of the support rollers, one to, in particular, four support rollers can be provided on the support component.
  • guide ropes can be stretched inside the elevator shaft, which are used to guide the support component.
  • guide rails can be temporarily installed in the elevator shaft to guide the support component.
  • the support component it is possible for the support component to be suspended via two or more resilient, flexible support elements such as ropes, a chain or belts.
  • the mechatronic installation component may include an industrial robot.
  • An industrial robot can be understood as a universal, usually programmable machine for handling, assembling and/or processing workpieces and components. Such robots are designed for use in an industrial environment and are currently used, for example, in the industrial production of complex goods in large quantities, for example in automobile manufacturing.
  • An industrial robot usually has a so-called manipulator, a so-called effector and a controller.
  • the manipulator can be, for example, a robot arm that can be pivoted about one or more axes and/or displaced along one or more directions.
  • the effector can be, for example, a tool, a gripper or something similar.
  • the controller can be used to appropriately control the manipulator and/or the effector, i.e., for example, to appropriately displace and/or guide them.
  • the industrial robot is designed in particular to be coupled to various assembly tools at its cantilevered end.
  • the manipulator is designed to be coupled to various effectors. This enables particularly flexible use of the industrial robot and thus of the assembly device.
  • the control of the industrial robot has in particular a so-called power section 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 section, which then converts these into concrete controls of the electric motors.
  • the power section 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 section were not arranged on the carrier component, a large number of cable connections would have to be routed to the industrial robot via the elevator shaft.
  • the industrial robot By arranging the power section on the carrier component, the industrial robot mainly only needs a power supply and a communication connection, for example in the form of an Ethernet connection between the control PC and the power section, in particular via a so-called hanging cable.
  • a power supply and a communication connection for example in the form of an Ethernet connection between the control PC and the power section, in particular via a so-called hanging cable.
  • This enables a particularly simple cable connection, which is also very robust and less susceptible to errors due to the small number of cables.
  • Additional functions such as safety monitoring in the control system of the industrial robot, can be implemented, which may require additional cable connections between the control PC and the power unit.
  • 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 bracket.
  • a 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 bracket.
  • the robot arm can, for example, be moved in such a way that the retaining bracket is picked up by the passive auxiliary arm and is held in the correct position during the actual attachment, for example by means of a screw to the wall.
  • Industrial robots are often equipped with various sensors that allow them to detect information about their environment, working conditions, components to be processed, etc.
  • sensors can be used to detect forces, pressures, accelerations, temperatures, positions, distances, etc. in order to subsequently evaluate them appropriately.
  • an industrial robot After initial programming, an industrial robot is typically able to carry out a work process partially or fully automatically, i.e. largely autonomously.
  • the execution of the work process can be varied within certain limits, for example depending on sensor information.
  • the control of an industrial robot can be self-learning if necessary.
  • An industrial robot can thus be able to carry out various assembly steps as part of an installation process in an elevator shaft or to adapt to various conditions during such an assembly step due to the way in which its components are mechanically and/or electrically designed and the way in which these components can be controlled using the industrial robot's controller.
  • advantageous properties can already be provided to a large extent by fully developed industrial robots, such as those already in use in other technical areas, and may only need to be adapted to special conditions during installation processes in elevator shafts of elevator systems.
  • the industrial robot In order to be able to bring the industrial robot to a desired position within the elevator shaft, for example, it is attached to the carrier component, whereby the carrier component can be moved together with the industrial robot and, if necessary, other installation components to a desired position within the elevator shaft.
  • the mechatronic installation component can also be designed in a different way.
  • mechatronic machines designed specifically for the application mentioned in a (partially) automated elevator installation are conceivable, in which, for example, special drills, screwdrivers, feed components, etc. are used.
  • linearly displaceable drilling tools, screwing tools and the like could be used here.
  • walls of an elevator shaft on which components are to be mounted are often made of concrete, especially reinforced concrete. Drilling holes in concrete can cause very strong vibrations and high forces occur. Both a drilling tool and 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 can, for example, be integrated in the assembly tool or arranged in a connecting element between the installation component and the assembly tool. In this case, the assembly tool and the connecting element can be considered part of the installation component.
  • a damping element is designed, for example, as one or more rubber buffers arranged in parallel, which are available in a wide range and inexpensively on the market. A single rubber buffer can also be considered a damping element. It is also possible that a damping element is designed as a telescopic damper.
  • the reinforcement detection component is thus able to detect reinforcement, such as a steel profile, which is usually not visually recognizable and is located deeper inside a wall.
  • reinforcement such as a steel profile
  • Information about the existence of such reinforcement can be advantageous, for example, if holes are to be drilled into a wall of the elevator shaft as part of the assembly step, as this can prevent drilling into the reinforcement and thus damage to the reinforcement and possibly damage to a drilling tool.
  • the reinforcement detection component is designed in particular to output a distance to a reinforcement.
  • Such devices are available at low cost. These devices use inductive methods in particular, in which a magnetic field is generated using coils. If there are electrically conductive parts, such as reinforcements, in the magnetic field, the magnetic field is changed. This change can be recorded and evaluated. Since the devices can only record changes in the magnetic field, they must be moved during the measuring or detection process. They cannot therefore be placed on a wall and directly generate and output an image of the position of reinforcements in a wall. In order to create such an image, the reinforcement detection component can be guided along a wall and the distance to a reinforcement can be continuously recorded, particularly in the direction of movement. For example, a very precise image of the position of the reinforcements in the wall can be created using a repeated, grid-like process.
  • the mounting device can further comprise a positioning component which is designed to determine at least one of a position and an orientation of the mounting device within the elevator shaft.
  • the mounting device should be able to use its positioning component to determine its position or pose with respect to the current location and/or orientation within the elevator shaft.
  • the positioning component can be provided to determine a precise position of the mounting device within the elevator shaft with a desired accuracy, for example an accuracy of less than 10 cm, preferably less than 1 cm or less than 1 mm.
  • An orientation of the mounting device can also be determined with high accuracy, i.e. for example an accuracy of less than 10°, preferably less than 5° or 1°.
  • the positioning component can be designed to measure the elevator shaft from its current position. In this way, the positioning component can, for example, recognize where it is currently located in the elevator shaft, how large the distances are to walls, a ceiling and/or a floor of the elevator shaft, etc. Furthermore, the positioning component can, for example, recognize how far it is from a target position, so that based on this information the assembly device can be moved in the desired manner in order to reach the target position.
  • the positioning component can determine the position of the mounting device in different ways. For example, position determination using optical measuring principles is conceivable. For example, laser distance measuring devices can measure distances between the positioning component and walls of the elevator shaft. Other optical measuring methods such as stereoscopic measuring methods or measuring methods based on triangulation 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 similar.
  • the installation component can be designed to carry out several different assembly steps at least partially automatically, preferably fully automatically.
  • the installation component can be designed to use different assembly tools, such as a drill, a screwdriver and/or a gripper, in the various assembly steps.
  • the installation component is designed in particular to accommodate the assembly tool used for the various types of assembly steps before the assembly step is carried out.
  • the installation component can therefore put down an assembly tool that is not required for the next assembly step and instead pick up the assembly tool that is required, i.e. change assembly tools.
  • the installation component can therefore only ever be coupled with the assembly tool that is currently required.
  • the installation component therefore requires little installation space and can carry out assembly steps in many places. It can therefore be used very flexibly. If the installation component were always coupled with all the assembly tools required for the various assembly steps, it would take up significantly more installation space. The respective assembly tools could then be used in significantly fewer places.
  • the assembly device can further comprise a tool magazine component which is designed to store assembly tools required for various assembly steps and to provide them to the installation component. This allows assembly tools which are not required to be stored safely and can thus be secured against falling down during the execution of work steps and during the relocation of the assembly device in the elevator shaft.
  • the installation component can be designed to screw screws into holes in a wall of the elevator shaft at least partially automatically as an assembly step.
  • the installation component can be designed to screw concrete screws into prefabricated holes in a concrete wall of the elevator shaft.
  • Such concrete screws can be used, for example, to create highly resilient holding points within the elevator shaft to which components can be attached, for example.
  • Concrete screws can be screwed directly into concrete, i.e. without necessarily using dowels, and thus enable quick and easy assembly.
  • screwing in screws, especially concrete screws can require high forces or torques, which the installation component or an assembly tool handled by it should be able to provide.
  • the installation component can be designed to attach components to the wall of the elevator shaft at least partially automatically as an assembly step.
  • components can be a wide variety of shaft materials such as retaining profiles, parts of guide rails, screws, bolts, clamps or similar.
  • the mounting device may further comprise a magazine component which is designed to store components to be installed and to provide them to the installation component.
  • the magazine component can accommodate a large number of screws, in particular concrete screws, and make them available to the installation component when required.
  • the magazine component can either actively feed the stored components to the installation component or passively make the components available in such a way that the installation component can actively remove these components and then, for example, assemble them.
  • the magazine component may optionally be designed to store different types of components and to provide them to the installation component simultaneously or sequentially. Alternatively, several different magazine components may be provided in the assembly device.
  • the mounting device may further comprise a displacement component which is designed to displace the support component vertically within the elevator shaft.
  • the assembly device itself can be designed to suitably displace its carrier component within the elevator shaft using its displacement component.
  • the displacement component will generally have a drive with which the carrier component can be moved within the elevator shaft, i.e., for example, it can be moved between different floors of a building.
  • the displacement component will also have a control with which the drive can be operated in a controlled manner 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 a displacement component. If necessary, this drive can already be a drive machine that will later be used for the elevator system, with the help of which an elevator car is to be moved in the fully installed state and which can be used to displace the carrier component during the preceding installation process. In this case, it can be provided to establish a data communication option between the assembly device and the external displacement component. so that the mounting device can cause the displacement component to displace the support component to a desired position within the elevator shaft.
  • the support component can be connected to a counterweight via a tensile, flexible support element such as a rope, chain or belt, and the drive can act between the support component and the counterweight.
  • the same drive configurations are possible for moving the support component as for moving elevator cars.
  • the displacement component can be designed in different ways in order to be able to move the support component together with the installation component held on it within the elevator shaft.
  • the displacement component can be fixed either to the support component of the assembly device or to a stop at the top inside the elevator shaft and have a tensile, flexible support means such as a rope, a chain or a belt, one end of which is held on the displacement component and the other end of which is fixed to the other element, i.e. at the stop at the top inside the elevator shaft or to the support component.
  • the displacement component can be attached to the support component of the assembly device and a support means held on the displacement component can be attached with its other end at the top to a stop point inside the elevator shaft.
  • the displacement component can be fixed at the top to the stop point in the elevator shaft and the free end of its support means can then be fixed to the support component of the assembly device.
  • the displacement component can then specifically displace the support component within the elevator shaft by displacing the support means.
  • such a displacement component can be provided as a type of cable winch, in which a flexible cable can be wound onto a winch driven by an electric motor, for example.
  • the cable winch can either be fixed to the support component of the assembly device or alternatively, for example, at the top of the elevator shaft, for example on an elevator shaft ceiling.
  • the free end of the cable can then be attached oppositely either at the top of the holding point in the elevator shaft or at the bottom of the support component.
  • the assembly device can then be moved within the elevator shaft by specifically winding and unwinding the cable onto the winch.
  • the displacement component may be attached to the support component and configured to apply a force to a wall of the elevator shaft by moving a motion component to displace the support component within the elevator shaft by moving the motion component along the wall.
  • the displacement component can be directly attached to the support component and actively move along the wall of the elevator shaft using its motion component.
  • the displacement component can have a drive that 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 elevator shaft so that the wheels or rollers set in rotation by the drive can roll along the wall with as little slippage as possible and can thereby displace the displacement component together with the support component attached to it within the elevator shaft.
  • a movement component of a displacement component transfers forces to the wall of the elevator shaft in a different way.
  • gears could serve as a movement component and engage with a rack attached to the wall in order to be able to displace the displacement component vertically in the elevator shaft.
  • the support component may further comprise a fixing component which is designed to fix the support component and/or the installation component within the elevator shaft in a direction transverse to the vertical, i.e., for example, in a horizontal or lateral direction.
  • Fixing in a lateral direction can be understood to mean that the support component together with the installation component attached to it can not only be moved vertically, for example with the help of the displacement component, to a position at a desired height within the elevator shaft, but that the support component can then also be fixed there in a horizontal direction with the help of the fixing component.
  • support on a wall should be understood to mean that the fixing component is supported directly and without the use of components pre-mounted on the wall, such as bracket elements, and can therefore introduce forces into the wall.
  • the support can be provided in various ways.
  • the fixing component is designed to fix at least one of the support component and the installation component within the elevator shaft in a direction along the vertical.
  • the fixing component can, for example, be designed to support or brace itself laterally against the walls of the elevator shaft so that the support component can no longer move in a horizontal direction relative to the walls.
  • the fixing component can, for example, have suitable supports, stamps, levers or similar.
  • the supports, stamps or levers can in particular be designed in such a way that they can be moved outwards towards the wall of the elevator shaft and thus pressed against the wall. It is possible that supports, stamps or levers are arranged on opposite sides of the carrier component or the installation component, all of which can be moved outwards.
  • supports, rams or levers that can be moved outwards are arranged on only one side and a fixed support element on the opposite side.
  • the support element has in particular a vertically elongated shape and extends in particular at least over the entire vertical extent of the support component.
  • it has a mainly beam-shaped basic shape.
  • the mounting device is in particular introduced into the elevator shaft in such a way that the support element is arranged on a side with door openings in the walls of the elevator shaft. Due to the elongated shape, the support element enables sufficient support even if the mounting device is to be fixed in the area of a door opening.
  • the support element can in particular be designed in such a way that its distance from the carrier component can be adjusted manually, in particular in different stages. The distance can only be adjusted manually and only before the assembly device is inserted into the elevator shaft. This allows the fixing device to be adapted to the dimensions of the elevator shaft.
  • Caulking against the walls of the elevator shaft can cause the support component to deform. This is particularly the case if the support or caulking is carried out in the area of a door opening.
  • the deformation can change the relative position of a magazine component described above to the installation component, which can lead to problems when the installation component accommodates tools and components to be installed.
  • Such problems can be avoided, for example, if the support component is designed to be so rigid that it does not deform when supported or caulked, or if the magazine components are arranged relative to the installation component in such a way that their relative positions to one another do not change even if the support component is deformed.
  • the fixing device prefferably has suction cups, which can be used to exert a holding force against a wall of the elevator shaft and thus to fix the support component against the walls of the elevator shaft.
  • suction cups can be used to exert a holding force against a wall of the elevator shaft and thus to fix the support component against the walls of the elevator shaft.
  • a vacuum can be actively generated at the suction cups using a pump to increase the holding force.
  • the support component is supported on the walls of the elevator shaft via the suction cups. Fixing using suction cups also works in a vertical direction.
  • the support component prefferably fixed to one or more walls of the elevator shaft using fastening means, for example in the form of screws, bolts or nails, and thus to be supported on the walls.
  • This support also works in a vertical direction. This temporary fixation is released when the support component is to be moved to another position within the elevator shaft.
  • the support component can be supported and fixed on components already installed in the elevator shaft, such as support profiles.
  • the support can also be designed in such a way that it also acts in a vertical direction.
  • a frame, against which the assembly tool is movably guided can be fixed to a wall of the elevator shaft, for example using suction cups.
  • the frame mentioned can also be temporarily fixed to a wall of the elevator shaft using fastening means, for example in the form of screws, bolts or nails.
  • the fixing component can serve as a kind of abutment for the installation component attached to the support component, so that the installation component can be supported indirectly on the sides of the elevator shaft via the fixing component.
  • Such lateral support can be necessary, for example, during a drilling process in particular, in order to absorb the horizontal forces that occur and to avoid or dampen vibrations.
  • the mounting device can 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, for example, be guided in a defined movement along the wall of the elevator shaft using the installation component and the distance to the wall can be continuously measured. This allows conclusions to be drawn about the angular position of the wall and the condition of the wall in terms of unevenness, steps or existing holes.
  • the information obtained can, for example, be used to adapt the control of the installation component, such as changing a planned drilling position.
  • the scanning component can be guided in a zigzag pattern along the wall in an area where 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 to adjust the control of the installation component.
  • the invention relates to a method for carrying out an installation process in an elevator shaft of an elevator system.
  • the method comprises introducing an assembly device according to an embodiment as described herein into an elevator shaft, a controlled displacement of the assembly device within the elevator shaft and finally an at least partially automatic, preferably fully automatic, execution of an assembly step as part of the installation process using the assembly device in the form of at least partially automatically controlled drilling of holes in a wall of the elevator shaft.
  • the assembly device described above can be used to carry out assembly steps of an installation process in an elevator shaft partially or completely automated, and thus partially or completely autonomously.
  • the reinforcement detection component in order to detect reinforcement within a wall of the elevator shaft, is guided along the wall of the elevator shaft using the installation component.
  • the reinforcement detection component is guided along the wall of the elevator shaft several times using the installation component. An image of the position of the reinforcement within the wall of the elevator shaft is created.
  • wear of a drill bit inserted into a drill is monitored.
  • a wear limit is reached, a corresponding message is generated or drilling is stopped.
  • a drill is understood to be a drilling machine into which a drill bit can be inserted and driven by the drilling machine.
  • the drill bits used are subject to wear and can also be damaged, for example, if they hit reinforcement.
  • By monitoring wear it can be ensured that the drilling carried out delivers the desired result and that the desired assembly can be carried out correctly. In particular, complex and therefore expensive rework in the form of drilling by hand is avoided.
  • a feed rate during drilling and/or a time period for drilling a hole to a desired depth is monitored. If a feed rate falls below a limit value and/or a time period limit value is exceeded, the drilling insert used is recognized as no longer OK and a corresponding message is generated.
  • the degree of wear can be determined from the feed rate achieved and/or the time required to drill a hole with a desired depth and, for example, the feed rate can be set depending on the degree of wear. For example, a lower feed rate can be set as the degree of wear increases.
  • the reinforcement detection component is designed in particular to output a distance to a reinforcement.
  • An image of the position of the reinforcement in the wall can be created from the known position of the reinforcement detection component and the distance to a reinforcement output by the reinforcement detection component.
  • the reinforcement detection component is moved along the wall several times, in particular in a grid pattern, using the installation component. Based on the distances to reinforcements output by the reinforcement detection component and the positions of the reinforcement detection component, a very precise image of the position of the reinforcement in the wall is created.
  • possible drilling positions can be determined. These are determined in such a way that the drilling can be carried out can be drilled without the drill being sufficiently far away from the reinforcement.
  • some parts such as bracket elements, must be attached to a wall of the elevator shaft with two screws or bolts.
  • the components have openings through which the screws or bolts must be passed.
  • the arrangement or position of the openings in relation to one another therefore also determines the arrangement of the drilling positions for drilling the holes for the screws or bolts. In this case, it is therefore necessary to determine a first and a corresponding second drilling position, which must be arranged in a predetermined manner in relation to one another.
  • a first possible area for the first drilling position and a second possible area for the second drilling position are determined.
  • the first and second drilling positions are then determined on the basis of the predetermined arrangement of the drilling positions relative to one another and the two possible areas for the drilling positions.
  • an overlap area between the two areas mentioned is determined and the two drilling positions are defined within this overlap area.
  • first several possible positions for the first drilling position are determined and then it is checked whether the second drilling position is possible at a position corresponding to a possible first drilling position. As soon as a second drilling position corresponding to a possible first drilling position is found, these two drilling positions in particular are selected. It is also possible that several possible pairs of first and second drilling positions are determined and then one of these pairs is selected as drilling positions.
  • an area in which a drilling is planned can be divided into grid squares.
  • To search for possible first drilling positions it is checked whether drilling is possible at a desired position. Then, starting from the desired position, grid squares are checked in a spiral until a predetermined number, for example four or six, of possible first drilling positions have been found. As described above, there is a second corresponding drilling position for each first drilling position. To determine the second drilling position, the second drilling positions corresponding to the possible first drilling positions are checked. To do this, only the drilling positions that correspond to a possible first drilling position can be checked, or the procedure can also be spiral.
  • Fig. 1 shows an elevator shaft 103 of an elevator system 101 in which an assembly device 1 is arranged.
  • the assembly 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 to be moved vertically within the elevator shaft 103, i.e. along the vertical 104, i.e., for example, to be moved to different vertical positions on different floors within a building.
  • the mechatronic installation component 5 is designed as an industrial robot 7, which is attached to the frame of the carrier component 3 in a hanging manner. An arm of the industrial robot 7 can be moved relative to the carrier component 3 and, for example, moved towards a wall 105 of the elevator shaft 3.
  • the support component 3 is connected via a steel cable serving as a support means 17 to a displacement component 15 in the form of a motor-driven cable 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 cable 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 assembly device 1 further comprises a fixing component 19, by means of which the carrier component 3 can be fixed in the lateral direction, i.e. in the horizontal direction, within the elevator shaft 103.
  • the fixing component 19 on the front of the carrier component 3 and/or the stamps (not shown) on a rear side of the carrier component 3 can be displaced forwards or backwards outwards for this purpose and in this way the carrier component 3 can be wedged between walls 105 of the elevator shaft 103.
  • the fixing component 19 and/or the stamps can be spread outwards, for example using hydraulics 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.
  • the support component 3 is designed as a cage-like frame in which several horizontally and vertically running beams form a mechanically resilient structure.
  • the beams and any struts provided are dimensioned in such a way that the support component 3 can withstand forces that can occur during various assembly steps carried out by the installation component 5 as part of an installation process in the elevator shaft 103.
  • Attached to the top of the cage-like support component 3 are holding cables 27, 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 cable winch, pull the carrier component 3 up or down on a support means 17 rigidly fixed at the top of the elevator shaft 3.
  • the displacement component 15 could also be fixedly mounted directly on the support component 3 and, for example, drive rollers via a drive that are pressed firmly against walls 105 of the elevator shaft 103.
  • the mounting device 1 could move vertically within the elevator shaft 103 automatically without any prior installations having to be carried out within the elevator shaft 103, in particular without, for example, a support means 17 having to be provided within the elevator shaft 103.
  • guide components for example in the form of support rollers 25, can be provided on the support component 3, with the aid of which the support component 3 can be guided along one or more of the walls 105 of the elevator shaft 103 during a vertical displacement within the elevator shaft 103.
  • the fixing component 19 is provided on the side of the support component 3.
  • the fixing component 19 is designed with an elongated beam running in the vertical direction, which can be displaced in the horizontal direction with respect to the frame of the support component 3.
  • the beam can be attached to the support component 3, for example, via a lockable hydraulic cylinder or a self-locking motor spindle.
  • stamps could be moved backwards on the rear side of the support component 3 in order to spread the support component 3 in the elevator shaft 103.
  • the support component 3 can be caulked within the elevator shaft 103 and thus, for example, fix the support component 3 in the lateral direction within the elevator shaft 103 during an assembly step.
  • forces that are introduced onto the support component 3 can be transferred to the walls 105 of the elevator shaft 103, preferably without the support component 3 being able to shift within the elevator shaft 103 or start to vibrate.
  • the carrier component 3 can be designed in two parts.
  • the installation component 5 can be attached to a first part and the fixing component 19 can 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 relative 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.
  • mechatronic installation component 5 implemented using an industrial robot 7. It is pointed out that the mechatronic installation component 5 can also be implemented in a different way, for example with differently designed actuators, manipulators, effectors, etc. In particular, the installation component could have mechatronics or robotics specially adapted for use in an installation process within an elevator shaft 103 of an elevator system 1.
  • the industrial robot 7 is equipped with several robot arms that can be pivoted about pivot axes.
  • the industrial robot can have at least six degrees of freedom, i.e. an assembly tool 9 guided by the industrial robot 7 can be moved with six degrees of freedom, i.e. for example with three rotational degrees of freedom and three translational degrees of freedom.
  • the industrial robot can be designed as a vertical articulated arm robot, as a horizontal articulated arm robot or as a SCARA robot or as a Cartesian robot or gantry robot.
  • the robot can be coupled to various assembly tools 9 at its cantilevered end 8.
  • the assembly tools 9 can differ in terms of their design and intended use.
  • the assembly tools 9 can be held on the carrier component 3 in a tool magazine component 14 in such a way that the cantilevered end of the industrial robot 7 can be moved towards them and coupled to one of them.
  • the industrial robot 7 can, for example, have a tool changing system which is designed in such a way that it enables at least the handling of several such assembly tools 9.
  • One of the assembly tools 9 can be designed as a drilling tool, similar to a drilling machine.
  • the installation component 5 can be designed to enable 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 be moved and handled by the industrial robot 7, for example, in such a way that the drilling tool uses a drill to drill holes at a designated position, for example in concrete of the wall 105 of the elevator shaft 103, into which holes fastening screws can later be screwed for fixing fastening elements, for example.
  • the drilling tool and the industrial robot 7 can be designed so that they can withstand, for example, the considerable forces and vibrations that occur when drilling into concrete.
  • a further assembly tool 9 can be designed as a screwing device in order to screw screws at least partially automatically into previously drilled holes in a wall 105 of the elevator shaft 103.
  • the screwing device can in particular be designed in such a way that it can also be used to screw concrete screws into the concrete of a shaft wall 105.
  • a magazine component 11 can also be provided on the support component 3.
  • the magazine component 11 can be used to store components 13 to be installed and to provide them to the installation component 5.
  • the magazine component 11 is arranged in a lower area of the frame of the support component 3 and accommodates various components 13, for example in the form of different profiles, which are to be mounted on walls 105 within the elevator shaft 103 in order to be able to attach guide rails for the elevator system 101 to them, for example. Screws can also be stored and provided in the magazine component 11, which can be screwed into prefabricated holes in the wall 105 using the installation component 5.
  • the industrial robot 7 can, for example, automatically grab a fastening screw from the magazine component 11 and, for example, screw it incompletely into previously drilled fastening holes in the wall 105 using an assembly tool 9 designed as a screw device.
  • An assembly tool 9 can then be changed on the industrial robot 7 and, for example, a component 13 to be assembled can be removed from the magazine component 11.
  • the component 13 can have fastening slots.
  • the assembly tool 9, which is designed as a screw device can then be reconfigured and the fastening screws can be tightened.
  • an installation process in which components 13 are mounted on a wall 105 can be carried out completely or at least partially automatically in that the installation component 5 first drills holes in the wall 105 and then fastens components 13 in these holes using fastening screws.
  • Such an automated installation process can be carried out relatively quickly and can help to save considerable installation effort and thus time and costs, particularly when installation work has to be carried out repeatedly within an elevator shaft. Since the assembly device can carry out the installation process largely automatically, interactions with human installation personnel can be avoided or at least reduced to a small extent, so that risks that otherwise typically occur in the context of such installation processes, in particular accident risks, for installation personnel can be significantly reduced.
  • a positioning component 21 can also be provided.
  • the positioning component 21 can, for example, be permanently mounted on the carrier component 3 and thus be moved when the mounting device 1 is moved within the elevator shaft 3.
  • the positioning component 21 could also be arranged independently of the mounting device 1 at a different 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 to be able to determine the current position of the mounting device 1 precisely. Optical measuring methods in particular appear to be suitable for enabling a desired accuracy in 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 use these signals to determine an actual positioning relative to a target positioning within the elevator shaft 103. Based on this, the control can then, for example, first move or have the support component 3 move to a desired height within the elevator shaft 103. The control can then suitably control the installation component 5, taking into account the actual position then determined, for example to drill holes at desired locations within the elevator shaft 3, screw in screws and/or ultimately mount components 13.
  • the assembly device 1 also has a reinforcement detection component 23.
  • the reinforcement detection component 23 is accommodated in the magazine component 11 in a similar way to one of the assembly tools 9 and can be handled by the industrial robot 7.
  • the reinforcement detection component 23 can thus be brought by the industrial robot 7 to a desired position at which, for example, a hole is subsequently to be drilled in the wall 105.
  • the reinforcement detection component 23 could also be provided in another way on the assembly device 1.
  • the reinforcement detection component 23 is designed to detect reinforcement within the wall 105 of the elevator shaft 103.
  • the reinforcement detection component can, for example, use physical measuring methods in which electrical and/or magnetic properties of the typically metallic reinforcement within a concrete wall are used to detect this reinforcement with precise positioning.
  • a control of the mounting device 1 can, for example, correct previously assumed positions of screw holes to be drilled in such a way that there is no overlap between the screw holes and the reinforcement.
  • work steps and a workflow can be coordinated during an installation process within an elevator shaft 103 and, for example, machine-human interactions can be minimized, i.e. a system that works as autonomously as possible can be created.
  • machine-human interactions can be minimized, i.e. a system that works as autonomously as possible can be created.
  • a less complex and therefore more robust system can be used for an assembly device, although in this case automation is only established to a lesser degree and thus typically more machine-human interactions are necessary.
  • a fixing component is arranged, which consists of a support element 119 and a telescopic cylinder 120.
  • the support element 119 is arranged in such a way that it is on one side with the Fig. 3 not shown door openings 106 in the walls 105 of the elevator shaft 103 (analogous to Fig. 1 ).
  • the mounting device 1 is thus introduced into the elevator shaft 103 in such a way that the support element 119 is arranged accordingly.
  • the elongated support element 119 has a mainly cuboid or beam-shaped basic shape and is aligned in a vertical direction. Analogous to the representation in Fig. 1 and 2 it extends over the entire vertical extent of the carrier component 3 and also protrudes beyond the carrier component in both directions.
  • the support element 119 is connected to the carrier component 3 via two cylindrical connecting elements 123.
  • the connecting elements 123 consist of two parts, not shown separately, which can be manually pushed into and pulled apart from one another, and can be fixed in several positions. This allows a distance 122 to be set between the support element 119 and the carrier component 3.
  • a telescopic cylinder 120 is arranged centrally on the side of the carrier component 3 opposite the support element 119.
  • the telescopic cylinder 120 has an extendable piston 121 which is connected to a U-shaped extension element 124.
  • the piston 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 element 124 connected to the piston 121 rest against the 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 in the vertical direction and in the horizontal direction, i.e. transverse to the vertical direction.
  • the telescopic cylinder 120 is extended and retracted by an electric motor.
  • other types of drive such as pneumatic or hydraulic, are also conceivable.
  • the in Fig. 3 The telescopic cylinder 120 shown is arranged on or in the region of an upper side of the carrier component 3. Analogously, the carrier component 3 also has a telescopic cylinder on or in the region of its underside.
  • two telescopic cylinders or more than two, for example three or four telescopic cylinders, can be arranged at the same height.
  • the piston of the telescopic cylinder can be placed on the wall of the elevator shaft without the need for an extension element.
  • a fixing component consisting of a support element and telescopic cylinders is also possible in combination with a mounting device which is fixed by means of a support means as in Fig. 1 and 2 shown, can be moved within the elevator shaft.
  • the mounting device must be supplied with energy in the elevator shaft and communication with the mounting device is necessary.
  • Fig. 4 Energy and communication connections to an assembly device 1 in an elevator shaft 103 are shown.
  • the assembly device 1 has a carrier component 3 and a mechatronic installation component 5 in the form of an industrial robot 7.
  • the industrial robot 7 is controlled by a controller that consists of a power unit 156 arranged on the carrier component 3 and a control PC 157 arranged on a floor outside the elevator shaft 103.
  • 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 assembly device 1 is supplied with electrical energy from a voltage source 161. For reasons of clarity, the lines within the assembly device 1 are not shown.
  • the power section 156 of the industrial robot 7 is therefore supplied with electrical energy via the power lines 160 and is in communication with the control PC 157 via the communication line 158.
  • the control PC 157 can therefore send control signals to the power section 156 via the communication line 158, which then converts these into specific controls of the individual electric motors (not shown) of the industrial robot 7 and thus, for example, moves the industrial robot 7 as specified by the control PC 157.
  • a part of an installation component 5 designed as an industrial robot 7 is shown with a damping element 130 and an assembly tool coupled to it in the form of a drill 131.
  • a drilling insert 132 is inserted into the drill 131 and can be driven by the drill 131.
  • the damping element 130 consists of several rubber buffers 136 arranged in parallel, each of which can be regarded as a damping element.
  • the damping element 130 is inserted in an arm 133 of the industrial robot 7 and divides this 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 passes on shocks and vibrations introduced via the drilling insert 132 to the second part 135 in a dampened manner.
  • a damping element 130 can also be arranged in a connecting element 137 from an industrial robot 7 to an assembly tool in the form of a drill 131.
  • the damping element is basically the same as the damping element 130 in Fig. 5
  • the connecting element 137 is firmly connected to the drill 131, so that the industrial robot 7 receives the combination of connecting element 137 and drill 131 for drilling a hole in a wall of the elevator shaft.
  • a damping element prefferably designed as an integral part of a drill.
  • a feed rate during drilling and/or a time period for drilling a hole with a desired depth is monitored. If a feed rate falls below a limit value and/or a time period limit value is exceeded, the drilling insert used is recognized as no longer in order and a corresponding message is generated.
  • FIG. 7a and 7b A method for creating an image of the position of reinforcements within a wall of an elevator shaft and a method for determining a first and a corresponding second drilling position are described.
  • Fig. 7a an area 140 of a wall of an elevator shaft is shown in which a drilling is to be carried out at a first drilling position.
  • the area 140 is divided into grid squares, which are marked with consecutive letters A to J to the right and with ascending numbers 1 to 10 to the bottom. This division was analogous in the Fig. 7b carried out.
  • first and second reinforcements 141, 142 run from top to bottom, running straight and parallel to one another at least in the region 140 shown.
  • the first reinforcement 141 runs from B1 to B10 and the second reinforcement 142 from I1 to I10.
  • third and fourth reinforcements 143, 144 run from left to right, running straight and parallel to one another at least in the region 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 several times by the installation component 5 along the wall 105 of the elevator shaft.
  • the reinforcement detection component 23 is first guided several times from top to bottom (and vice versa) and then from left to right (and vice versa).
  • the reinforcement detection component 23 continuously provides the distance 145 to the reinforcement 143 closest in the direction of movement, so that the image of the position of the reinforcements 141, 142, 143, 144 shown can be created from the known position of the reinforcement detection component 23 and the distance 145 mentioned.
  • a first possible area 146 for the first drilling position can be determined.
  • this first possible area 146 is a rectangle with corners C5, H5, C9 and H9.
  • the in Fig. 7b The area 147 of a wall of an elevator shaft shown is, for example, laterally offset from the area 140 in Fig. 7a A second drilling is to be carried out in this area 147, whereby the drilling position cannot be freely selected, but is in a predetermined manner relative to the first drilling position in the area 140 according to Fig. 7a
  • the second drilling position corresponding to the first drilling position must be offset laterally by a certain distance from the first drilling position.
  • the area 147 is in Fig. 7b offset laterally by this distance from the area 140 in Fig. 7a
  • Corresponding first and second drilling positions are shown in the example shown in the Fig. 7a and 7b arranged in matching grid squares.
  • the courses of reinforcements 141, 142, 143, 144 in Fig. 7b not identical as in Fig. 7a
  • the first reinforcement 141 runs in Fig. 7b from D1 to D10 and the second reinforcement 142 from J1 to J10.
  • the third reinforcement 143 runs in Fig. 7b from A5 to J5 and the fourth reinforcement 144 as in Fig. 7a from A10 to J10.
  • a second possible area 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 areas for the first and second drilling positions result from the
  • first drilling position 170 is in Fig. 7a and the second drilling position 171 in Fig. 7b each in grid square E7.
  • Fig. 8a possible positions for the first drilling position are determined.
  • the reinforcement detection component 23 is used to check whether drilling is possible at a desired drilling position, in this case D5. This is the case here.
  • further possible positions for the first drilling position are searched for. To do this, starting from the desired drilling position D5, further grid squares are checked in a spiral clockwise direction, in this case E5, E6 and D6 one after the other.
  • the search for further possible positions is aborted. If one of the positions was not possible due to reinforcement, the search would continue until four possible positions have been found.
  • a possible second drilling position is searched for. Due to the described assignment of the two drilling positions, the second drilling position must be in the same grid square as the first drilling position.
  • the first thing that is checked is whether the desired drilling position, in this case D5, is also possible for the second drilling position. In the example shown, this is not possible due to a collision with the reinforcement 141, so the search continues in a spiral, analogous to the procedure for the first drilling position.
  • the second possible position E5 is not possible due to a collision with the reinforcement 143.
  • the third possible position E6 is possible, so that in the Fig. 8a and 8b In the example shown, the first drilling position 172 in Fig. 8a and the second drilling position 173 in Fig. 8b in the respective grid square E6.

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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 EP3325395B2 (de)

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PL16733547.0T PL3325395T5 (pl) 2015-07-24 2016-06-30 Zautomatyzowane urządzenie montażowe do wykonywania instalacji w szybie dźwigu instalacji dźwigowej

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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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