EP3436390B1 - Method and mounting device for carrying out an installation procedure in a lift shaft of a lift assembly - Google Patents

Description

The invention relates to a method for carrying out an installation process in an elevator shaft of an elevator system with the features of the preamble of claim 1 and an assembly device for carrying out an installation process in an elevator shaft of an elevator system with the features of the preamble of claim 11.

JPH08277076 describes an at least partially automated method for aligning guide rails in an elevator shaft of an elevator installation. For this purpose, two elongated reference elements in the form of wires are introduced into the elevator shaft. A device for aligning the guide rails can be displaced within the elevator shaft in a main direction of extension of the elevator shaft. The device has two detection elements that can recognize the position of the wires and thus the positioning of the device relative to the wires. The detection elements are fixed to the device, so that the device must be arranged in a plane transverse to the main direction of extension of the elevator shaft in a defined position relative to the wires.

In contrast, it is in particular the object of the invention to propose a method and an assembly device for carrying out an installation process in an elevator shaft of an elevator installation, which allow a high degree of flexibility in the execution of the installation process, in particular in the positioning of the assembly device relative to the reference element. According to the invention, this object is achieved with a method with the features of claim 1 and an assembly device with the features of claim 11.

In the method according to the invention for carrying out an installation process in an elevator shaft of an elevator installation, a first elongate reference element is introduced into the elevator shaft, which is oriented in a main direction of extent of the elevator shaft. In addition, a mounting device is introduced into the elevator shaft, which has a carrier component and a mechatronic installation component held by the carrier component having. This assembly device is shifted into a fixing position in the main direction of extent of the elevator shaft.

According to the invention, the relative position of the carrier component of the mounting device in the fixing position with respect to the first reference element is determined, a sensor arranged on the installation component being used for this purpose. The relative position of the first reference element is determined with respect to at least two different sensor positions and thus positions of the installation component. The different sensor positions result, for example, in relation to the carrier component fixed in the elevator shaft or in relation to the first reference element. When determining the relative position of the first reference element with respect to a sensor position, both the sensor position and the reference element can be assumed.

The steps mentioned are carried out in particular in the order described, but a different order is also conceivable.

An installation process is to be understood here to mean, for example, the attachment or alignment of a component, for example a so-called lower rail bracket, in an elevator shaft.

The reference element is particularly flexible, for example as a plastic cord or as a metal wire. But it can also be rigid, for example as a plastic or metal rail. When the reference element is introduced into the elevator shaft, it is in particular also fixed in the elevator shaft. As a result, the position of the reference element with respect to the elevator shaft and thus relative to walls of the elevator shaft is known. It is therefore known, for example, the distance between the reference element and the different walls of the elevator shaft. This information can be used in determining an assembly position of an assembly step to be performed by the installation component. The reference element is aligned in the main direction of extension of the elevator shaft, so it runs mainly in the main direction of extension, the main direction of extension being understood to be the direction in which an elevator car of the fully assembled elevator system travels becomes. The main direction of extension is therefore particularly vertical, but it can also be inclined or horizontal with respect to the vertical. The reference element does not necessarily have to run along a single straight line over its entire length. It is also possible for the course of the reference element to be composed of straight lines, the transition areas of which can also be rounded.

The carrier component of the mounting device can be designed 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 are in particular chosen such that the carrier component can be easily accommodated in the elevator shaft and can be displaced within this elevator shaft in its main direction of extension. A mechanical design of the carrier component is in particular selected such that it can reliably carry the mechatronic installation component held on it and, if necessary, can support forces exerted by the installation component when carrying out an assembly step.

The installation component of the assembly device should be mechatronic, that is to say it should have interacting mechanical, electronic and information technology elements or modules.

For example, the installation component can have a suitable mechanism, for example to be able to handle tools within one assembly step. The tools can be suitably brought to the assembly position by the mechanics, for example, and / or appropriately guided during an assembly step. Alternatively, the installation component itself can also have a suitable mechanism that forms a tool. Said tool can be designed, for example, as a drill or a screwdriver.

Electronic elements or modules of the mechatronic installation component can, for example, serve to suitably control or control mechanical elements or modules of the installation component. Such electronic elements or modules can thus serve, for example, as a control device for the installation component. There can also be more Control devices can be provided which exchange information with one another, divide up control tasks and / or monitor one another. When a control device is mentioned below, reference is made to one or more of these control devices.

Furthermore, the installation component can have information technology elements or modules with the aid of which it can be derived, for example, to which position a tool is to be placed and / or how the tool is to be actuated and / or guided there during an assembly step.

An interaction between the mechanical, electronic and information technology elements or modules takes place in particular in such a way that at least one assembly step can be carried out semi-automatically or fully automatically by the assembly device as part of the installation process.

A displacement component is provided in particular for moving the assembly device within the elevator shaft. For example, a drive pre-assembled in the elevator shaft can be provided as the displacement component. This drive can only be provided for the relocation of the installation component or can also be designed as a drive machine later serving for the elevator system, with the aid of which an elevator car can be moved in the fully installed state and which can be used during the previous installation process to relocate the assembly device. The displacement component can be designed in different ways in order to be able to move the assembly device within the elevator shaft.

For example, the displacement component can either be fixed to the carrier component of the mounting device or at a stop at the top of the elevator shaft and can have a flexible, resilient load-bearing means, such as a rope, a chain or a belt, one end of which is held on the displacement component and the like the other end is fixed to the other element, that is to say at the stop at the top of the elevator shaft or on the assembly device.

The mounting device is fixed in the fixing position in particular in relation to the elevator shaft in such a way that the carrier component of the mounting device is prevented from moving in a direction transverse to the main direction of extension within the elevator shaft during a mounting step in which the installation component works and, for example, exerts transverse forces on the carrier component can. For this purpose, the mounting device can in particular have a fixing component, which, for example, can be designed to be supported or caulked laterally on the walls of the elevator shaft, so that the carrier component can no longer move in the horizontal direction relative to the walls. For this purpose, the fixing component can have suitable supports, stamps, levers or the like, for example.

The relative position of the carrier component of the mounting device in the fixing position with respect to the first reference element is determined in particular by placing the sensor arranged on the installation component in two different positions near the first reference element and determining the distance between the sensor and the reference element. The two different positions of the sensor are spaced apart from one another in particular in the main direction of extent and are known to the control device. The relative position of the carrier component to the first reference element can be determined from the known positions of the sensor and the distances from the sensor to the reference element. Since the position and the course of the first reference element in the elevator shaft are also known, the relative position of the carrier component in the elevator shaft can thus be determined. The relative position of the carrier component of the assembly device is understood to mean, in particular, its orientation relative to the main direction of extent, that is to say its tilting and / or twisting with respect to the main direction of extent. It is also possible for the sensor to be positioned in such a way that it is at a defined distance from the first reference element and then from this position of the sensor. It is also possible that the position of the carrier component relative to the walls of the elevator shaft in the fixing position is determined by means of the sensor. For this purpose, the sensor can, for example, be brought to one or in particular several positions opposite one or more walls and the distance to the corresponding wall can be measured in each case. It is also possible that the sensor move continuously along a wall and continuously measure the distance to the wall. As a result, the course of the walls in the area of the fixing position can be determined very precisely.

It is also possible that the sensor is brought into four positions and the distance to the reference element is determined in each position of the sensor. Two positions each have the same position in the main direction of extent of the elevator shaft and the calculated position is averaged in relation to the reference element in these two positions. This can at least partially or completely compensate for the negative effects of any vibrations of the reference element that may occur. Generally speaking, two measurements in different sensor positions are carried out at each position in the main direction of extent.

Said sensor can in particular determine the position of the first reference element, for example the distance of the sensor from the first reference element, without contact. The sensor can be designed, for example, as a laser scanner, a laser or ultrasound distance meter or as a 3D digital camera with an associated evaluation unit. The sensor is in particular fixedly arranged on the installation component. It is arranged, in particular, on a part of the installation component that is movable relative to the carrier component and in particular as close as possible to an outer end of the installation component, for example at a cantilevered end of an industrial robot. This means that the installation component does not have to pick up the sensor before each use, which enables a particularly time-saving implementation of an installation process. If necessary, the installation component can also pick up the sensor from a magazine, for example, and put it back in the magazine after use.

The position of the carrier component in the main direction of extension is determined in particular without using the first reference element. For this purpose, for example, a positioning system can be used, with the aid of which the position of an elevator car in the main direction of extension can be determined in the fully installed state. It is also possible for a distance to one end of the elevator shaft or to a door cutout in the elevator shaft by means of a suitable distance measuring device, is determined, for example, based on an ultrasound or laser measurement method. Another possibility is that the position in the main extension direction is determined on the basis of a known position by monitoring an activity of the displacement component. In addition, there are numerous other options for determining the position of the carrier component in the main direction of extension.

Now that the control device knows the position of the carrier component of the assembly device in the elevator shaft, an assembly position of an assembly step to be carried out by the installation component can be determined. For example, the control device can determine the position at which a lower part of the rail bracket is to be attached to the wall of the elevator shaft. The control device can, for example, determine the position of the drill holes required for this purpose and can drill the holes into the wall of the elevator shaft using a drill that is picked up by the installation component. In addition, a variety of other assembly steps are possible, such as screwing a screw into a borehole or attaching a lower part of the rail bracket.

In an embodiment of the invention, a signal from an acceleration sensor arranged on the mounting device can be used to determine the fixing position, the acceleration sensor being arranged in particular on the carrier component. The position of the mounting device relative to the vertical can thus be determined in a simple manner. It is thus possible, for example, to determine a rotation of the mounting device with respect to the main direction of extension by means of the aforementioned sensor and the first reference element and a tilting of the mounting device with respect to the vertical by means of the acceleration sensor. The fixing position can thus be determined using only one reference element, which makes the determination particularly simple and inexpensive.

It is also possible that an angle sensor is used to determine the angle of the carrier component with respect to the vertical.

The acceleration sensor or the angle sensor can also be used to check the position determination by means of the sensor and the first reference element. This enables a particularly precise determination of the fixing position.

In an embodiment of the invention, a second elongate reference element is introduced into the elevator shaft, which is also aligned in the main direction of extension of the elevator shaft. The second reference element is in particular arranged parallel to the first reference element. The relative position of the mounting device in the fixing position with respect to the second reference element is also determined using the sensor arranged on the installation component. By using two reference elements, the fixing position can be determined particularly precisely and in particular without using an acceleration sensor. By detecting at least three points (two at the first and one at the second reference element spaced apart in the main direction of extension), the plane spanned by the two reference elements can be determined and thus the orientation of the mounting device in the fixing position relative to this plane can be determined. The position of the assembly device in the fixing position relative to the elevator shaft is thus clearly known. This embodiment of the invention thus enables a particularly precise determination of the fixing position.

In an embodiment of the invention, the installation component is held by the carrier component via a holding device and the relative position of the holding device with respect to the first and / or second reference element is determined. The holding device thus serves as the basis for the installation component and in particular forms the origin of a coordinate system of the installation component. By determining the relative position of the holding device, the relative position of the origin of the coordinate system of the installation component is thus determined, which enables a particularly precise positioning of the installation component. In addition, any necessary transformations between different coordinate systems can be carried out particularly easily.

In an embodiment of the invention, the carrier component for setting the fixing position is fixed directly against at least one wall of the elevator shaft, in particular caulked directly against walls of the elevator shaft. The fixation is thus directly opposite the wall or walls without the interposition of additional fixation means. This means that no additional fixation means are necessary, which makes the application of the method particularly simple and inexpensive. In addition, a particularly secure and stable fixation position can be achieved with caulking in relation to the shaft walls.

In an embodiment of the invention, a first common mounting plate is fastened in the elevator shaft, to which first ends of the first and second reference elements are fastened. In this way, a defined distance between the first two ends of the reference elements can be established and maintained particularly easily. In addition, the first two ends of the reference elements can be fixed particularly easily in the elevator shaft by fastening the mounting plate.

In particular, a second common mounting plate is also fastened in the elevator shaft, to which second ends of the first and second reference elements are fastened. The two reference elements are in particular at the same distance from one another on both mounting plates, so that this ensures in a particularly simple manner that the two reference elements run parallel to one another over their entire length.

The first mounting plate can be fastened, for example, to the bottom of a lowermost door cutout of the elevator shaft and the second mounting plate, for example, to the floor or to the ceiling of an uppermost door cutout. It can thus be achieved in a simple manner that the reference elements run through the entire part of the elevator shaft that is important for the mounting device. The assembly on the door cutouts is also particularly simple and harmless, since you do not have to enter the elevator shaft for this, but can be installed from the floor of the floors assigned to the door cutouts.

In an embodiment of the invention, the first and / or second reference element is fixed between its ends in order to reduce vibrations with respect to the elevator shaft. Especially in high elevator shafts and therefore long ones Reference elements can be at risk of causing the reference elements to vibrate, which can make the determination of the fixing position of the mounting device imprecise. Such vibration can be prevented or at least reduced by one or more fixations of the reference element between its two ends, for example with respect to the wall of the elevator shaft. This enables a particularly precise determination of the fixing position, in particular also in high elevator shafts.

• eine Trägerkomponente und eine von der Trägerkomponente gehaltene mechatronische Installationskomponente, wobei die Trägerkomponente dazu ausgelegt ist, in einer Haupterstreckungsrichtung des Aufzugschachts verlagert und in einer Fixierungsposition fixiert zu werden,
• eine Steuerungseinrichtung, die dazu vorgesehen ist,
  eine relative Lage der Montagevorrichtung in der Fixierungsposition bezüglich eines ersten langgestreckten Referenzelements im Aufzugschacht, welches in einer Haupterstreckungsrichtung des Aufzugschachts ausgerichtet ist, unter Nutzung eines an der Installationskomponente angeordneten Sensors,
  die relative Lage des ersten Referenzelements bezüglich mindestens zwei unterschiedlichen Sensorpositionen und damit Positionen der Installationskomponente und
  die Fixierungsposition im Aufzugschacht in Abhängigkeit der relativen Lage der Montagevorrichtung bezüglich des ersten Referenzelements
  zu bestimmen.

The above-mentioned object is also achieved by an assembly device for carrying out an installation process in an elevator shaft of an elevator installation, which has:

• a carrier component and a mechatronic installation component held by the carrier component, the carrier component being designed to be displaced in a main direction of extension of the elevator shaft and to be fixed in a fixing position,
• a control device which is provided
  a relative position of the mounting device in the fixing position with respect to a first elongate reference element in the elevator shaft, which is oriented in a main direction of extension of the elevator shaft, using a sensor arranged on the installation component,
  the relative position of the first reference element with respect to at least two different sensor positions and thus positions of the installation component and
  the fixing position in the elevator shaft as a function of the relative position of the mounting device with respect to the first reference element
  to determine.

Further advantages, features and details of the invention result from the following description of exemplary embodiments and from the drawings, in which identical or functionally identical elements are provided with identical reference numerals.

Fig. 1

eine perspektivische Ansicht eines Aufzugschachts einer Aufzuganlage mit einer darin aufgenommenen Montagevorrichtung gemäss einer Ausführungsform der vorliegenden Erfindung,

Fig. 2

eine perspektivische Ansicht einer Montagevorrichtung gemäss einer Ausführungsform der vorliegenden Erfindung,

Fig. 3

eine vereinfachte Sicht von oben in einen Aufzugschacht mit zwei Referenzelementen,

Fig. 4

eine vereinfachte Sicht von der Seite in einen Aufzugschacht mit zwei Referenzelementen und

Fig. 5

eine vereinfachte Sicht von oben in einen Aufzugschacht mit einem Referenzelement.

Show:

Fig. 1

1 shows a perspective view of an elevator shaft of an elevator installation with a mounting device accommodated therein according to an embodiment of the present invention,

Fig. 2

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

Fig. 3

a simplified view from above into an elevator shaft with two reference elements,

Fig. 4

a simplified view from the side into an elevator shaft with two reference elements and

Fig. 5

a simplified view from above into an elevator shaft with a reference element.

Fig. 1 shows an elevator shaft 103 of an elevator installation 101, in which an assembly device 1 according to an embodiment of the present invention is arranged. The mounting device 1 has a carrier component 3 and a mechatronic installation component 5. The carrier component 3 is designed as a frame on which the mechatronic installation component 5 is mounted. This frame has dimensions that enable the carrier component 3 to be displaced vertically within the elevator shaft 103 in a main direction of extension 108 of the elevator shaft 103 and thus in this case, that is to say, for example, to move to different vertical positions on different floors within a building. In the example shown, the mechatronic installation component 5 is designed as an industrial robot 7, which is attached to the frame of the carrier component 3 in a hanging manner via a holding device 109. One 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 103.

The carrier 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. With the aid of the displacement component 15, the assembly device 1 can be moved within the elevator shaft 103 along the Main extension direction 108, that is to say shifted vertically over an entire length of the elevator shaft 103.

The assembly device 1 also has a fixing component 19, by means of which the carrier component 3 can be fixed in the elevator shaft 103 in the lateral direction, that is to say in the horizontal direction. The carrier component 3 is thus brought into a fixing position in which the carrier component 3 is in the Fig. 1 is shown. For this purpose, the fixing component 19 on the front side of the carrier component 3 and / or stamp (not shown) on a rear side of the carrier component 3 can be shifted outwards at the front or rear and in this way caulk the carrier component 3 between walls 105 of the elevator shaft 103. The fixing component 19 and / or the stamps can be spread outwards, for example with the aid of a hydraulic system or the like, in order to fix the carrier component 3 in the elevator shaft 103 in the horizontal direction.

Two elongated reference elements 110 and 111 run in the form of cords within the elevator shaft 103, which are introduced into the elevator shaft 103 before the assembly device 1 is introduced. First, lower ends 112, 113 of the reference elements 110, 111 are attached to a first, lower mounting plate 114 and second, upper ends 115, 116 of the reference elements 110, 111 are attached to a second, upper mounting plate 117. The two reference elements 110, 111 are at the same distance on both mounting plates 114, 117, so that they run parallel to one another. The lower mounting plate 114 is fastened to the bottom of a lowermost door cutout 118 and the upper mounting plate 117 to the bottom of a topmost door cutout 119 such that the reference elements 110, 111 run in the main direction of extension 108 inside the elevator shaft 103. The position of the reference elements 110, 111 in relation to the walls 105 of the elevator shaft 103 is thus also known.

Fig. 2 shows an enlarged view of a mounting device 1 according to an embodiment of the present invention.

The carrier component 3 is designed as a cage-like frame, in which a plurality of horizontally and vertically extending spars form a mechanically resilient structure. On the top of the cage-like support component 3, tether cables 27 are attached, which can be connected to the suspension element 17. By moving the suspension element 17 within the elevator shaft 103, that is to say, 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 thus be suspended in the elevator shaft 103 in the main direction of extension 108 and thus vertically .

The fixing component 19 is provided on the side of the carrier component 3. In the example shown, the fixing component 19 is designed with an elongate 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, for example, via a lockable hydraulic cylinder or a self-locking motor spindle. When the spar of the fixing component 19 is moved away from the frame of the carrier component 3, it moves laterally towards one of the walls 105 of the elevator shaft 103. Alternatively or in addition, stamps on the rear of the carrier component 3 could be displaced rearward in order to support the carrier component 3 to spread in the elevator shaft 103. In this way, the carrier component 3 can be caulked within the elevator shaft 103 and thus fix the carrier component 3 within the elevator shaft 103 in the lateral direction and thus in the fixing position, for example, during an assembly step. Forces that are applied to the carrier component 3 can be transmitted to the walls 105 of the elevator shaft 103 in this state, preferably without the carrier component 3 being able to shift within the elevator shaft 103 or vibrating.

In the illustrated embodiment, the mechatronic installation component 5 is implemented using an industrial robot 7. It is pointed out that the mechatronic installation component 5 can, however, also be implemented in a different way, for example with differently designed actuators, manipulators, effectors etc. In particular, the installation component could be a mechatronic system specially adapted for use in an installation process within an elevator shaft 103 of an elevator system 1 or have robotics.

In the example shown, the industrial robot 7 is equipped with a plurality of robot arms which can be pivoted about pivot axes. For example, 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 to say, for example, with three degrees of freedom of rotation and three degrees of freedom of translation. For example, 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 portal robot.

The robot can be coupled to various assembly tools or sensors 9 at its self-supporting end. The assembly tools or sensors 9 can differ in terms of their design and their intended use. The assembly tools or sensors 9 can be held on the carrier component 3 in such a way that the cantilevered end of the industrial robot 7 is moved towards them and can be coupled to one of them.

One of the assembly tools 9 can be designed as a drilling tool, similar to a drilling machine. By coupling the industrial robot 7 with such a drilling tool, the installation component 5 can be designed to enable holes to be drilled at least partially in an automated manner, for example into one of the walls 105 of the elevator shaft 103. In this case, 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 at an intended position, an assembly position 120 in Fig. 1 Drilled holes, for example, in the concrete of the wall 105 of the elevator shaft 103, into which, for example, fastening screws for fixing fastening elements can later be screwed.

Another assembly tool 9 can be designed as a screwing device to at least partially automatically screw screws into previously drilled holes in a wall 105 of the elevator shaft 103.

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 provide them to the installation component 5.

In the example shown, the industrial robot 7 can, for example, automatically grip a fastening screw from the magazine component 11 and, for example, screw it into a previously drilled fastening hole in the wall 105 using a mounting tool 9 designed as a screwing device.

In the example shown, it can be seen that with the aid of the assembly device 1, assembly steps of an installation process in which components 13 are mounted on a wall 105 can be carried out completely or at least partially automatically by the installation component 5 first drilling holes in the wall 105 and fastening screws in screwed these holes in.

In order to be able to determine the position of the carrier component 3 of the mounting device 1 within the elevator shaft 103, the mounting device 1 has a control device 23 which is arranged in the lower region of the carrier component 3. The control device 23 is in signal connection with a sensor 121 which is arranged on the cantilevered end 122 of the industrial robot 7. The sensor 121 is designed as a laser scanner, for example, by means of which a distance to any object can be determined. The control device 23 can thus in particular determine the distance between the sensor 121 and one of the two reference elements 110, 111. Since the control device 23 knows the position of the industrial robot 7 and thus also the position of the sensor 121 relative to the holding device 109 and thus relative to the carrier component 3, it can determine the position of the carrier component 3 relative to the reference elements 110, 111 and the position of the reference elements 110 , 111 in relation to the elevator shaft 103 is known, so that the position of the carrier component 3 in the elevator shaft 103 is determined.

The procedure for determining the position of the carrier component 3 relative to the reference elements 110, 111 is carried out using the 3 and 4 explained in more detail. In Fig. 3 a view into the elevator shaft 103 is shown from above, only the elevator shaft 103 itself, the two reference elements 110, 111 running parallel to one another and two sensor positions 123, 124 being shown. The industrial robot 7, on which the sensor 121 is arranged, is not shown for reasons of clarity. In Fig. 4 a view from the side into the elevator shaft 103 is shown, only the elevator shaft 103 itself, the reference element 110 and two sensor positions 123, 125 being shown. To determine the position of the carrier component 3 relative to the reference elements 110, 111, the control device 23 first controls the industrial robot 7 in such a way that the sensor 121 assumes the first sensor position 123 and then determines the distance between the sensor 121 and the first reference element 110 the sensor 121 is moved by means of the industrial robot 7 into the second sensor position 125, which is below the first sensor position 123, and the distance between the sensor 121 and the first reference element 110 is determined again. The sensor 121 is then moved into the sensor position 124, which is in particular at the same height as the first sensor position 123, and the distance between the sensor 121 and the second reference element 111 is determined. Three points are thus detected on the two reference elements 110, 111 and the control device 23 can use them to determine the plane spanned by the two reference elements 110, 111 and thus the orientation of the carrier component 3 in the fixing position relative to this plane. It is also possible that the sensor 121 is brought into a total of six sensor positions, two of which each have the same position in the main direction of extent 108 of the elevator shaft 103. The results of the measurements of the points with the same position in the main direction of extension are averaged.

In addition, the position of the carrier component 3 relative to the walls 105 of the elevator shaft 103 in the fixing position can be determined by means of the sensor 121.

The position of the carrier component 3 in the main direction of extent 108 is determined starting from a position at the very bottom in the elevator shaft 103 by adding up the displacements of the carrier component 3 carried out by the displacement component 15. For this purpose, a relative position measuring system, not shown, is arranged on the displacement component 15. The position in the main direction of extent 108 can also be determined in another way, for example by measuring the distance of the carrier component from one end of the elevator shaft.

On the basis of the position of the carrier component 3 in relation to the reference elements 110, 111, the known position of the reference elements 110, 111 in relation to the walls 105 of the elevator shaft 103 and the position in the main direction of extent 108 Control device 23 a mounting position 120 (see Fig. 1 ) of an installation step to be carried out by the installation component 5. The industrial robot 7 can then pick up the tool 9 suitable for the assembly step, for example a drill, and carry out the assembly step, for example drilling a hole in the wall 105 of the elevator shaft 103.

In Fig. 4 In addition, a fixation 126 of the reference element 110 is shown, which is arranged between the first, lower mounting plate 114 and the second, upper mounting plate 117. The reference element 110 is fixed with respect to the elevator shaft 103 by the fixation 126, which prevents the reference element 110 from vibrating. The fixation 126 is designed as a rod which is connected on one side to the reference element 110 and on the other side to the wall 105 of the elevator shaft 103. In addition, other possible designs of the fixation are conceivable. In particular in the case of high elevator shafts, it may be necessary for the reference element not to run along a single straight line over its entire length, but for the course of the reference element to be composed of straight pieces. In this case, the fixation can define end points of individual line segments.

The sensor for determining the distance to one of the two reference elements 110, 111 does not have to be arranged fixedly on the industrial robot 7. It is also possible that the sensor, like the assembly tools 9, is only picked up when it is needed. The sensor is then arranged on the carrier component like the assembly tools 9.

In Fig. 5 a view from above into an elevator shaft with only one reference element 210 is shown. In this case, the reference element 210 is designed as a rail. In addition, sensor positions 223, 224 are shown, from which the distance to the two different edges 227, 228 of the reference element 210 is determined. As a result, a rotation of the carrier component 3 relative to the reference element 210 can be determined. Tilting of the carrier component 3 with respect to the vertical is determined by means of an acceleration sensor 21 which is arranged on the carrier component 3 in the vicinity of the holding device 109 for the installation component 5.

In conclusion, it should be pointed out that terms such as "showing", "comprehensive", etc. do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a large number. Furthermore, it should be pointed out that features or steps which have been described with reference to one of the above exemplary embodiments can also be used in combination with other features or steps of other exemplary embodiments described above. Reference signs in the claims are not to be viewed as a restriction.

Claims (11)

1. Method for carrying out an installation process in an elevator shaft (103) of an elevator system (101), comprising at least the following steps:

   - introducing a first elongate reference element (110, 210) into the elevator shaft (103), which element is oriented in a main extension direction (108) of the elevator shaft (103);

   - introducing a mounting device (1) into the elevator shaft (103), which device comprises a carrier component (3) and a mechatronic installation component (5) that is retained by the carrier component (3);

   - moving the mounting device (1) in the main extension direction (108) of the elevator shaft (103) into a fixing position,

   characterized by the steps of:

   - determining the relative position of the carrier component (3) of the mounting device (1) in the fixing position with respect to the first reference element (110, 210) using a sensor (221) arranged on the installation component (5), the relative position of the first reference element (110, 210) being determined with respect to at least two different sensor positions (123, 125; 223, 224) and thus positions of the installation component (5);

   - determining the fixing position of the mounting device (1) in the elevator shaft (103) depending on the relative position of the carrier component (3) of the mounting device (1) with respect to the first reference element (110, 210);

   - determining a mounting position (120) of a mounting step to be carried out by the installation component (5); and

   - carrying out said mounting step.
2. Method according to claim 1,
   characterized in that
   the sensor (121) is rigidly arranged on the installation component (5).
3. Method according to either claim 1 or claim 2,
   characterized in that
   a signal from an acceleration sensor (21) arranged on the mounting device (1) is used to determine the fixing position.
4. Method according to claim 1, 2 or 3,
   characterized by
   introducing a second elongate reference element (111) into the elevator shaft (103), which element is oriented in the main extension direction (108) of the elevator shaft (103), and determining the relative position of the mounting device (1) in the fixing position with respect to the second reference element (111) using the sensor (121) arranged on the installation component (5).
5. Method according to any of claims 1 to 4,
   characterized in that
   the installation component (5) is retained by the carrier component (3) via a retaining device (109) and the relative position of the retaining device (109) with respect to the first and/or second reference element (110, 111, 210) is determined.
6. Method according to any of claims 1 to 5,
   characterized in that
   the carrier component (3) is fixed directly to at least one wall (105) of the elevator shaft (103) in order to set the fixing position.
7. Method according to claim 6,
   characterized in that
   the carrier component (3) is secured directly to walls (105) of the elevator shaft (103) in order to set the fixing position.
8. Method according to any of claims 4 to 7,
   characterized in that
   a first common mounting plate (114) is fastened in the elevator shaft (103), to which plate first ends (112, 113) of the first and second reference elements (110, 111) are fastened.
9. Method according to claim 8,
   characterized in that
   a second common mounting plate (117) is fastened in the elevator shaft (103), to which plate second ends (115, 116) of the first and second reference elements (110, 111) are fastened.
10. Method according to any of claims 1 to 9,
    characterized in that
    the first and/or second reference element (110, 111) is fixed, between the ends (112, 115; 113, 116) thereof, to the elevator shaft (103) in order to reduce oscillations.
11. Mounting device for carrying out an installation process in an elevator shaft (103) of an elevator system (101), comprising:

    - a carrier component (3) and a mechatronic installation component (5) retained by the carrier component (3), the carrier component (3) being designed to be moved in a main extension direction (108) of the elevator shaft (103) and to be fixed in a fixing position; and

    - a control device (23), which is provided
    to determine a relative position of the mounting device (1) in the fixing position with respect to a first elongate reference element (110, 210) in the elevator shaft (103), which element is oriented in a main extension direction (108) of the elevator shaft (103), using a sensor (121) arranged on the installation component (5),

    characterized in that
    the control device (23) is provided
    to determine the relative position of the first reference element (110, 210) with respect to at least two different sensor positions (123, 125; 223, 224) and thus positions of the installation component (5) and
    to determine the fixing position in the elevator shaft (103) depending on the relative position of the mounting device (1) with respect to the first reference element (110, 210).

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