EP3325396B1 - 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
EP3325396B1
EP3325396B1 EP16733548.8A EP16733548A EP3325396B1 EP 3325396 B1 EP3325396 B1 EP 3325396B1 EP 16733548 A EP16733548 A EP 16733548A EP 3325396 B1 EP3325396 B1 EP 3325396B1
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EP
European Patent Office
Prior art keywords
component
elevator shaft
installation
designed
mounting device
Prior art date
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EP16733548.8A
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German (de)
English (en)
French (fr)
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EP3325396A1 (de
Inventor
Christian Studer
Raphael Bitzi
Erich Bütler
Andrea CAMBRUZZI
Philipp Zimmerli
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Inventio AG
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Inventio AG
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Priority to PL16733548T priority Critical patent/PL3325396T3/pl
Publication of EP3325396A1 publication Critical patent/EP3325396A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • 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
    • 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 an assembly device with the aid of which installation processes can be carried out in an elevator shaft of an elevator installation. Furthermore, the invention relates to a method for carrying out an installation process in an elevator shaft of an elevator installation.
  • Manufacturing an elevator system and in particular installing components of the elevator system within an elevator shaft in a building can involve a great deal of effort and/or high costs, since a large number of components have to be installed at different positions within the elevator shaft.
  • 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 there at a desired location, for example by drilling holes in a shaft wall and installing the component with screws screwed or inserted into these holes Bolts are attached to the shaft wall.
  • the person can use tools and/or machines for this purpose.
  • JP 3034960 B2 describes a mounting device with the features of the preamble of claim 1
  • the assembly device for aligning guide rails for an elevator car in an elevator shaft.
  • guide rails preassembled by installation personnel in the elevator shaft can be aligned and fastened to holding profiles in the form of bracket elements attached by installation personnel in the elevator shaft will.
  • the assembly device has a screw device which is an integral part of the assembly device.
  • the mounting device also has a fixing device, by means of which the mounting device can be supported laterally on one of the mentioned bracket elements attached by installation personnel.
  • an assembly device for carrying out an installation process in an elevator shaft of an elevator system.
  • the assembly device has a carrier component and a mechatronic installation component.
  • the support component is designed to be displaced relative to the hoistway, i.e. for example within the hoistway, and to be positioned at different heights within the hoistway.
  • the installation component is held on the carrier component and is designed to carry out an assembly step as part of the installation process at least partially automatically, preferably fully automatically.
  • the installation component includes an industrial robot, and the industrial robot is designed to be coupled to various assembly tools at its cantilevered end.
  • embodiments of the invention are based on the idea of being able to carry out installation processes within an elevator shaft of an elevator system at least partially automatically using a suitably designed assembly device. Complete automation of assembly steps to be carried out here would of course be advantageous.
  • an assembly device which has a carrier component on the one hand and a mechatronic installation component held on this carrier component on the other hand.
  • the carrier component can be designed in different ways.
  • the support component can be designed as a simple platform, frame, framework, cabin or the like.
  • Dimensions of the carrier component should be selected in such a way that the carrier component can be accommodated in the elevator shaft and relocated within this elevator shaft without any problems.
  • a mechanical design of the carrier component should be selected in such a way that it can reliably carry 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, that is, have interacting mechanical, electronic and information technology elements or modules.
  • the installation component should have suitable mechanics, e.g. to be able to handle tools within an assembly step.
  • the tools can be suitably brought to an assembly position by the mechanics, for example, and/or can be suitably 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 power supply, for example 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 be used, for example, to suitably control or monitor mechanical elements or modules of the installation component. Such electronic elements or modules can thus serve, for example, as a controller for the installation component.
  • the installation component can have information technology elements or modules that can be used, for example, to derive the position at which a tool is to be brought and/or how the tool is to be actuated and/or guided there during an assembly step.
  • guide components can be provided on the carrier component, with the aid of which the carrier 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 be designed, for example, as support rollers that roll on the walls of the elevator shaft. Depending on the arrangement of the support rollers on the carrier component, one to in particular four support rollers can be provided.
  • guide ropes which are used to guide the carrier component
  • temporary guide rails to guide the carrier component in the elevator shaft.
  • the support component it is possible for the support component to be suspended via two or more loadable, flexible support means such as ropes, a chain or belts.
  • An industrial robot can be understood as a universal, mostly programmable machine for handling, assembling and/or processing workpieces and components.
  • Such robots are designed for use in an industrial environment and have hitherto been used, for example, in the industrial manufacture of complex goods in large numbers, for example in automobile manufacture.
  • 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 a tool, a gripper or the like, for example.
  • the controller can be used to control the manipulator and/or the effector in a suitable manner, that is to say, for example, to move and/or guide it in a suitable manner.
  • the manipulator is designed to be coupled to various effectors. This enables a particularly flexible use of the industrial robot and thus of the assembly device.
  • the controller of the industrial robot has, in particular, what is known as a 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 activating the individual electric motors of the industrial robot to the power unit, which then converts these into specific activations of the electric motors.
  • the power part 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 via the elevator shaft to the industrial robot. Due to the arrangement of the power unit on the carrier component must for
  • the industrial robots are mainly only provided with a power supply and a communication connection, for example in the form of an Ethernet connection between the control PC and the power unit, in particular via a so-called traveling cable.
  • a power supply and a communication connection for example in the form of an Ethernet connection between the control PC and the power unit, in particular via a so-called traveling cable.
  • This enables a particularly simple cable connection, which is also very robust and less prone to errors due to the small number of cables.
  • Additional functions, such as safety monitoring, can be implemented in the controller of the industrial robot, for which additional cable connections between the control PC and the power section may be required.
  • the industrial robot can also have what is known as 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 holding 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 holding bracket.
  • the robot arm can be moved, for example, so that the retaining bracket is picked up by the passive auxiliary arm and is held in the correct position during actual attachment, for example by means of a screw on the wall.
  • Industrial robots are often also equipped with various sensors, which they can use to detect information about their environment, working conditions, components to be processed or similar, for example. For example, with the help of sensors, forces, pressures, accelerations, temperatures, positions, distances, etc. can be detected in order to subsequently evaluate them appropriately.
  • an industrial robot After initial programming, an industrial robot is typically able to carry out a work process semi-automatically or fully automatically, ie largely autonomously.
  • An execution of the workflow can be varied within certain limits depending on sensor information, for example.
  • a control of an industrial robot can optionally be designed to be self-learning.
  • An industrial robot can therefore be able to carry out various assembly steps as part of an installation process in an elevator shaft due to the way its components are mechanically and/or electrically designed and the way these components can be controlled using the controller of the industrial robot to carry out or to be able to adapt to different circumstances during such an assembly step.
  • the mechatronic installation component can also be configured in a different way.
  • Conceivable are, among other things, mechatronic machines specially designed for the mentioned application in a (partially) automated elevator installation, in which, for example, special drills, screwdrivers, feed components, etc. are used.
  • special drills, screwdrivers, feed components, etc. are used.
  • linearly displaceable drilling tools, screwing tools and the like could be used here.
  • the mounting device can further have 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 assembly device should be able, with the aid of its positioning component, to determine its location or pose in relation to the current location and/or orientation within the elevator shaft.
  • the positioning component can be provided to determine an exact position of the assembly 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 assembly 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 here 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, for example, distances are from 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 is located away, so that based on this information, the assembly device can be moved in the desired manner in order to reach the desired position.
  • the positioning component can determine the position of the mounting device in different ways. For example, a position determination using optical measuring principles is conceivable. For example, laser distance measuring devices can measure distances between the positioning component and walls of the elevator shaft. Other optical measurement methods such as stereoscopic measurement methods or measurement methods based on triangulation are also conceivable. In addition to optical measuring methods, a wide variety of other position determination methods are also conceivable, for example based on radar reflections or the like.
  • the installation component is designed to carry out several different assembly steps at least partially automatically, preferably fully automatically.
  • the installation component can be designed here to use different assembly tools, such as a drill, a screwdriver and/or a gripper, in the various assembly steps.
  • the ability to use different assembly tools puts the mechatronic installation component in a position to carry out various assembly steps simultaneously or one after the other during an installation process, for example to finally be able to attach a component within the elevator shaft at a suitable position.
  • the installation component is designed in particular to accommodate the assembly tool used in the various types of assembly steps before the assembly step is carried out.
  • the installation component can thus store an assembly tool that is not required for the next assembly step and pick up the required assembly tool instead, ie change assembly tools.
  • the installation component can thus only ever be coupled with the assembly tool that is currently required.
  • the installation component thus requires little installation space and can carry out assembly steps at many points. 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 considerably more space. The respective assembly tools could thus be used in significantly fewer places.
  • the assembly device also has a tool magazine component, which is designed to store assembly tools required for various assembly steps and to make them available to the installation component. Assembly tools that are not required can thus be safely stored and can thus be secured against falling while work steps are being carried out and while the assembly device is being moved in the elevator shaft.
  • the installation component is designed to drill holes in a wall of the elevator shaft in an at least partially automatically controlled manner as an assembly step.
  • the installation component can use a suitable drilling tool for this. Both the tool and the installation component itself should be designed in a suitable manner in order to meet the conditions occurring within the elevator shaft during the assembly step.
  • walls of an elevator shaft on which components are to be mounted are often made of concrete, in particular reinforced concrete.
  • concrete in particular reinforced concrete.
  • Both a drilling tool and the installation component itself should be suitably designed to withstand such vibrations and forces.
  • 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 as part of the installation component.
  • a damping element is designed, for example, as one or more rubber buffers arranged in parallel, which are available on the market in a large selection and at low cost. A single rubber buffer can also be regarded as a damping element. It is also possible for a damping element to be designed as a telescopic damper.
  • the drills used are subject to wear and can also be damaged, for example, when they hit a reinforcement.
  • a feed rate during drilling and/or a period of time for drilling a hole with a desired depth can be monitored. If the feed falls below a limit value and/or if a time limit value is exceeded, the drill bit used is recognized as no longer in order and a corresponding message is generated.
  • 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 installation.
  • high forces or torques may be required, which the installation component or an assembly tool handled by it should be able to provide.
  • the installation component can be designed to attach components to the wall of the elevator shaft at least partially automatically as an assembly step.
  • components can be a wide variety of manhole materials such as retaining profiles, parts of guide rails, screws, bolts, clamps or the like.
  • the mounting device also has a magazine component, which is designed to store components to be installed and to make them available 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 provide the components in such a way that the installation component can actively remove these components and then assemble them, for example.
  • the magazine component can optionally be designed to store different types of components and make them available to the installation component simultaneously or sequentially. Alternatively, several different magazine components can be provided in the assembly device.
  • the assembly device can also have a displacement component, which is designed to displace the carrier component vertically within the elevator shaft.
  • the assembly device itself can be designed to suitably displace its carrier component within the elevator shaft with the aid of its displacement component.
  • the displacement component will generally have a drive, with the aid of which the carrier component can be moved within the elevator shaft, i.e. it can be moved, for example, between different floors of a building.
  • the displacement component will have a controller, with the aid of which the drive can be operated in a controlled manner in such a way 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 that is preassembled in the elevator shaft can be provided as the displacement component. If necessary, this drive can already be a drive machine later serving for the elevator system, with the aid of which an elevator car is to be moved in the fully installed state and which can be used during the preceding installation process for shifting the carrier component.
  • provision can be made to establish a data communication option between the assembly device and the external displacement component, so that the assembly device can cause the displacement component to displace the carrier component to a desired position within the elevator shaft.
  • the support component can be connected to a counterweight via a flexible suspension element that can withstand tensile loads, such as a rope, chain or belt, and the drive can act between the support component and counterweight.
  • tensile loads such as a rope, chain or belt
  • the same drive configurations are possible as for the relocation of elevator cars.
  • the displacement component can be designed in different ways in order to be able to move the carrier 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 of the elevator shaft and can have a tensile loadable, flexible suspension means such as a rope, chain or belt, one end of which is held on the displacement component and the other end of which is fixed to the respective other element, that is to say at the stop above within the elevator shaft or to the support component.
  • the displacement component can be attached to the support component of the assembly device and a suspension element held on the displacement component can be fastened with its other end at the top to a holding point inside the elevator shaft.
  • the displacement component can be fixed at the top of the holding 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 carrier component within the elevator shaft by displacing the suspension element.
  • 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, for example, by an electric motor.
  • the cable winch can either be fixed to the support component of the mounting device or, alternatively, for example, to the top of the elevator shaft, for example to an elevator shaft ceiling.
  • the free end of the cable can then be attached oppositely either at the top of the attachment 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 rope on the winch.
  • the displacement component may be attached to the beam component and configured to apply a force to a wall of the hoistway by moving a component of movement to displace the beam component within the hoistway by moving the component of movement along the wall.
  • the displacement component can be attached directly to the carrier component and move actively along the wall of the elevator shaft with the aid of its movement component.
  • the displacement component can have a drive for this purpose, which moves one or more movement components in the form of wheels or rollers, the wheels or rollers being pressed against the wall of the elevator shaft, so that the wheels or rollers set in rotation by the drive can move along with as little slippage as possible the wall can roll and can shift the displacement component together with the carrier component attached to it within the elevator shaft.
  • a drive for this purpose, which moves one or more movement components in the form of wheels or rollers, the wheels or rollers being pressed against the wall of the elevator shaft, so that the wheels or rollers set in rotation by the drive can move along with as little slippage as possible the wall can roll and can shift the displacement component together with the carrier component attached to it within the elevator shaft.
  • a movement component of a displacement component transmits forces to the wall of the elevator shaft in a different way.
  • gears could serve as the moving component and engage a rack mounted on the wall to move the displacement component vertically in the elevator shaft.
  • the carrier component also has a fixing component which is designed to fix the carrier 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 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 to a position at a desired height within the elevator shaft, for example using the displacement component, but that the carrier component can then be moved there using the fixing component can also be fixed in the horizontal direction.
  • a support on a wall is to be understood in particular as meaning that the fixing component is supported directly and without the intermediary of components pre-assembled on the wall, such as bracket elements, ie forces can be introduced into the wall.
  • the support can be done in different ways.
  • the fixing component is designed to fix at least one of the carrier component and the installation component within the elevator shaft in a direction along the vertical.
  • the fixing component can be designed, for example, to be supported or caulked laterally on walls of the elevator shaft, so that the carrier component can no longer move in the horizontal direction relative to the walls.
  • the fixing component can have suitable supports, stamps, levers or the like, for example.
  • the supports, stamps or levers can in particular be designed in such a way that they can be displaced outwards in the direction of the wall of the elevator shaft and thus pressed against the wall. It is possible for supports, stamps or levers to be arranged on opposite sides of the carrier component or the installation component, all of which can be displaced outwards.
  • the support element has an elongated shape in the vertical direction and in particular extends at least over the entire vertical extension of the carrier component.
  • the assembly device is 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 also enables sufficient support when the mounting device is to be fixed in the area of a door opening.
  • the support element can 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 takes place before the assembly device is introduced into the elevator shaft.
  • the fixing device can thus be adapted to the dimensions of the elevator shaft.
  • the caulking against the walls of the elevator shaft can result in a deformation of the carrier component. This is particularly the case when the bracing or caulking takes place in the area of a door opening. Due to the deformation, the relative position of a magazine component described above can change to the installation component, which can lead to problems with the inclusion 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 rigidly that it does not deform when supported or caulked, or the magazine components are arranged in relation to the installation component such that their relative positions to one another do not change even if the carrier component deforms.
  • the carrier component is temporarily fixed to one or more walls of the elevator shaft by means of fastening means, for example in the form of screws, bolts or nails, and is thus supported on the walls.
  • This support also acts in the vertical direction. This temporary fixation is released when the carrier component is to be moved to a different position within the elevator shaft.
  • the carrier component can be supported on components already mounted in the elevator shaft, such as retaining profiles, and thus be fixed.
  • the support can also take place in such a way that it also acts in the vertical direction.
  • the fixing component fixing the carrier component in the lateral direction inside the elevator shaft, it can be avoided, for example, that the carrier component moves horizontally during an assembly step in which the installation component works and exerts transverse forces on the carrier component, for example Can move direction within the elevator shaft.
  • the fixing component can serve as a kind of abutment for the installation component attached to the carrier component, so that the installation component can be supported indirectly via the fixing component laterally on walls of the elevator shaft.
  • Such lateral support can be necessary, for example, in particular during a drilling process, in order to be able to absorb the horizontally acting forces that occur and to be able to avoid or dampen vibrations.
  • the carrier component can be designed in two parts.
  • the installation component is attached to a first part.
  • the fixing component is attached to a second part.
  • the carrier component can then also have an alignment component which is designed to align the first part of the carrier component relative to the second part of the carrier component, for example by rotating about a spatial axis.
  • the fixing component can fix the second part of the carrier component within the elevator shaft, for example by being supported laterally on walls of the elevator shaft.
  • the fixing component is particularly preferably designed to support the second part of the carrier component on a wall on the shaft access side and on a wall opposite thereto.
  • the alignment component of the carrier component can then align the other, first part of the carrier component in a desired manner relative to the laterally fixed second part of the carrier component, for example by the alignment component rotating this first part about at least one spatial axis.
  • the installation component attached to the first part is thus also relocated. In this way, the installation component can be brought into a position and/or orientation in which it can carry out a desired assembly step in a simple and targeted manner.
  • the mounting device also has a reinforcement detection component, which is designed to detect reinforcement within a wall of the elevator shaft.
  • the reinforcement detection component is thus able to detect a reinforcement that is usually not visually recognizable and is located deeper inside a wall, such as a steel profile, for example.
  • 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 are to be drilled, since then drilling into the reinforcement and thus both damage to the reinforcement and possibly damage to a drilling tool can be avoided.
  • the scanning component can be guided in a zigzag 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. As described, this height profile can be used to adjust the control of the installation component.
  • the assembly device described above can be used to carry out assembly steps of an installation process in an elevator shaft partially or fully automatically, and thus partially or fully autonomously.
  • the assembly device 1 shows an elevator shaft 103 of an elevator system 101, in which an assembly device 1 is arranged according to an embodiment of the present invention.
  • 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 enable the support component 3 to be displaced vertically within the elevator shaft 103, ie along the vertical 104, ie to be moved, for example, 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 so that it hangs downwards. 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 support component 3 is connected via a steel cable serving as a suspension element 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 .
  • Fig. 12 shows an enlarged view of an assembly device 1 according to an embodiment of the present invention.
  • the carrier component 3 is designed as a cage-like frame, in which several horizontally and vertically running bars form a mechanically resilient structure.
  • the spars and any struts provided are dimensioned in such a way that the support component 3 can withstand forces that can occur in the elevator shaft 103 during various assembly steps carried out by the installation component 5 as part of an installation process.
  • tethers 27 Attached to the top of the cage-like carrier component 3 are tethers 27 which can be connected to a carrying means 17 .
  • the carrier component 3 By shifting the suspension element 17 within the elevator shaft 103, i.e. for example by winding or unwinding the flexible suspension element 17 onto the cable winch of the displacement component 15, the carrier component 3 can be vertically displaced inside the elevator shaft 103 while hanging.
  • the displacement component 15 could also be provided directly on the carrier component 3 and, for example, using a cable winch, the carrier component 3 could be pulled up or down on a suspension element 17 fixed rigidly in the elevator shaft 3 at the top.
  • guide components for example in the form of support rollers 25, can be provided on the carrier component 3, with the aid of which the carrier component 3 can be guided along one or more of the walls 105 of the elevator shaft 103 during vertical displacement within the elevator shaft 103.
  • the fixing component 19 is provided on the side of the carrier component 3 .
  • the fixing component 19 is formed with an elongated bar which runs in the vertical direction and which can be displaced in the horizontal direction in relation to the frame of the carrier component 3 .
  • the spar can be attached to the carrier component 3, for example via a lockable hydraulic cylinder or a self-locking motor spindle.
  • the spar of the fixing component 19 is shifted away from the frame of the carrier component 3, it moves laterally towards one of the walls 105 of the elevator shaft 103.
  • stamps could be shifted backwards on the back of the carrier component 3 in order to hold the carrier component 3 to brace in the elevator shaft 103.
  • the carrier component 3 can be caulked within the elevator shaft 103 and thus, for example, the carrier component 3 can be fixed in the lateral direction within the elevator shaft 103 while an assembly step is being carried out. In this state, forces that are introduced onto the carrier component 3 can be transferred to the walls 105 of the elevator shaft 103, preferably without the carrier component 3 being able to shift within the elevator shaft 103 or vibrate.
  • the carrier component 3 can be made 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 with respect to the second part of the carrier component 3 that can be fixed within the elevator shaft 103 .
  • the alignment device can move the first part about at least one spatial axis relative to the second part.
  • the mechatronic installation component 5 is implemented using an industrial robot 7 . It is pointed out that the mechatronic installation component 5 can also be implemented in a different way can be, 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 installation 1 .
  • the industrial robot 7 is equipped with a plurality of robot arms that can be pivoted about pivot axes.
  • the industrial robot can have at least six degrees of freedom, that is, an assembly tool 9 guided by the industrial robot 7 can be moved with six degrees of freedom, that is, for example, with three rotational degrees of freedom and three translational degrees of freedom.
  • the industrial robot can be designed as a vertical articulated-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 purpose.
  • 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 up to them and coupled to one of them.
  • the industrial robot 7 can have a tool changing system, for example, which is designed in such a way that it enables at least several such assembly tools 9 to be handled.
  • One of the assembly tools 9 can be designed as a drilling tool, similar to a drill.
  • the installation component 5 can be configured to allow holes to be drilled, for example in one of the shaft walls 105 of the elevator shaft 103, in an at least partially automated manner.
  • 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, for example in the concrete of the wall 105 of the elevator shaft 103, into which later, for example, fastening screws for fixing fastening elements can be screwed.
  • the drilling tool as well as the industrial robot 7 can be designed in such a way that they can withstand, for example, the considerable forces and vibrations that occur when drilling in concrete.
  • a magazine component 11 can also be provided on the carrier component 3 .
  • the magazine component 11 can be used to store components 13 to be installed and to make them available to the installation component 5 .
  • the magazine component 11 is arranged in a lower area 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 on walls 105 within the elevator shaft 103 in order, for example, to attach guide rails for the elevator system 101 to them to be able to Screws can also be stored and made available in the magazine component 11 and 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 screwing device.
  • An assembly tool 9 on the industrial robot 7 can then be changed and, for example, a component 13 to be assembled can be picked up from the magazine component 11 .
  • the component 13 can have attachment slots. When the component 13 is brought into an intended position with the aid of the installation component 5, the previously partially screwed-in fastening screws can engage in these fastening slots or run through them. It is then possible to reconfigure to the assembly tool 9 designed as a screwing device and to tighten the fastening screws.
  • an installation process in which components 13 are mounted on a wall 105 can be carried out completely or at least partially in an automated manner, in that the installation component 5 first drills holes in the wall 105 and then components 13 fastened in these holes using mounting screws.
  • Such an automated installation process can be carried out relatively quickly and can, in particular, be repeated several times within a Installation work to be carried out in the elevator shaft helps to save considerable installation effort and thus time and money. Since the assembly device can carry out the installation process in a largely automated manner, interactions with human installation personnel can be avoided or at least reduced to a small extent, so that risks that otherwise typically occur during such installation processes, in particular the risk of accidents, can be significantly reduced for installation personnel.
  • a positioning component 21 can also be provided.
  • the positioning component 21 can, for example, be fixedly mounted on the carrier component 3 and thus be moved along within the elevator shaft 3 when the mounting device 1 is moved.
  • the positioning component 21 could also be arranged independently of the assembly device 1 at a different position within the elevator shaft 103 and determine a current position of the assembly device 1 from there.
  • the positioning component 21 can use different measurement principles in order to be able to precisely determine the current position of the assembly device 1 .
  • optical measuring methods appear to be suitable for enabling a desired accuracy when determining the position of, for example, less than 1 cm, preferably less than 1 mm, within the elevator shaft 103.
  • a controller of the assembly 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 controller can then, for example, initially move or let move the carrier component 3 within the elevator shaft 103 to a desired height. Subsequently, taking into account the then determined actual position, the controller can control the installation component 5 in a suitable manner, for example to drill holes at desired locations within the elevator shaft 3 , screw in screws and/or ultimately assemble components 13 .
  • the mounting device 1 can also have a reinforcement detection component 23 .
  • the reinforcement detection component 23 is accommodated in the magazine component 11 in a manner similar to one of the assembly tools 9 and can be handled by the industrial robot 7 . In this way, the reinforcement detection component 23 can be brought to a desired position by the industrial robot 7, where, for example subsequently a hole is to be drilled in the wall 105.
  • the reinforcement detection component 23 could also be provided on the mounting device 1 in a different way.
  • the reinforcement detection component 23 is designed to detect a reinforcement within the wall 105 of the elevator shaft 103 .
  • the reinforcement detection component can use physical measurement methods, for example, in which electrical and/or magnetic properties of the typically metallic reinforcement within a concrete wall are used in order to identify this reinforcement in a precise position.
  • a controller of the assembly 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 work process can be coordinated with one another during an installation process within an elevator shaft 103 and, for example, machine-human interactions can be minimized, ie a system that works as autonomously as possible can be created.
  • machine-human interactions can be minimized, ie 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, in which case automation is only established to a lesser degree and more machine-human interactions are therefore typically necessary.
  • the displacement component for displacing the assembly device in the elevator shaft can also be arranged on the carrier component of the assembly device and act on walls of the elevator shaft.
  • a displacement component 115 has two electric motors 151 which are arranged on the carrier component 3 of the assembly device 1 .
  • Two wheels 154 are fastened to the axles 153 in a rotationally fixed manner with respect 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 by pressing devices (not shown).
  • the electric motors 151 are drive-connected to the axles 153 via a drive connection 155, for example in the form of gear wheels and a chain, and can thus drive the wheels 154 and move the carrier component 3 within the elevator shaft 103.
  • a fixing component is also arranged on a side on which there is no displacement component 115, which consists of a support element 119 and a telescopic cylinder 120.
  • the support member 119 is arranged so that it is on one side with in the 3 door openings 106, not shown, in the walls 105 of the elevator shaft 103 (similar to 1 ).
  • the assembly 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 bar-shaped basic shape and is aligned in the vertical direction. Analogous to the representation in 1 and 2 it extends over the complete vertical extent of the carrier component 3 and also protrudes in both directions beyond the carrier component.
  • 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 pushed into one another and pulled apart manually, whereby they can be fixed in several positions. A distance 122 between the support element 119 and the carrier component 3 can thus be set.
  • 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 ram 121 which is connected to a U-shaped extension element 124 .
  • the ram 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 ram 121 rest against walls 105 of the elevator shaft 103 and the carrier component 3 is thus caulked on the walls 105.
  • the carrier component 3 is thus fixed in the vertical direction and in the horizontal direction, ie transversely to the vertical direction.
  • the telescopic cylinder 120 is extended and retracted by an electric motor.
  • other types of drive for example pneumatic or hydraulic, are also conceivable.
  • the inside 3 telescopic cylinder 120 shown is arranged on or in the area of an upper side of the carrier component 3 .
  • the carrier component 3 also has a telescopic cylinder on or in the area of its underside.
  • two telescopic cylinders or more than two, for example three or four, telescopic cylinders can be arranged at one height.
  • the plunger of the telescopic cylinder can come into contact with the wall of the elevator shaft without the interposition of an extension element.
  • a fixation component consisting of a support element and telescopic cylinders is also possible in combination with a mounting device that is attached by means of a support means as in 1 and 2 shown, can be relocated within the elevator shaft.
  • the assembly device must be supplied with energy in the elevator shaft and communication with the assembly device is necessary.
  • 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 which consists of a power section 156 arranged on the carrier component 3 and a control unit arranged on a floor outside the elevator shaft 103.
  • PC 157 exists.
  • the control PC 157 and the power section 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 traveling 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 connection 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 specific activations 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.
  • FIG 5 a part of an installation component 5 designed as an industrial robot 7 with a damping element 130 and an assembly tool in the form of a drill 131 coupled thereto is shown.
  • a drill bit 132 which can be driven by the drill 131 is inserted into the drill 131 .
  • the damping element 130 consists of a plurality of rubber buffers 136 arranged in parallel, which can each be viewed as a damping element.
  • the damping element 130 is used in an arm 133 of the industrial robot 7 and divides it into a first part 134 on the drill side and a second part 135 .
  • the damping element 130 connects the two parts 134, 135 of the arm 133 of the industrial robot 7 and transmits shocks and vibrations introduced via the drilling insert 132 to the second part 135 in a damped 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 figure 5 built up.
  • the connecting element 137 is firmly connected to the drill 131 so that the industrial robot 7 picks up the combination of the connecting element 137 and the 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.
  • FIG. 7a An area 140 of a wall of an elevator shaft is shown in which a bore is to be carried out at a first bore position.
  • the area 140 is divided into grid squares, which are marked with consecutive letters A to J to the right and with ascending letters at the bottom Numbers 1 to 10 are marked. This division was analogous in the Figure 7b accomplished.
  • first and second reinforcements 141, 142 run from top to bottom, running straight and parallel to one another at least in the area 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 area shown.
  • the third reinforcement 143 runs from A4 to J4 and the fourth reinforcement 144 from A10 to J10.
  • this first possible area 146 is a rectangle with corners C5, H5, C9 and H9.
  • the courses of the reinforcements are 141, 142, 143, 144 in Figure 7b not identical as in Figure 7a .
  • the first reinforcement 141 runs in Figure 7b from D1 to D10 and the second reinforcement 142 from J1 to J10.
  • the third reinforcement 143 runs in Figure 7b from A5 to J5 and the fourth reinforcement 144 as in Figure 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 corners E6, I6, E9 and I9.
  • the possible areas for the first and second drilling position result from the overlapping area of the first area 146 and the second area 148. This results in a rectangular area 149 for the first drilling position and a rectangular area 150 for the second drilling position, each with the corners E6 , H6, E9, H9.
  • a grid square for the first and second drilling position can be selected from these areas 149, 150.
  • the first drilling position is 170 in Figure 7a and the second drilling position 171 in Figure 7b each set in grid square E7.

Landscapes

  • 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)
EP16733548.8A 2015-07-24 2016-06-30 Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage Active EP3325396B1 (de)

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PL16733548T PL3325396T3 (pl) 2015-07-24 2016-06-30 Zautomatyzowane urządzenie montażowe do przeprowadzania instalacji w szybie dźwigowym urządzenia dźwigowego

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EP15178287 2015-07-24
PCT/EP2016/065247 WO2017016783A1 (de) 2015-07-24 2016-06-30 Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage

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EP16733545.4A Active EP3325394B1 (de) 2015-07-24 2016-06-30 Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage
EP16733547.0A Active EP3325395B2 (de) 2015-07-24 2016-06-30 Automatisierte montagevorrichtung zur durchführung von installationen in einem aufzugschacht einer aufzuganlage

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EP (3) EP3325396B1 (enrdf_load_stackoverflow)
KR (2) KR102585413B1 (enrdf_load_stackoverflow)
CN (3) CN107848767B (enrdf_load_stackoverflow)
AU (3) AU2016299141B2 (enrdf_load_stackoverflow)
BR (3) BR112017026263B1 (enrdf_load_stackoverflow)
CA (3) CA2988509C (enrdf_load_stackoverflow)
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