Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
  • B66B11/0005—Constructional features of hoistways
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B19/00—Mining-hoist operation
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B19/00—Mining-hoist operation
  • B66B19/002—Mining-hoist operation installing or exchanging guide rails
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B7/00—Other common features of elevators
  • B66B7/02—Guideways; Guides
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B7/00—Other common features of elevators
  • B66B7/02—Guideways; Guides
  • B66B7/023—Mounting means therefor
  • B66B7/024—Lateral supports

Definitions

• the present invention relates to an assembly device with which installation processes can be carried out in an elevator shaft of an elevator system. Furthermore, the invention relates to a method for carrying out an installation process in an elevator shaft of an elevator system.
• the JP 3034960 B2 describes a mounting device with the features of the preamble of claim 1
• a mounting device for aligning guide rails for an elevator car in an elevator shaft is described.
• pre-assembled guide rails can be aligned by installation personnel in the elevator shaft and secured to retaining profiles in the form of bracket elements installed by installation personnel in the elevator shaft.
• the mounting device has a screw 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 laterally supported on one of the aforementioned bracket elements installed by installation personnel.
• an assembly device for performing an installation process in an elevator shaft of an elevator system comprises a support component and a mechatronic installation component.
• the support component is designed to be displaced relative to the elevator shaft, i.e., for example, within the elevator shaft, and to be positioned at different heights within the elevator shaft.
• the installation component is held on the support component and designed to perform an assembly step within the installation process at least partially automatically, preferably fully automatically.
• the installation component comprises 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, among other things, 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 the assembly steps involved would, of course, be advantageous.
• assembly steps that have to be carried out many times during the installation of the lift system
• assembly steps can be carried out automatically.
• a large number of support profiles typically need to be attached to the walls of the elevator shaft. This typically requires drilling holes at numerous locations along the shaft, and then screwing in a support profile at each location.
• an assembly device which, on the one hand, has a carrier component and, on the other hand, a mechatronic installation component held on this carrier component.
• the support component can be designed in various ways.
• the support component can be constructed as a simple platform, frame, scaffold, cabin, or similar.
• the dimensions of the support component should be selected such that the support component can be easily inserted into the elevator shaft and relocated within this shaft.
• the mechanical design of the support component should be such that it can reliably support the mechatronic installation component held to it and, if necessary, can withstand static and dynamic forces exerted by the installation component during an assembly step.
• the installation component should be mechatronic, i.e. it should have interacting mechanical, electronic and information technology elements or modules.
• the installation component should have a suitable mechanism to handle tools, e.g., during an assembly step.
• the tools can be appropriately moved to an assembly position and/or guided during an assembly step by the mechanism.
• 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, via batteries, accumulators, or a separate power supply via a cable.
• the installation component itself can also have a suitable mechanism that forms a tool.
• Electronic elements or modules of the mechatronic installation component can, for example, be used to appropriately control or monitor mechanical elements or modules of the installation component. Such electronic elements or modules can thus serve, for example, as a control system for the installation component.
• the installation component can have information technology elements or modules that can be used, for example, to determine the position to which a tool should be placed and/or how the tool should be operated and/or guided during an assembly step.
• Guide components can also be provided on the support component, by means of which the support component can be guided along one or more of the walls of the elevator shaft during vertical displacement within the elevator shaft.
• the guide components can be designed, for example, as support rollers that roll along the walls of the elevator shaft. Depending on the arrangement of the support rollers, one to, in particular, four support rollers can be provided on the support component.
• guide ropes can be stretched within the elevator shaft to guide the support component.
• temporary guide rails can be installed in the elevator shaft to guide the support component.
• the support component it is possible for the support component to be suspended via two or more resilient, flexible support elements, such as ropes, a chain, or belts.
• An industrial robot is a universal, usually programmable machine for handling, assembling, and/or processing workpieces and components.
• Such robots are designed for use in an industrial environment and are currently used, for example, in the industrial production of complex goods in large quantities, such as in automotive manufacturing.
• An industrial robot typically comprises a so-called manipulator, a so-called effector, and a controller.
• the manipulator can, for example, be a robot arm that can pivot about one or more axes and/or be displaced in one or more directions.
• the effector can, for example, be a tool, a gripper, or something similar.
• the controller can be used to appropriately control the manipulator and/or the effector, i.e., to appropriately displace and/or guide them.
• the manipulator is designed to be coupled with various effectors. This enables particularly flexible use of the industrial robot and thus the assembly device.
• the control system of the industrial robot comprises 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 the control of the individual electric motors of the industrial robot to the power unit, which then converts these into implements specific control of the electric motors.
• the power unit is located on the carrier component, whereas the control PC is not located on the carrier component, but in or next to the elevator shaft. If the power unit were not located 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,
• the industrial robot primarily requires only a power supply and a communication connection, for example, in the form of an Ethernet connection between the control PC and the power section, particularly via a so-called hanging cable.
• a particularly simple cable connection which, due to the small number of cables, is also very robust and less prone to errors.
• Additional functions, such as safety monitoring, can be implemented in the industrial robot's control system, which may require additional cable connections between the control PC and the power section.
• the displacement component can be attached directly to the support component and can actively move along the wall of the elevator shaft using its motion component.
• the displacement component can have a drive that moves one or more movement components in the form of wheels or rollers, wherein the wheels or rollers are pressed against the wall of the elevator shaft so that the wheels or rollers set in rotation by the drive can roll along the wall with as little slippage as possible and can thereby displace the displacement component together with the support component attached to it within the elevator shaft.
• a movement component of a displacement component to transfer forces to the wall of the elevator shaft in a different way.
• gears could serve as the movement component and engage with a rack attached to the wall to enable the displacement component to be displaced vertically within the elevator shaft.
• the support component further comprises a fixing component which is designed to fix the support component and/or the installation component within the elevator shaft in a direction transverse to the vertical, i.e., for example, in a horizontal or lateral direction.
• Fixing in the lateral direction can be understood to mean that the support component together with the installation component attached to it can not only be moved vertically, for example with the aid of the relocation component, to a position at a desired height within the elevator shaft, but that the support component can then also be fixed there in the horizontal direction with the aid of the fixing component.
• support against a wall means that the fixing component is supported directly and without the need for pre-mounted components, such as bracket elements, and can therefore transmit forces into the wall.
• This support can be achieved in various ways.
• the fixing component is designed to fix at least one of the support component and the installation component within the elevator shaft in a direction along the vertical.
• the support element has, in particular, a vertically elongated shape and extends at least over the entire vertical extent of the support component. It has, for example, a primarily beam-shaped basic shape.
• the mounting device is, in particular, introduced into the elevator shaft such that the support element is arranged in the walls of the elevator shaft on a side with door openings. Due to its elongated shape, the support element enables sufficient support even if the mounting device is to be fixed in the area of a door opening.
• Caulking against the walls of the elevator shaft may cause deformation of the support component. This is particularly the case if the support or caulking occurs near a door opening. This deformation may change the relative position of a storage component described above to the installation component. This can lead to problems with the installation component's ability to accommodate tools and components to be installed. Such problems can be avoided, for example, if the support component is designed to be rigid enough to prevent deformation during support or caulking, or if the magazine components are arranged relative to the installation component in such a way that their relative positions do not change even if the support component deforms.
• the fixing device can have suction cups, which can exert a holding force against a wall of the elevator shaft and thus fix the support component to the walls of the elevator shaft.
• a pump can actively generate a vacuum at the suction cups to increase the holding force.
• the support component is supported against the walls of the elevator shaft via the suction cups.
• the fixation by means of suction cups also works vertically.
• the support component prefferably fixed to one or more walls of the elevator shaft using fasteners, such as screws, bolts, or nails, thus supporting itself against the walls.
• This support also acts vertically. This temporary fixation is released when the support component needs to be moved to another position within the elevator shaft.
• the support component can be supported and secured by components already installed in the elevator shaft, such as support profiles.
• the support can also be arranged in a vertical direction.
• a frame relative to which the tool is movably guided, can be fixed to a wall of the elevator shaft, for example, using suction cups.
• the frame can also be temporarily fixed to a wall of the elevator shaft using fasteners, such as screws, bolts, or nails.
• the support 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 support component can then further comprise an alignment component designed to align the first part of the support component relative to the second part of the support component, for example, by rotating it about a spatial axis.
• the fixing component can fix the second part of the support component within the elevator shaft, for example by supporting itself laterally against walls of the elevator shaft.
• the fixing component is designed to support the second part of the support component on a shaft access side and a wall opposite thereto.
• the alignment component of the support component can then align the other, first part of the support component in a desired manner relative to the laterally fixed second part of the support component, for example by the alignment component rotating this first part about at least one spatial axis. This also displaces the installation component attached to the first part. In this way, the installation component can be brought into a position and/or orientation in which it can easily and precisely carry out a desired assembly step.
• the reinforcement detection component is thus capable of detecting reinforcement, such as a steel profile, that is usually not visually detectable and is located deeper inside a wall.
• Information about the presence of such reinforcement can be advantageous, for example, when holes are to be drilled into the wall of an elevator shaft as part of an assembly step, as this can prevent drilling into the reinforcement and thus damaging both the reinforcement and potentially the drilling tool.
• the scanning component can be moved in a zigzag pattern along the wall in an area where a bracket element is to be mounted, and a height profile of the wall can be created from the measured distances. This height profile can be used, as described, to adjust the control of the installation component.
• a further aspect of the invention relates to a method for performing an installation process in an elevator shaft of an elevator system.
• the method comprises introducing a mounting device according to an embodiment as described herein into an elevator shaft, a controlled displacement of the mounting device within the elevator shaft, and finally, an at least partially, preferably fully, automatic execution of an installation step within the installation process using the mounting device.
• the assembly device described above can be used to carry out assembly steps of an installation process in an elevator shaft partially or fully automated, and thus partially or fully autonomously.
• Fig. 1 shows an elevator shaft 103 of an elevator system 101, in which an assembly device 1 according to an embodiment of the present invention is arranged.
• the assembly device 1 has a support component 3 and a mechatronic installation component 5.
• the support component 3 is designed as a frame on which the mechatronic installation component 5 is mounted. This frame has dimensions that allow the support component 3 to be displaced vertically within the elevator shaft 103, i.e., along the vertical 104, i.e., 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 support component 3 in a downwardly suspended manner. An arm of the industrial robot 7 can be moved relative to the support component 3 and, for example, relocated toward a wall 105 of the elevator shaft 3.
• the mounting device 1 further comprises a fixing component 19, by means of which the support component 3 can be fixed in the lateral direction, i.e., in the horizontal direction, within the elevator shaft 103.
• the fixing component 19 on the front side of the support component 3 and/or the rams (not shown) on a rear side of the support component 3 can be displaced forwards or backwards outwards for this purpose, thus caulking the support component 3 between walls 105 of the elevator shaft 103.
• the fixing component 19 and/or the rams can be spread outwards, for example, using hydraulics or the like, in order to fix the support component 3 in the elevator shaft 103 in the horizontal direction.
• Fig. 2 shows an enlarged view of a mounting device 1 according to an embodiment of the present invention.
• the support component 3 can be caulked within the elevator shaft 103, thus laterally securing the support component 3 within the elevator shaft 103, for example, during an assembly step. Forces applied to the support component 3 can be transferred to the walls 105 of the elevator shaft 103 in this state, preferably without the support component 3 being able to shift within the elevator shaft 103 or vibrate.
• the mechatronic installation component 5 is implemented using an industrial robot 7. It should be noted, however, that the mechatronic installation component 5 can also be implemented in other ways, for example, with differently designed actuators, manipulators, effectors, etc. In particular, the installation component could comprise mechatronics or robotics specifically adapted for use in an installation process within an elevator shaft 103 of an elevator system 1.
• 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 enable at least partially automated, controlled drilling of holes, for example, in one of the shaft walls 105 of the elevator shaft 103.
• the drilling tool can be moved and handled by the industrial robot 7, for example, in such a way that the drilling tool, with a drill bit, drills holes at a predetermined position, for example, in the concrete of the wall 105 of the elevator shaft 103, into which holes, for example, fastening screws for securing fastening elements can later be screwed.
• the drilling tool, as well as the industrial robot 7, can be suitably designed so that they can, for example, withstand the considerable forces and vibrations that occur when drilling into concrete.
• Another assembly tool 9 can be designed as a screwing device for at least semi-automatically screwing screws into previously drilled holes in a wall 105 of the elevator shaft 103.
• the screwing device can be designed in particular such that it can also be used to screw concrete screws into the concrete of a shaft wall 105.
• an installation process in which components 13 are mounted on a wall 105 can be carried out completely or at least partially automatically in that the installation component 5 first drills holes in the wall 105 and then fastens components 13 in these holes using fastening screws.
• the positioning component 21 can use different measuring principles to precisely determine the current position of the mounting device 1. Optical measuring methods, in particular, appear suitable for enabling a desired accuracy in position determination of, for example, less than 1 cm, preferably less than 1 mm, within the elevator shaft 103.
• a controller of the mounting device 1 can evaluate signals from the positioning component 21 and, based on these signals, determine an actual positioning relative to a target positioning within the elevator shaft 103. Based on this, the controller can then, for example, first move or have the support component 3 move to a desired height within the elevator shaft 103. Subsequently, the controller can appropriately control the installation component 5, taking into account the then determined actual position, for example to drill holes at desired locations within the elevator shaft 3, screw in screws, and/or ultimately mount components 13.
• the assembly device 1 can further comprise a reinforcement detection component 23.
• the reinforcement detection component 23 is accommodated in the magazine component 11, 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 moved by the industrial robot 7 to a desired position, where, for example, a hole is subsequently to be drilled into the wall 105.
• the reinforcement detection component 23 could also be provided on the assembly device 1 in a different manner.
• the reinforcement detection component 23 is designed to detect reinforcement within the wall 105 of the elevator shaft 103.
• the reinforcement detection component can, for example, use physical measurement methods in which electrical and/or magnetic properties of the typically metallic reinforcement within a concrete wall are used to detect this reinforcement with precise positioning.
• a control of the mounting device 1 can, for example, correct previously assumed positions of screw holes to be drilled in such a way that there is no overlap between the screw holes and the reinforcement.
• work steps and a workflow can be coordinated during an installation process within an elevator shaft, for example, minimizing machine-human interactions, thus creating a system that operates as autonomously as possible.
• a less complex and thus more robust system can be used for an assembly device, although in this case, automation is only established to a lesser degree, typically requiring more machine-human interactions.
• the displacement component for displacing the mounting device in the elevator shaft can also be arranged on the support component of the mounting device and act on the walls of the elevator shaft.
• a displacement component 115 has two electric motors 151, which are arranged on the support component 3 of the assembly device 1.
• a rotatable axle 153 is fastened via two guides 152 each.
• Two wheels 154 are fastened to each of the axles 153 in a rotationally fixed manner 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 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 gears and a chain, and can thus drive the wheels 154 and displace the support component 3 within the elevator shaft 103.
• the elongated support element 119 has a mainly cuboid or beam-shaped basic shape and is oriented in a vertical direction. Analogous to the illustration in Fig. 1 and 2 It extends over the entire vertical extent of the support component 3 and also protrudes beyond the support component in both directions.
• the support element 119 is connected to the support component 3 via two cylindrical connecting elements 123.
• the connecting elements 123 consist of two parts (not shown separately) that can be manually pushed into and pulled apart from one another, and can be fixed in several positions. This allows a distance 122 to be set between the support element 119 and the support component 3.
• a telescopic cylinder 120 is arranged centrally.
• the telescopic cylinder 120 has an extendable piston 121 connected to a U-shaped extension element 124.
• the piston 121 can be extended so far toward the wall 105 of the elevator shaft 103 that the support element 119 and the extension element 124 connected to the piston 121 rest against the walls 105 of the elevator shaft 103, and the support component 3 is thus caulked to the walls 105.
• the support component 3 is thus fixed in the vertical direction and in the horizontal direction, i.e., transversely to the vertical direction.
• the telescopic cylinder 120 is extended and retracted by an electric motor.
• other drive types such as pneumatic or hydraulic, are also conceivable.
• the telescopic cylinder 120 shown is arranged on or in the region of an upper side of the support component 3.
• the support component 3 also has a telescopic cylinder on or in the region of its underside.
• a fixing component consisting of a support element and telescopic cylinders is also possible in combination with a mounting device which is fixed by means of a support means as in Fig. 1 and 2 shown, can be moved within the elevator shaft.
• the mounting device must be supplied with power in the elevator shaft and communication with the mounting device is necessary.
• Fig. 4 Energy and communication connections to an assembly device 1 in an elevator shaft 103 are shown.
• the assembly device 1 has a support 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 consisting of a power unit 156 arranged on the support component 3 and a control PC 157 arranged on a floor outside the elevator shaft 103.
• the control PC 157 and the power unit 156 are connected to one another via a communication line 158, for example in the form of an Ethernet line.
• the communication line 158 is part of a so-called hanging cable 159, which also includes power lines 160, via which the assembly device 1 is supplied with electrical energy from a voltage source 161. For reasons of clarity, the lines within the assembly device 1 are not shown.
• Fig. 5 1 shows part of an installation component 5 designed as an industrial robot 7, comprising a damping element 130 and an assembly tool coupled thereto in the form of a drill 131.
• a drill bit 132 which can be driven by the drill 131, is inserted into the drill 131.
• the damping element 130 consists of several rubber buffers 136 arranged in parallel, each of which can be regarded as a damping element.
• the damping element 130 is inserted 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 transmits shocks and vibrations introduced via the drill bit 132 to the second part 135 in a dampened manner.
• a damping element 130 can also be arranged in a connecting element 137 from an industrial robot 7 to an assembly tool in the form of a drill 131.
• the damping element is basically the same as the damping element 130 in Fig. 5
• the connecting element 137 is firmly connected to the drill 131, so that the industrial robot 7 receives the combination of connecting element 137 and drill 131 for drilling a hole in a wall of the elevator shaft.
• the feed rate during drilling and/or the time required to drill a hole to a desired depth are monitored. If the feed rate falls below a certain limit and/or the time required to drill a hole to a certain depth is exceeded, the drill bit used is detected as no longer working properly, and a corresponding message is generated.
• FIG. 7a and 7b A method for creating an image of the position of reinforcements within a wall of an elevator shaft and a method for determining a first and a corresponding second drilling position are described.
• first and second reinforcements 141, 142 run from top to bottom, running straight and parallel to one another at least in the illustrated region 140.
• 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 illustrated region.
• the third reinforcement 143 runs from A4 to J4, and the fourth reinforcement 144 from A10 to J10.
• the reinforcement detection component 23 is guided several times by the installation component 5 along the wall 105 of the elevator shaft.
• the reinforcement detection component 23 is first guided several times from top to bottom (and vice versa) and then from left to right (and vice versa).
• the reinforcement detection component 23 continuously provides the distance 145 to the nearest reinforcement 143 in the direction of movement, so that the displayed image of the position of the reinforcements 141, 142, 143, 144 can be created from the known position of the reinforcement detection component 23 and the stated distance 145.
• a first possible area 146 for the first drilling position can be determined.
• this first possible area 146 is a rectangle with the corners C5, H5, C9 and H9.
• the Fig. 7b shown area 147 of a
• the wall of an elevator shaft is offset laterally from the area 140 in Fig. 7a
• a second drilling is to be carried out, whereby the drilling position cannot be freely selected, but is determined in a predetermined manner relative to the first drilling position in the area 140 according to Fig. 7a
• the second drilling position corresponding to the first drilling position must, for example, be offset laterally by a certain distance from the first drilling position.
• the area 147 is in Fig. 7b offset by this distance laterally from the area 140 in Fig. 7a
• Corresponding first and second drilling positions are shown in the example shown in the Fig. 7a and 7b arranged in matching grid squares.
• the courses of reinforcements 141, 142, 143, 144 in Fig. 7b not identical as in Fig. 7a
• the first reinforcement 141 runs in Fig. 7b from D1 to D10 and the second reinforcement 142 from J1 to J10.
• the third reinforcement 143 runs in Fig. 7b from A5 to J5 and the fourth reinforcement 144 as in Fig. 7a from A10 to J10.
• a second possible area 148 for the second drilling position can be determined.
• This second possible area 148 is a rectangle with the corners E6, I6, E9 and I9.
• the possible areas for the first and second drilling positions result from the overlap 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. From these areas 149, 150, a grid square can be selected for the first and second drilling positions.
• the first drilling position 170 is Fig. 7a and the second drilling position 171 in Fig. 7b each defined in grid square E7.
• FIG. 8a and 8b An alternative method for determining a first and a corresponding second drilling position is described.
• the arrangement of the reinforcements 141, 142, 143, 144 in the Fig. 8a corresponds to the arrangement in the Fig. 7a and the arrangement in the Fig. 8b the arrangement in the Fig. 7b .
• the division into grid squares is also identical.
• Fig. 8a possible positions for the first drilling position are determined.
• the reinforcement detection component 23 is used to check whether drilling is possible at a desired drilling position, in this case D5. This is the case here.
• further possible positions for the first drilling position are searched for. To do this, starting from the desired drilling position D5, further grid squares are checked in a clockwise spiral, in this case E5, E6, and D6.
• the search for further possible positions is aborted. If one of the positions was not possible due to reinforcement, the search would continue until four possible positions have been found.
• a possible second drilling position is searched for. Due to the described assignment of the two drilling positions, the second drilling position must be in the same grid square as the first drilling position.
• the first step is to check whether the desired drilling position, in this case D5, is also possible for the second drilling position. In the example shown, this is not possible due to a collision with the reinforcement 141, so the search continues in a spiral manner analogous to the procedure for the first drilling position.
• the second possible position E5 is not possible due to a collision with the reinforcement 143.
• the third possible position E6 is possible, so that in the Fig. 8a and 8b In the example shown, the first drilling position 172 in Fig. 8a and the second drilling position 173 in Fig. 8b which is determined in grid square E6.

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• Engineering & Computer Science (AREA)
• Civil Engineering (AREA)
• Mechanical Engineering (AREA)
• Structural Engineering (AREA)
• Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
• Automatic Assembly (AREA)
• Manipulator (AREA)
• Cage And Drive Apparatuses For Elevators (AREA)

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• 2016
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