EP3325396A1

EP3325396A1 - Automated mounting device for performing assembly jobs in an elevator shaft of an elevator system

Info

Publication number: EP3325396A1
Application number: EP16733548.8A
Authority: EP
Inventors: Christian Studer; Raphael Bitzi; Erich Bütler; Andrea CAMBRUZZI; Philipp Zimmerli
Original assignee: Inventio AG
Current assignee: Inventio AG
Priority date: 2015-07-24
Filing date: 2016-06-30
Publication date: 2018-05-30
Anticipated expiration: 2036-06-30
Also published as: ES2769749T3; CA2988509C; NZ737797A; SG11201800575SA; RU2722774C2; RU2018106302A; MY187387A; AU2016299144A1; MY187853A; PL3325396T3; KR102585414B1; KR102585413B1; RU2018106279A3; KR20180032569A; US20180208438A1; IL256596B; EP3325395B1; EP3325396B1; BR112017026363A2; WO2017016780A1

Abstract

A mounting device (1) for performing an assembly process in an elevator shaft (103) of an elevator system (101) is described. Said mounting device (1) comprises a support component (3) and a mechatronic assembly component (5). The support component (3) is designed to move within the elevator shaft (103). The assembly component (5) is retained on the support component (3) and is designed to carry out a mounting step in an at least partially automatic manner during the assembly process. In particular, the assembly component (5) can be in the form of an industrial robot (7). The mounting device (1) allows repetitive mounting jobs, for example, such as drilling holes and driving in screws, etc., to be performed in a partially or fully automated manner. The mounting effort, time and/or costs can be reduced.

Description

Automated assembly device for carrying out installations in an elevator shaft of an elevator installation

The present invention relates to a mounting device by means of which

Installation operations in an elevator shaft of an elevator system can be performed. Furthermore, the invention relates to a method for performing a

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 a lot of effort and / or high costs, as a

Variety 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, are so far mostly from

Technicians or installation personnel. Typically, 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.

Particularly in the case of very long elevator installations, that is to say so-called high-rise elevators, with the aid of which large differences in height in tall buildings are to be overcome, a number of components to be installed in the elevator shaft can be very large and therefore installation processes involve considerable installation effort and high installation costs bring.

In JP 3 214801 B2, a mounting device for alignment of

Guide rails for an elevator car described in an elevator shaft. By means of the mounting device can be aligned by installation personnel in the hoistway pre-mounted guide rails and attached to installation staff in the elevator shaft holding profiles in the form of bracket elements become. 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.

There may therefore be a need to reduce a workload and / or cost of installing components within a hoistway of an elevator system. Further, for example, there may be a need to reduce a risk of personal injury during installation operations within a hoistway of an elevator installation. In addition, for example, there may be a need to be able to carry out installation operations in an elevator shaft within a shorter period of time.

At least one of the stated needs can be met by a mounting device or a mounting method according to the independent claims. Advantageous embodiments are defined in the dependent claims and the following description.

According to one aspect of the invention, a mounting device for carrying out an installation process in an elevator shaft of an elevator installation is proposed. 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.

Possible features and advantages of embodiments of the invention may be considered, inter alia, as being based on ideas and findings described below, without, however, limiting an extent of the invention.

As indicated at the outset, it has been recognized that installation procedures for mounting components within a hoistway of an elevator system can involve a significant amount of work that has hitherto largely been performed by human installation personnel. Depending on the size of the elevator system and thus after The number of components to be assembled can often involve a mounting of all components required for the elevator installation within the elevator shaft over several days or even several weeks.

Embodiments of the invention are based inter alia on the idea

Installation operations within a hoistway of an elevator system using a suitably trained mounting device to perform at least partially automated. A complete automation of this case to be performed assembly steps would of course be advantageous.

In the context of installation processes, in particular highly repetitive assembly steps, i. Installation steps that must be performed many times during the installation of the elevator system, be made automated. For example, typically, to install a guide rail within a hoistway, 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.

For this purpose, 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. For example, 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 easily in the elevator shaft

taken up and relocated within this hoistway. 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. For example, the installation component should have a suitable mechanism in order, for example, to 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.

Alternatively, 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, mechanical elements or modules of the

Installation component suitable to control or control. Such

electronic elements or modules can thus serve, for example, as a control for the installation component.

Furthermore, the installation component may have information technology elements or modules with which, for example, it can be deduced to which position a tool is brought and / or how the tool is to be operated and / or guided there during an assembly step.

An interaction between the mechanical, electronic and

Information technology elements or modules should take place in such a way that, as part of the installation process, at least one assembly step can be performed semi-automatically or fully automatically by the mounting device.

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 may be one to four in particular

Support rollers may be provided.

It is also possible that within the elevator shaft guide cables are stretched, which are used to guide the carrier component. Besides, too temporarily guide rails for guiding the carrier component are mounted in the elevator shaft. In addition, it is possible that the carrier component is suspended by means of two or more loadable, bendable suspension elements such as ropes, a chain or belt.

According to one embodiment, 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. Usually, 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 to suitably control the manipulator and / or the effector, 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. In other words, 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 these 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. Due to the arrangement of the power unit on the carrier component must for the industrial robot mainly only a power supply and a

Communication connection, for example in the form of an Ethernet connection between the control PC and power unit are provided in particular via a so-called hanging cable. This allows a particularly simple cable connection, which also because of the small number of cables very robust and less prone to

Mistake is. 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. For attaching the retaining clip to a wall of the elevator shaft, the robot arm can be moved, for example, so that the headband is received by the passive auxiliary arm and the actual fastening, for example by means of a

Screw is held on the wall in the correct position.

Often, industrial robots are also equipped with various sensors that enable them to identify information, for example, about their environment, working conditions, components to be processed or the like. For example, sensors, forces, pressures, accelerations, temperatures, positions, distances, etc. can be detected in order to subsequently evaluate them appropriately.

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. Furthermore, a controller of an industrial robot may optionally be self-learning. An industrial robot may thus be capable of performing various assembly steps as part of an installation operation in a single installation 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 the control of the industrial robot

To perform elevator shaft or adapt to different circumstances during such an assembly step.

In this framework advantageous properties can already be found in large parts of ready-developed industrial robots, as they are already in use in other technical fields are, are provided and need, if necessary, only to be adapted to special circumstances during installation processes in elevator shafts elevator installations. To the industrial robot, for example, within the

To bring elevator shaft to a desired position, this is attached to the carrier component, wherein the carrier component together with the

Industrial robot and optionally other installation components can be moved to a desired position within the hoistway.

As an alternative to the design as an industrial robot, the mechatronic

Installation component also be configured in other ways. 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.

According to one embodiment, the mounting device may 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. In other words, the mounting device using their

Positioning component to be able to determine their position or pose with respect to the current spatial position and / or orientation within the hoistway.

In other words, 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.

Optionally, the positioning component may in this case 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 hoistway, how large, for example, distances to walls, a ceiling and / or a floor of the hoistway, etc. Furthermore, 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 is under

Use of optical measuring principles conceivable. For example, you can

Laser distance gauges Measure distances between the positioning component and walls of the hoistway. Other optical measuring methods such as stereoscopic measuring methods or triangulation-based measuring methods are also conceivable. Besides optical measuring methods are also very different others

Positioning method conceivable, for example, based on

Radar reflections or the like.

According to one embodiment, the installation component is designed to execute several different assembly steps at least partially automatically, preferably fully automatically. In particular, 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 different assembly tools enables the mechatronic installation component during one

Installation process to perform various assembly steps simultaneously or sequentially, for example, to finally attach a component within the hoistway at a suitable position, for example.

In particular, the installation component is designed to provide the assembly tool used in each of the various types of assembly steps

To carry out the assembly step. 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. According to one embodiment, 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. Thus, unused assembly tools can be safely stored and can be secured during the execution of operations and during the relocation of the mounting device in the elevator shaft against falling down.

For example, according to one embodiment, the installation component is designed to drill holes in a wall of the hoistway 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.

For example, walls of a hoistway to which components are to be mounted are often made of concrete, in particular reinforced concrete. When drilling holes in concrete very strong vibrations and high forces can occur. Both a drilling tool and the installation component itself should be designed to withstand such vibrations and forces.

For this purpose, it may be necessary, for example, to protect an industrial robot used as an installation component suitably against damage caused by strong vibrations and / or high forces acting in the process. For example, it may be advantageous to provide one or more damping elements in the installation component to dampen or absorb vibrations. It is also possible that one or more damping elements at a different location in the combination of

Assembly tool and installation component are arranged. 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 as part of

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. Also a single one

Rubber buffer can be considered as a damping element. It is also possible that a damping element is designed as a telescopic damper. The drills used are subject to wear and can also be damaged, for example, when hitting a reinforcement. To detect a worn or defective drill, for example, a feed during drilling and / or a period of time for introducing a hole with a desired depth can be monitored. When falling below a feed limit value and / or when exceeding a time duration limit, the drill used is detected as no longer in order and generates a corresponding message.

According to one embodiment, the installation component may be designed as an assembly step at least partially screws in holes in a wall of the

Screw in elevator shaft.

In particular, the installation component can be designed to screw concrete screws in prefabricated holes in a concrete wall of the elevator shaft. By means of such concrete screws, for example, within the hoistway 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. However, for screwing in screws, in particular concrete screws, high forces or torques may be required, which the installation component or an assembly tool handled by it should be able to provide.

According to a further embodiment, 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.

According to one embodiment, the mounting device further comprises a

A magazine component adapted to store components to be installed and to provide the installation component.

For example, 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 such that the installation component can actively remove these components and then mount them, for example.

Optionally, the magazine component may be configured to support various components and provide them simultaneously or sequentially to the installation component. Alternatively, several different magazine components can be provided in the mounting device.

According to one embodiment, the mounting device may further comprise a

Displacement component, which is adapted to displace the carrier component vertically within the elevator shaft.

In other words, 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 which the carrier component within the

Elevator shaft can be moved, i. For example, between different floors of a building can be moved. Furthermore, the

Displacement component having 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.

As an alternative to the fact that the displacement component itself is part of the mounting device, a displacement component can also be provided externally. For example, a drive pre-assembled in the elevator shaft can be provided as the displacement component. If necessary, this drive can be a later for the

Elevator drive serving machine, which is to be moved in the fully installed state of an elevator car and can be used during the previous installation process for moving the carrier component. In this case 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. In this case, analogous to the fully assembled elevator installation, 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. In addition, for the relocation the carrier component the same drive configurations as possible for the relocation of elevator cars.

The displacement component may be implemented in different ways so as to be able to support the carrier component together with the one held on it

Installation component to be able to proceed within the elevator shaft.

For example, according to one embodiment, 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. In other words, the

Relocating component to be mounted on the support component of the mounting device and a support member held on the displacement component support means may be attached at its other end to the top of a breakpoint within the hoistway. Or vice versa, 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.

For example, such a displacement component can be provided as a kind of winch, in which a flexible rope on an example of a

Electric motor driven winch can be wound up. 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. By targeted winding and unwinding of the rope on the winch then the mounting device can be moved within the hoistway.

Alternatively, 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. In other words, 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.

For example, the displacement component for this purpose have a drive which moves one or more components of movement in the form of wheels or rollers, wherein the wheels or rollers are pressed against the wall of the hoistway, so that the offset from the drive in rotation wheels or rollers as slippery as possible along can roll the wall and thereby be able to relocate the displacement component together with the attached to it carrier component within the elevator shaft.

Alternatively, it would be conceivable that a movement component of a

Displacement component transmits forces to the wall of the hoistway in a different way. For example, 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.

According to one embodiment, the carrier component further comprises a

Fixing component, which is adapted to 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.

In this case, 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.

In this context, 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. In a special embodiment, the fixing component is designed to at least one of the carrier component and the installation component within the

Lift shaft in one direction along the vertical to fix.

For this purpose, 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 not move in a horizontal direction relative to the walls. For this purpose, the fixing may for example have suitable supports, stamp, lever or the like. The supports, punches or levers can in particular be designed so that they can be displaced outwards in the direction of the wall of the hoistway 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.

It is also possible that only on one side outwardly displaceable supports, stamp or lever are arranged and on the opposite side a fixed support. In particular, 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 so inserted into the elevator shaft, that the support element on one side with

Door openings in the walls of the elevator shaft is arranged. By the

elongated shape allows the support even then sufficient support 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. Thus, the fixing device

Dimensions of the elevator shaft are adjusted.

By caulking against the walls of the elevator shaft can lead to a deformation of the carrier component. This is the case in particular when supporting or caulking takes place in the region of a door opening. By the

Deformation may be the relative position of one described above

Changing the magazine component of the installation component, which causes problems with the recording of tools and components to be installed by the Installation component can lead. Such problems can be avoided, for example, if the carrier component is designed so stiff that it does not deform when supporting or caulking, or the magazine components are arranged opposite the installation component such that their relative positions to each other do not change even during a deformation of the carrier component.

It is also possible that the fixing device has suction cups, via which a holding force with respect to a wall of the elevator shaft and thus a fixation of the carrier component relative to walls of the elevator shaft can take place. For example, it is possible to actively generate a negative pressure at the suction cups via a pump in order to increase the holding force. About the suction cups, 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.

It is also possible that 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. 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.

In addition, 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.

It is also possible that when using a tool within an assembly step, only the respective tool is fixed relative to a wall of the hoistway. For this purpose, a frame, against which the tool is movably guided, are fixed for example via suction cups on a wall of the elevator shaft.

Alternatively, the said frame can also be temporarily by means of fastening means, for example in the form of screws, bolts or nails of a wall of the

Lift shaft to be fixed.

By fixing the carrier component in the lateral direction within the elevator shaft, the fixing component can be avoided, for example, that the

Carrier component during an assembly step, in which the installation component operates and exerts lateral forces on the carrier component, for example, in horizontal Direction inside the elevator shaft can move. In other words, 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 can, for example, in particular during a

Drilling be necessary to absorb the occurring horizontally acting forces and to avoid or damp vibrations.

In a special embodiment of this embodiment, 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 which is 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.

In such an embodiment, 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. Particularly preferred is the

Fixing component 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. Thus, the installed on the first part installation component is mitverlagert. The

Installation component can be placed in this way in a position and / or orientation in which this can easily and selectively perform a desired assembly step.

According to one embodiment, the mounting device further comprises a

Armierungsdetektionskomponente, which is adapted to detect a reinforcement within a wall of the elevator shaft. The Armierungsdetektionskomponente 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 can be advantageous, for example, if, as an assembly step holes in a Wall of the elevator shaft to be drilled, since then a drilling of the reinforcement and thus both damage to the reinforcement as well as possibly damage to a drilling tool can be avoided. In addition, the mounting device may comprise a scanning component, by means of which a distance to an object, such as a wall of the

Lift 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. Thus conclusions on an angular position of the wall and on the condition of the

Wall for bumps, heels 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.

Alternatively or additionally, 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 displacement of

Mounting device within the hoistway and finally an at least partially automatic, preferably fully automatic, performing an assembly step in the context of the installation process using the mounting device. In other words, 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. It should be noted that some possible features and advantages of the invention are described herein with reference to different embodiments.

In particular, features are partially related to an inventive

Mounting device and partially with respect to a method according to the invention for Performing an installation process described in an elevator shaft. A person skilled in the art will recognize that the features can be suitably combined, adapted or replaced in order to arrive at further embodiments of the invention. In particular, one skilled in the art will recognize that device features described with respect to the mounting device may be adapted in an analogous manner to describe one embodiment of the method of the invention, and vice versa.

Hereinafter, embodiments of the invention will be described with reference to the accompanying drawings, wherein neither the drawings nor the

Description are to be construed as limiting the invention.

1 shows a perspective view of a hoistway of an elevator installation with a mounting device accommodated therein in accordance with an embodiment of the present invention.

Fig. 2 shows a perspective view of a mounting device according to an embodiment of the present invention.

3 shows a view from above into an elevator shaft of an elevator installation with a mounting device accommodated therein according to an alternative embodiment of the present invention.

Fig. 4 shows a side view of an elevator shaft of an elevator system with a received therein mounting device and its energy and

Communication links.

5 shows a part of an installation component designed as an industrial robot with a damping element and an assembly tool coupled thereto in the form of a drill.

Fig. 6 shows a part of an industrial robot executed as an installation component with a damping element in a connecting element to a mounting tool in the form of a drill. Figures 7a and 7b show reinforcements in a wall of a hoistway in two areas in which associated holes are to be drilled, and one

Illustration of a search for possible drilling positions. Figs. 8a and 8b show reinforcements in a wall of a hoistway in two

Areas where related holes are to be drilled, and one

Illustration of an alternative search for possible drilling positions.

The figures are only schematic and not to scale. Like reference numerals designate like or equivalent features throughout the several figures

Fig. 1 shows an elevator shaft 103 of an elevator installation 101, in which a

Mounting device 1 is arranged according to an embodiment of the present invention. 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 which make it possible to displace the carrier component 3 vertically within the elevator shaft 103, that is to say along the vertical 104, that is to say, for example, to move to different vertical positions on 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. By means of the displacement component 15, the mounting device 1 can be displaced vertically within the elevator shaft 103 over an entire length 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 at the

Front side of the carrier component 3 and / or punch (not shown) on a rear side of the carrier component 3 can for this purpose to the front or rear to the outside be displaced and caulk in this way 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. Alternatively, it would be conceivable to fix only parts of the installation component 5 in the horizontal direction, for example by a drill being supported on walls of the elevator shaft 103 accordingly.

Fig. 2 shows an enlarged view of a mounting device 1 according to a

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.

At the top of the cage-like support component 3 tethers 27 are attached, which can be connected to a support means 17. By displacing the suspension element 17 within the elevator shaft 103, that is to say for example by winding or unwinding the bendable suspension element 17 onto the cable winch of the displacement component 15, the carrier component 3 can thus be suspended vertically within the elevator shaft 103 in a suspended manner.

In an alternative embodiment (not shown) of the mounting device 1, 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.

In a further possible embodiment (not shown), the

Displacement component 15 also be mounted directly to the support component 3 and drive, for example via a drive rollers that are pressed firmly against walls 105 of the elevator shaft 103. In such an embodiment, the mounting device 1 could be vertically moved automatically within the hoistway 103 without installations in advance within the hoistway 103 would have to be made, in particular without, for example, a support means 17 within the

Elevator shaft 103 would have to be provided. 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.

Laterally on the support component 3, the fixing component 19 is provided. In the illustrated example, 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. For this purpose, the spar can be attached to the carrier component 3 via a blockable hydraulic cylinder or a self-locking motor spindle, for example. If the spar of the

Fixing component 19 is moved away from the frame of the carrier component 3, it moves laterally toward one of the walls 105 of the elevator shaft 103. Alternatively or additionally, could be displaced at the back of the carrier component 3 punch back to the support component 3 in the elevator shaft 103rd to sprain. In this way, the carrier component 3 can be caulked within the elevator shaft 103 and so, for example, during a performance of a

Mounting step, the carrier component 3 within the elevator shaft 103 fix in the lateral direction. Forces, which are introduced to 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 thereby being displaced inside the carrier

Elevator shaft 103 can shift or get into vibration. In a special embodiment (not shown in detail), the

Carrier component 3 be carried out in two parts. In this case, the installation component 5 can be attached to a first part and, at a second part, the

Fixing component 19 may be attached. In such a configuration, an alignment component can further be provided on the carrier component 3, which further comprises a controlled alignment of the first part of the component 5 carrying the installation component 5

Carrier component 3 against the fixable within the elevator shaft 103 second part of the carrier component 3 allows. For example, the

Aligning device to move the first part by at least one spatial axis relative to the second part.

In the illustrated embodiment, 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 can be, for example, with differently shaped actuators, manipulators, effectors, etc. In particular, the installation component could have a specially adapted for use in an installation process within a hoistway 103 of an elevator installation 1 mechatronics or robotics.

In the illustrated example, the industrial robot 7 is equipped with a plurality of robot arms pivotable about pivot axes. For example, 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. For example, the industrial robot can be used as a vertical articulated robot, as a horizontal articulated robot or as a SCARA robot or as a Cartesian robot or

Portal robot be executed.

The robot can at its cantilever end 8 with different

Mounting tools 9 are coupled. 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 robots 7 approached them and can be coupled with one of them. The industrial robot 7 can do this for example via a

Have tool change system, which is designed so that it allows at least the handling of several such assembly tools 9.

One of the assembly tools 9 may be designed as a drilling tool, similar to a drill. By coupling the industrial robot 7 with such

Drilling tool, the installation component 5 can be configured to allow at least partially automated controlled drilling holes in one of the shaft walls 105 of the elevator shaft 103, for example. 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.

Furthermore, 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. In the example shown, 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 fasten guide rails for the elevator installation 101 thereto to be able to. In the magazine component 11 also screws can be stored and provided, which by means of the installation component 5 in prefabricated

Holes in the wall 105 can be screwed.

In the example shown, 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. Below can turn on the as

Screwing trained training tool 9 are reconfigured and the mounting screws are tightened.

In the illustrated example, it can be seen that by means of the mounting device 1, 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 be particularly repetitive within a multiple repetitive Elevator shaft to perform installation work, considerable

Installation effort and thus save time and costs. Since the mounting device can perform the installation process largely automated, can

Interactions with human installation personnel are avoided or at least reduced to a low level, so that otherwise within the framework of such

Installation processes typically occurring risks, especially accident risks, can be significantly reduced for installation staff.

In order to be able to precisely position the mounting device 1 within the elevator shaft 103, 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. Alternatively, the positioning component 21 could be arranged independently of the mounting device 1 at a different position within the elevator shaft 103 and from there a current position of the

Determine mounting device 1.

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.

In particular, optical measurement methods seem suitable to a desired

Accuracy in the position detection, for example, less than 1 cm, preferably less than 1 mm, to allow 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

Control then, for example, first the carrier component 3 within the

Drive elevator shaft 103 to a desired height or let it drive. Subsequently, the controller, taking into account the then determined actual position the

Installation component 5 suitably control, for example, 3 holes to drill at desired locations within the hoistway, screwing screws and / or ultimately to assemble components 13.

The mounting device 1 can in this case also a

Armierungsdetektionskomponente have 23. In the example shown, the reinforcement detection component 23 is similar to one of the assembly tools 9 in FIG

Magazine component 11 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 Subsequently, a hole in the wall 105 to be drilled. Alternatively, however, the armor detection component 23 could also be otherwise connected to the

Mounting device 1 are provided. The reinforcement detection component 23 is configured to detect a reinforcement within the wall 105 of the hoistway 103. For this purpose, the

Armierungsdetektionskomponente, 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.

If a reinforcement within the wall 105 has been detected by means of the reinforcement detection component 23, 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.

In summary, a mounting device 1 is described with which, for example, robot-assisted, an installation process can be carried out partially or fully automatically within an elevator shaft 103. The mounting device 1 can

At least assist installation personnel in the installation of components of the elevator installation 101 within the elevator shaft 103, that is, for example, perform preliminary work. In particular, multiple occurring, that is repetitive, steps can be automated and thus performed quickly, accurately, low risk and / or cost. The performed during an assembly process

Installation process steps may vary with respect to individual ones

Work steps, a sequence of steps and / or a necessary man-machine interaction differ. For example, although the mounting device 1 may perform parts of the installation process automatically, installation personnel may interact with the mounting device 1 to the effect that

Assembly tools 9 can be changed by hand and / or components, for example, by hand refilled in the magazine component. Also

Intermediate steps that are performed by an installation staff are conceivable. A functional scope of a mechatronic installation component 5 provided in the mounting device 1 may comprise all or part of the work steps listed below:

The elevator shaft 103 can be measured. In this case, for example, door openings 106 can be detected, a precise orientation of the elevator shaft 103 are recognized and / or a slot layout optimized. If appropriate, real surveying data of the elevator shaft 103 obtained by a surveying operation can be compared with planning data, as indicated, for example, in a CAD model of the elevator shaft 103.

Orientation and / or location of the mounting device 1 within the hoistway 103 can be determined.

Reinforcing iron or reinforcements in walls 105 of the elevator shaft 103 can be detected.

Then, preliminary work such as drilling, milling, cutting work, etc., performed, these preliminary work can be carried out preferably partially or fully automatically by the installation component 5 of the mounting device 1.

Subsequently, components 13 such as fasteners, interface elements and / or bracket elements can be installed. For example, concrete screws can be screwed into previously drilled holes, bolts are hammered, parts are welded together, nailed and / or glued or the like.

Components and / or shaft material such as brackets, rails, landing door elements, screws and the like can be handled assisted by the mounting device 1 or completely automated.

Required material and / or components can be automated and / or staffed by staff in the mounting device 1 refilled.

Through this and possibly further work steps 103 work steps and a workflow can be matched to each other in an installation process within a hoistway and, for example, machine-human interactions are minimized, that is to be created as autonomous system working.

Alternatively, a less complex and thus more robust system for a

In this case, automation is only established to a lesser degree and thus typically more machine-human interactions are necessary.

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. Such a mounting device 1 in an elevator shaft 103 is shown in Fig. 3 in a view from above. 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 per two guides 152 each have a rotatable axis 153 attached. 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 via a drive connection 155, for example in the form of gears and a chain with the axes 153rd

drive-connected and so can drive the wheels 154 and relocate the carrier component 3 within the elevator shaft 103.

In addition, on the side of the support component 3 in FIG. 3, a fixing component, which consists of a support element 119 and a telescopic cylinder 120, is arranged on a side where there is no displacement component 115. The support element

119 is arranged so that it is located on a side with not shown in FIG. 3 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, 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 FIGS. 1 and 2, it extends over the complete vertical extension of the carrier component 3 and also protrudes in both directions over the

Carrier component addition. 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 not shown separately, which can be manually pushed into each other and pulled apart, where they can be fixed in several positions. Thus, a distance 122 between the

Supporting element 119 and the carrier component 3 can be adjusted.

On the side opposite the support member 119 side of the carrier component 3, a telescopic cylinder 120 is arranged centrally. The telescopic cylinder 120 has an extendable punch 121, which is connected to a U-shaped extension element 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. In the example shown, the telescopic cylinder

120 electromotive extended and retracted. But there are also other types of drive, for example, pneumatically or hydraulically conceivable. The telescopic cylinder 120 shown in FIG. 3 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.

It is also possible that in each case two telescopic cylinders or more than two, for example three or four telescopic cylinders are arranged at a height. In this case, for example, the punch of the telescopic cylinder come without the interposition of an extension element on the wall of the elevator shaft to the plant.

One consisting of a support element and telescopic cylinders

Fixation component is also possible in combination with a mounting device, which by means of a support means as shown in FIGS. 1 and 2, within the

Elevator shaft can be relocated.

The mounting device must be powered in the elevator shaft and it is necessary to communicate with the mounting device. FIG. 4 shows energy and communication connections to a mounting device 1 in an elevator shaft 103. The mounting device 1 has a carrier component 3 and a mechatronic installation component 5 in the form of an industrial robot 7. Der

Industrial robot 7 is controlled by a controller that consists of a at the

Carrier component 3 arranged power part 156 and arranged on a floor outside the elevator shaft 103 control PC 157 consists. 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 of a

Voltage source 161 is supplied with electrical energy. Out

For 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 therefore 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 shows part of an installation component 5 designed as an industrial robot 7 with a damping element 130 and an assembly tool coupled thereto in the form of a drill 131. In the drill 131, 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 as a

Damping element can be considered. 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 introduced to the second part 135 via the drilling insert 132.

According to FIG. 6, 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 constructed in Fig. 5. 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.

It is also possible that a damping element is designed as an integral part of a drill.

In order to monitor wear of the drill bit 132 of the drill 131, a feed rate during drilling and / or a time to drill a hole of a desired depth is monitored. When falling below a feed limit value and / or when exceeding a time duration limit, the drill bit used is detected as no longer in order and generates a corresponding message.

Referring now to Figures 7a and 7b, there will be described a method of forming an image of the location of reinforcements within a wall of a hoistway and a method of defining a first and a corresponding second drilling position.

In Fig. 7a, a portion 140 of a wall of a hoistway is shown in which a bore is to be performed at a first drilling position. For better

By way of description of the method, the area 140 is divided into grid squares which are to the right with successive letters A to J and downwards with ascending Numbers 1 to 10 are indicated. This division was carried out analogously in FIG. 7b.

In the region 140 shown in FIG. 7 a, first and second reinforcements 141, 142 run from top to bottom, whereby they run straight and parallel to one another, at least in the illustrated region 140. The first reinforcement 141 extends from Bl to BIO and the second reinforcement 142 from II to 110. In addition, third and fourth reinforcements 143, 144 extend 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.

To create an image of the illustrated position of the reinforcements 141, 142, 143, 144, the reinforcement detection component 23 is guided by the installation component 5 several times along the wall 105 of the elevator shaft. The

Armierungsdetektionskomponente 23 is first performed several times from top to bottom (and vice versa) and then from left to right (and vice versa). 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.

Once the location of the reinforcements 141, 142, 143, 144 is known, a first possible range 146 for the first drilling position may be determined. In Fig. 7a, this first possible area 146 is a rectangle with the corners C5, H5, C9 and H9.

The area 147 of a wall of a hoistway shown in FIG. 7b is

for example, laterally offset relative to the region 140 in Fig. 7a arranged. In this area 147 a second hole is to be performed, although the drilling position can not be freely selected, but must be arranged in a predetermined manner to the first drilling position in the area 140 according to FIG. 7a. The second, corresponding to the first drilling position drilling position must, for example, laterally offset by a certain distance from the first drilling position. In the illustrated example, the region 147 in FIG. 7b is arranged laterally offset from the region 140 in FIG. 7a by this distance. Corresponding first and second drilling positions are in the illustrated example in Figs. 7a and 7b in

arranged according to plan squares. So if the first hole in the

Grid square B2 in the area 140 of Fig., 7a is performed, the second hole in the area 147 of FIG. 7b are also performed in the grid square B2. This ensures that the second hole is positioned correctly relative to the first hole. Since reinforcements in walls are not aligned the same over their entire length, the courses of the reinforcements 141, 142, 143, 144 in FIG. 7b are not identical as in FIG. 7a. The first reinforcement 141 runs from D1 to D10 in FIG. 7b and the second reinforcement 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 JIO.

After an image of the position of the reinforcements 141, 142, 143, 144 has been created for the region 147 in FIG. 7b, as described for FIG. 7a, a second possible region 148 for the second drilling position can be determined. In FIG. 7b, this second possible area 148 is a rectangle with the corners E6, 16, E9 and 19. The possible areas for the first and second drilling positions are shown in FIG

Überlappungsberereich of the first area 146 and the second area 148. This results in the first drilling position, a rectangular area 149 and the second drilling position, a rectangular area 150, each with the corners E6, H6, E9, H9. From these areas 149, 150, a grid square for the first and second drilling position can be selected. In the example shown in Figs. 7a, 7b, the first

Drilling position 170 in Fig. 7a and the second drilling position 171 in Fig. 7b respectively set in the grid square E7.

An alternative method for defining a first and a corresponding second drilling position will be described with reference to FIGS. 8a and 8b. The arrangement of

Reinforcements 141, 142, 143, 144 in Fig. 8a corresponds to the arrangement in Fig. 7a and the arrangement in Fig. 8b of the arrangement in Fig. 7b. Also identical is the division into grid squares. First, according to FIG. 8a, possible positions for the first drilling position are 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 in the

Clockwise checked further grid squares, here in succession 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 because of a reinforcement would not have been possible, would continue to search until four possible positions had been found.

Subsequently, as shown in Fig. 8b, a possible second drilling position is searched. 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 example illustrated in FIGS. 8a and 8b, the first drilling position 172 in FIG. 8a and the second drilling position 173 in FIG. 8b are defined in the grid square E6.

Finally, it should be noted that terms such as "comprising," "comprising," etc., do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a variety. It should also be appreciated that features or steps described with reference to any of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference signs in the claims are not to be considered as limiting.

Claims

claims

1. Mounting device (1) for carrying out an installation process in an elevator shaft (103) of an elevator installation (101), the installation device comprising:

a carrier component (3);

a mechatronic installation component (5);

wherein the carrier component (3) is adapted to be displaced relative to the hoistway (103) and at different elevations within the hoistway (103)

Elevator shaft (103) to be positioned;

wherein the installation component (5) is held on the carrier component (3) and is designed to carry out an assembly step as part of the installation process at least partially automatically.

2. Mounting device according to claim 1, further comprising a

Positioning component (21), which is designed to at least one of a position and an orientation of the mounting device (1) within the

Elevator shaft (103) to determine ..

3. Mounting device according to claim 1 or 2, wherein the installation component (5) is adapted to perform at least partially automated several different types of assembly steps.

4. Mounting device according to claim 3, wherein the installation component (5) is adapted to use different assembly tools (9) in the different types of assembly steps.

5. Mounting device according to claim 4, wherein the installation component (5) is adapted to receive the respectively used in the different types of assembly steps mounting tool (9) before performing the assembly step.

6. Mounting device according to claim 4 or 5, further comprising a tool magazine component (14), wherein the tool magazine component (14) is adapted to support various assembly tools (9) and the Installation component (5) provide.

Mounting device according to one of claims 1 to 6, wherein the

Installation component (5) is designed to perform at least one of the following assembly steps:

- at least partially automatically controlled drilling holes in a wall (105) of the elevator shaft (103);

- at least partially screwing screws into holes in a wall (105) of the hoistway (103);

- At least partially automatic attachment of components to the wall (105) of the elevator shaft (103).

Mounting device according to one of claims 1 to 7, further comprising a displacement component (15) which is adapted to displace the carrier component (3) vertically within the elevator shaft (103).

Mounting device according to claim 8, wherein the displacement component (15) is attached to one of the carrier component (3) and a stop (107) on top of the

Lift shaft (103) is fixed and has a train on resilient, flexible support means (17), one end of which is held on the displacement component (15) and the other end to another of the carrier component (3) and the stop (107) at the top the elevator shaft (103) is fixed and the

Displacement component (15) by displacing the support means (17)

Carrier component (3) within the elevator shaft (103) can shift.

An assembly according to claim 8, wherein the displacement component (15) is mounted on the support component (3) and is adapted to exert a force on a wall (105) of the hoistway (103) by moving a movement component to move the support component (3 ) within the hoistway (103) by moving the movement component along the wall (105).

1. Mounting device according to one of claims 1 to 10, wherein the

Carrier component (3) has a fixing component (19) which is adapted to fix at least one of the carrier component (3) and the installation component (5) within the elevator shaft (103) in a direction transverse to the vertical. 12. Mounting device according to one of claims 1 to 11, wherein the

Installation component (5) comprises an industrial robot (7)

13. Mounting device according to claim 12, wherein the industrial robot (7) thereto

is designed, at its cantilevered end (8) with different

Mounting tools (9) to be coupled.

14. An assembly according to any one of claims 1 to 13, further comprising a reinforcement detection component (23) adapted to detect a reinforcement within a wall (105) of the hoistway (103).

15. A method for performing an installation process in an elevator shaft (103) of an elevator installation (101), comprising:

Inserting a mounting device (1) according to one of claims 1 to 13 in the elevator shaft (103);

controlled displacement of the mounting device (1) within the hoistway (103);

at least partially automatic execution of the assembly step in the context of the installation process using the mounting device (1).