EP3445697B1 - Dispositif et procede de montage destine a executer une procedure d'installation dans une cabine d'ascenseur - Google Patents

Dispositif et procede de montage destine a executer une procedure d'installation dans une cabine d'ascenseur Download PDF

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Publication number
EP3445697B1
EP3445697B1 EP17717710.2A EP17717710A EP3445697B1 EP 3445697 B1 EP3445697 B1 EP 3445697B1 EP 17717710 A EP17717710 A EP 17717710A EP 3445697 B1 EP3445697 B1 EP 3445697B1
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EP
European Patent Office
Prior art keywords
component
assembly
installation
carrier component
support component
Prior art date
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Application number
EP17717710.2A
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German (de)
English (en)
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EP3445697A1 (fr
Inventor
Andrea CAMBRUZZI
Erich Bütler
Philipp Zimmerli
Raphael Bitzi
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Inventio AG
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Inventio AG
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Publication of EP3445697A1 publication Critical patent/EP3445697A1/fr
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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
    • 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
    • B66B19/00—Mining-hoist operation
    • B66B19/007—Mining-hoist operation method for modernisation of elevators
    • 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
    • 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
    • B66B7/027—Mounting means therefor for mounting auxiliary devices

Definitions

  • the invention relates to a method for carrying out an installation process in an elevator shaft of an elevator system with the features 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 claim 11.
  • WO 2017/016780 A1 describes an assembly device and a method for at least partially automatically performing installation processes in an elevator shaft of an elevator installation.
  • the mounting device has a carrier component and a mechatronic installation component held by the carrier component.
  • the carrier component Before an assembly step is carried out, the carrier component is brought into a fixing position in the elevator shaft, in which it can absorb forces occurring during the assembly step without evading.
  • the carrier component When the carrier component is brought into the fixing position, which can be done, for example, by caulking against walls of the elevator shaft, the carrier component may be deformed. This is particularly the case if the support component is located in the area of a door cutout for a shaft door, since the support component in the area of the door cutout lacks an abutment for support. Deformations of the carrier component can also occur on uneven walls of the elevator shaft. These deformations can lead to problems if the installation component is to accommodate a mounting means, for example a screw, arranged on the carrier component.
  • the JP H05 105362 A also describes an assembly device and a method for at least partially automatically performing installation processes in an elevator shaft of an elevator installation. Before an assembly step is carried out, the assembly device is caulked against the walls of the elevator shaft.
  • a mounting device is introduced into the elevator shaft.
  • the assembly device has a carrier component and a mechatronic installation component held by the carrier component with a control device. At least one assembly means is arranged on the carrier component.
  • the carrier component is fixed in a fixing position in the elevator shaft. After fixing the support component, an actual position of the mounting means arranged on the support component is determined with respect to the installation component. Using the determined actual position of the assembly means with respect to the installation component, an assembly means with the installation component is received by the carrier component and an assembly step is carried out using the received assembly means.
  • Determining the actual position of the mounting means arranged on the support component with respect to the installation component after fixing the support component in the fixing position ensures that the installation component can in any case take up the mounting means from the support component and thus use it to carry out an assembly step. This ensures that a planned assembly step can also be carried out. Due to a deformation of the support component, the actual position of the assembly means with respect to the installation component can deviate so strongly from a starting position before the fixation and thus without deformation of the support component that the installation component cannot "find the assembly means" without determining the actual position of the assembly means "could. It would not be able to take up the assembly means and would therefore not be able to carry out the intended assembly step. The installation process could not be carried out with it.
  • the determination according to the invention of the actual position of the assembly means with respect to the installation component ensures that the installation component can always pick up the assembly means even after it has been fixed and thus also after any deformation of the support component, and thus can carry out the planned assembly step.
  • steps mentioned are carried out in particular in the order described, but a different order is also conceivable. In addition, steps can also be carried out several times or between the steps mentioned, other steps not mentioned.
  • 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 carrier component of the mounting device can be designed in different ways.
  • the carrier component can be designed as a simple platform, frame, scaffold, cabin or the like.
  • the carrier component has in particular an upper part, a lower part and side parts. 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.
  • the main direction of extension of the elevator shaft is understood to be the direction in which an elevator car of the fully assembled elevator system is moved.
  • the main direction of extension is therefore particularly vertical, but it can also be inclined or horizontal with respect to the vertical.
  • the upper part and the lower part are mainly oriented transversely to and the side parts mainly along the 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.
  • the installation component can have a suitable mechanism in order to be able to handle assembly tools, for example, within one assembly step.
  • the assembly tools can be suitable, for example, from the mechanics are brought to the assembly position and / or are appropriately guided during an assembly step.
  • the installation component itself can also have a suitable mechanism that forms an assembly tool.
  • Said assembly 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 thus serve as a control device for the installation component.
  • the control device of the installation component can be arranged on the carrier component or at another location inside or outside the elevator shaft.
  • the control device of the installation component can also take on tasks independently of the installation component. Further control devices can also 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.
  • the installation component can have information technology elements or modules, with the aid of which it can be derived, for example, to which position an assembly tool is to be brought and / or how the assembly tool is to be actuated and / or guided there during an assembly step.
  • 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 extension direction during a mounting step in which the installation component works and, for example, exerts transverse forces on the carrier component can move within the elevator shaft.
  • 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.
  • the fixing component can have suitable supports, stamps, levers or the like, for example.
  • An assembly means both assembly tools that are required to carry out an assembly step and consumables that are consumed in one assembly step, that is to say, for example, attached to a wall of the elevator shaft.
  • Assembly tools can be, for example, grippers, drills, screwdrivers or sensors that can be picked up by the installation component.
  • Consumables can be, for example, screws, bolts, washers or so-called lower rail parts, which can be picked up by the installation component, in particular with the aid of a previously picked-up assembly tool, and can be attached to a wall, for example.
  • the installation component can in particular also accommodate several identical or different assembly means in succession or simultaneously.
  • the actual position of the assembly means with respect to the installation component can be determined in a variety of ways. It can be determined, for example, by "searching" for the installation means by the installation component using a button or scanner. It is also possible for an image of the carrier component to be captured by means of a camera after fixing and then for the mounting means and thus its position to be determined by means of image processing. In addition, other types of determining the actual position of the assembly means are possible.
  • the mounting means does not have to be arranged directly on the carrier component, but can also be arranged, for example, in a magazine arranged on the carrier component.
  • the mounting means is thus arranged indirectly on the carrier component.
  • Picking up a mounting device with the installation component from the support component is to be understood here to mean that the installation component is arranged directly or indirectly on the support component Mounting means.
  • the assembly means is designed as an assembly tool, the installation component uses the assembly means to carry out an installation step, that is to say, for example, a drill for drilling a hole in a wall of the elevator shaft.
  • the assembly means is designed as a consumable, for example in the form of a screw, the installation component screws the screw into a hole provided in a wall of the elevator shaft.
  • the actual position of a mounting device can also be determined, for example, by determining the actual position of a reference point and, based on this, the actual position of the mounting device.
  • several assembly means for example screws
  • the actual position of the magazine can be determined, for example, by determining the actual position from one or two reference points of the magazine.
  • Reference points can be, for example, corners of the magazine or also an assembly means, for example a screw in the magazine.
  • the actual position of the screws can then be deduced from the actual position of the magazine. This procedure assumes that the magazine has not deformed or has deformed only very little and that the relative positions of the individual screws with respect to the magazine have not changed or have changed very little due to the fixation of the carrier component.
  • the actual position of a mounting device can be determined directly and, in particular, stored in the control device for later use.
  • an initial position of the assembly means with respect to an output coordinate system can be stored in the control device prior to fixing and for a change in the output coordinate system to an actual coordinate system to be determined. Based on the change, such a coordinate transformation can be determined from the starting position, the actual position of the mounting means.
  • a displacement component is provided for moving the assembly device within the elevator shaft in a main direction of extension of the elevator shaft.
  • 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.
  • 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.
  • a flexible, resilient load-bearing means such as a rope, a chain or a belt
  • the installation component is held by the carrier component via a holding device and the actual position of the mounting means with respect to the holding device 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.
  • At least two magazines for mounting means are arranged on the carrier component and the actual position of a mounting means in each magazine is determined.
  • This enables a particularly high degree of accuracy in determining the actual positions of the mounting means in the various magazines, in particular if the magazines are coupled at different distances in the main direction of extension from the installation component, in particular the holding device, to the carrier component.
  • a first magazine on the lower part and a second magazine on a side part between the lower part and the upper part can be coupled to the carrier component. This ensures that all assembly means arranged on the carrier component can be accommodated by the installation component.
  • a magazine is to be understood in particular to mean a device for receiving a plurality of assembly means, for example screws or assembly tools, which is not deformed when the support component is fixed, and the relative positions of the assembly means in a magazine are therefore not changed by the fixation.
  • a magazine for consumables and a magazine for assembly tools can be arranged on the carrier component.
  • the actual position of a mounting device can be determined directly as described above or by determining the actual position of one or more reference points.
  • the actual position of the mounting means with respect to the installation component is determined as a function of an initial position of the mounting means stored in the control device of the installation component and a deformation of the carrier component caused by the fixation. This means that the actual positions can be determined particularly simply and effectively by a large number of different assembly means.
  • the starting position of the assembly means is stored in the control device with respect to the installation component, in particular with respect to the holding device.
  • the starting position of the assembly means is to be understood as the position of the assembly means in relation to the installation component before the fixation, that is to say in the case of a non-deformed installation component. It is not necessary to determine the exact deformation of the carrier component by the fixation. For carrying out the method according to this embodiment of the inventive Rather, it is sufficient for the method if the “effects” of the deformation, for example a change in the position of a mounting means relative to the installation component or a change in the coordinate system of the installation component, is determined.
  • the various assembly means such as screws or assembly tools, have predetermined locations on the support component, so that the starting positions of the various assembly means do not change and can therefore be stored in the control device of the installation component, in particular as coordinates with respect to an output coordinate system of the installation component.
  • This procedure assumes in particular that the support component is only elastically deformed by the fixation, that is to say it returns to its original state before the fixation after the fixation has ended.
  • the deformation occurring when the installation component is fixed can be described, for example, by changing an output coordinate system of the installation component to an actual coordinate system.
  • the actual positions of the assembly means can be determined, for example, starting from the starting positions by means of a coordinate transformation from the starting coordinate system into the actual coordinate system. The necessary coordinate transformation must therefore be determined in order to determine the actual position.
  • the necessary coordinate transformation can be determined in particular by measuring an actual position of at least one reference point of the carrier component.
  • the deformation of the carrier component is thus determined from an actual position measured by means of a sensor and an initial position of at least one reference point of the carrier component stored in the control device of the installation component.
  • the deformation of the carrier component can be viewed in a simplified manner as a displacement of an upper part relative to a lower part of the carrier component exclusively in one fixing direction.
  • a distance between the upper part and the lower part does not change. If you choose the output coordinate system of the installation component so that an axis in If the direction of fixation runs, the actual coordinate system results from a displacement of the output coordinate system in the direction of fixation. So only the coordinates change in the direction of displacement.
  • the amount of displacement can be determined by determining the actual position of a reference point using a sensor.
  • the reference point must not be arranged on the same part of the carrier component. If, for example, the installation component is held on the upper part of the carrier component, that is to say the holding device is arranged on the upper part, then the reference point is arranged in particular on the lower part of the carrier component.
  • a reference point should be selected so that its actual position differs as much as possible from its starting position, in particular with respect to the main direction of extent relative to the holding device. For all assembly means, the coupling of which with the carrier component is at the same distance in the main direction of extension from the holding device as the coupling of the reference point, the coordinate changes in the direction of displacement by the same amount as for the reference point.
  • the distance in the main direction of extent to the holding device is to be understood here to mean the distance to the coupling with the carrier component. If, as described, the reference point is coupled to the carrier component via the lower part, this applies to all assembly means which are likewise coupled to the carrier component via the lower part.
  • the mounting means can be coupled to the carrier component, for example, via a magazine arranged on the underside.
  • the amount of change in the coordinate in the direction of displacement changes in proportion to the change in said distance for assembly means whose coupling to the carrier component is at a different distance from the holding device in the main direction of extent than the coupling of the reference point.
  • the described procedure can also be repeated with a second reference point, which is coupled at a different distance in the main direction of extension from the holding device to the carrier component.
  • a second reference point can be selected, which is coupled to the carrier component at the same distance in the main direction of extension from the holding device as a second magazine for Mounting means. This allows the actual position of the second magazine and thus the actual positions of the assembly means arranged therein to be determined very precisely.
  • the direction of fixation should be understood to mean the direction in which the carrier component is caulked against the walls of the elevator shaft. Since it can happen that several elevator shafts are arranged side by side, an elevator shaft always has a front wall with door cutouts and an opposite rear wall, which can also have door cutouts, but does not have to, but does not necessarily have to have side walls.
  • the fixation usually takes place in relation to the front and the rear wall, so that the direction of fixation runs between the front and the rear wall.
  • one or more actual positions of reference points and their associated starting positions can be used as scaling factors for a so-called finite element calculation, and thus the total deformation of the carrier component is calculated.
  • Said sensor can in particular determine the position of the reference point without contact, for example the distance of the sensor from the reference point.
  • 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. A particularly precise and simple determination of the actual position of the reference point is thus possible.
  • the reference point can, for example, be a defined corner of a Magazine for assembly means, from which a distance to the sensor is measured. Since the control device controls the installation component, the position of the sensor is known to it, so that the actual position of the reference point can be determined from the position of the sensor and the measured distance.
  • the sensor is in particular arranged on the installation component and in particular is already arranged on the installation component before the carrier component is fixed in the fixing position.
  • the sensor is therefore also an assembly means in the sense of this invention. For example, it can be arranged in a magazine on the carrier component. So that it can be safely absorbed by the installation component, it should be absorbed before the fixation and thus before any deformation of the support component.
  • the senor is fixed to 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.
  • the senor is designed as a button that is arranged on the installation component, so that the actual position of the reference point is measured by contact with the reference point.
  • At least one deformation sensor is arranged on the carrier component, by means of which a measure for a deformation of the carrier component is measured.
  • the deformation sensor can in particular be designed as one or more strain gauges, by means of which stresses in the carrier component can be measured. On the basis of the measured stresses, the deformation of the carrier component can be determined, for example, by means of a finite element calculation.
  • the strain gauge or stripes are arranged in particular at locations with high voltages, for example at corners of the carrier component.
  • the deformation sensor can, for example, also be designed as an angle sensor, which measures an angle or an angle change between components of the carrier component, for example the upper part and a connecting element to the lower part of the carrier component.
  • the deformation of the carrier component can also be concluded from this change in angle.
  • a mounting device for carrying out an installation process in an elevator shaft of an elevator system which has a carrier component and a mechatronic installation component held by the carrier component and a control device.
  • the control device is intended to determine an actual position of the mounting means of a mounting means arranged on the carrier component with respect to the installation component and to control the installation component using the actual position of the mounting means so that it picks up a mounting means from the carrier component and an assembly step using the recorded assembly means.
  • the assembly device is particularly intended to be displaced in a main direction of extension of the elevator shaft.
  • the main direction of extension of the elevator shaft is to be understood as the direction in which an elevator car of the fully assembled elevator system is moved.
  • the main direction of extension is therefore particularly vertical, but it can also be inclined or horizontal with respect to the vertical.
  • control device is provided to determine the actual position of the mounting means with respect to the installation component as a function of an initial position of the mounting means stored in the control device and a deformation of the carrier component caused by the fixation.
  • a sensor for measuring an actual position of a reference point is fixedly arranged on the installation component.
  • At least one deformation sensor is arranged on the carrier component, by means of which a measure for a deformation of the carrier component can be measured.
  • the deformation sensor is designed such that stresses in the carrier component can be determined.
  • the control device is provided to determine the deformation of the carrier component based on the measured voltages.
  • the assembly device according to the invention has the same advantages as the method according to the invention described above.
  • the control device can in particular be provided for carrying out the method steps of the above-described configurations of the method according to the invention.
  • 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 a frame with an upper part 30 and a lower part 31 (see Fig. 2 ), the mechatronic installation component 5 being mounted on the upper part 30 via a holding device 109.
  • This frame has dimensions that allow the To move carrier component 3 within the elevator shaft 103 in a main direction of extension 108 of the elevator shaft 103 and thus in this case vertically, that is to say, for example, to move 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 upper part 30 of the carrier component 3 in a hanging manner via the 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.
  • a displacement component 15 in the form of a motor-driven cable winch, which is attached to the top of the elevator shaft 103 at a stop 107 on the ceiling of the elevator shaft 103.
  • the assembly device 1 can be displaced within the elevator shaft 103 along the main direction of extent 108, that is to say 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.
  • Stamps 25 arranged on a rear side of the carrier component 3 (see Fig. 2 ), of which a total of four are arranged at the top and two at the bottom, can be shifted outwards to fix the carrier component 3 and thereby caulk the carrier component 3 between the walls 105 of the elevator shaft 103 by means of the fixing component 19 and the stamps 25.
  • the punches 25 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. It is also possible that the fixing component 19 can alternatively or additionally be moved to the outside.
  • 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 and in particular the upper part 30 and the lower part 31.
  • Holding cables 27 are attached to the upper part 30 of the cage-like carrier component 3 and can be connected to the suspension element 17.
  • the carrier component 3 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.
  • the fixing component 19 is designed with an elongate spar extending in the vertical direction.
  • a total of four stamps 25 are arranged on the rear side of the carrier component 3 opposite the fixing component 19, of which, however, only one can be seen below and above.
  • the punches 25 can be moved in the horizontal direction with respect to the frame of the carrier component 3.
  • the punches 25 can be attached to the carrier component 3, for example, via a lockable hydraulic cylinder or a self-locking motor spindle.
  • the stamp 25 When the stamp 25 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.
  • the carrier component 3 can be caulked between the fixing component 19 and the stamps 25 within the elevator shaft 103 and thus, for example, while carrying out an assembly step, fix the carrier component 3 within the elevator shaft 103 in the lateral direction and thus in the fixing position.
  • 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.
  • the carrier component 3 may be deformed. This is particularly the case when the fixing component 19 protrudes into a door cutout in the elevator shaft 103.
  • 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.
  • the industrial robot 7 is equipped with a plurality of robot arms which 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 to say, for example, with three degrees of freedom of rotation and three degrees of freedom of translation.
  • 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 with various assembly tools or sensors 9, which are held in a first magazine 32 arranged on the carrier component 3.
  • 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 such that the cantilevered end 122 of the industrial robot 7 is moved towards them and can be coupled to one of them.
  • the industrial robot can pick up components 13 to be installed or fastening screws not explicitly shown.
  • the assembly tools and sensors 9, as well as the consumables in the form of components 13 to be installed and fastening screws are referred to here as assembly means.
  • One of the assembly tools 9 can be designed as a drilling tool, similar to a drilling machine.
  • the installation component 5 can be configured 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.
  • the drilling tool can do this are moved and handled by the industrial robot 7, for example, in such a way that the drilling tool drills holes with a drill at a designated position, for example in 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 fastening screws into previously drilled holes in a wall 105 of the elevator shaft 103.
  • a second magazine 11 can also be provided on the carrier component 3.
  • the magazine 11 can be used to store components 13 to be installed and to provide them to the installation component 5.
  • the industrial robot 7 can, for example, automatically grab a fastening screw from the magazine 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.
  • 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.
  • the assembly device 1 has a control device 21, which is arranged on the upper part 30 of the carrier component 3.
  • the control device 21 is in signal connection with a sensor 121 which is arranged on a cantilevered end 122 of the industrial robot 7.
  • the sensor 121 can be used as an alternative to a sensor 9 from the magazine 32.
  • the sensor 121 is designed, for example, as a laser scanner, by means of which a distance to any object can be determined.
  • the control device 21 can thus in particular the distance of the sensor 121 from one on the lower part 31 of the carrier component 3 determine the arranged reference point 23.
  • control device 21 Since the control device 21 knows the position of the industrial robot 7 and thus also the position of the sensor 121 with respect to the holding device 109 and thus with respect to the carrier component 3, it can determine the position of the reference point 23 with respect to the installation component 5, in particular with respect to the holding device 109. The control device 21 can thus determine a so-called actual position of the reference point 23 in the fixing position, that is to say after the carrier component 3 has been fixed. By comparing the actual position with an initial position of the reference point 23 stored in the control device 21 prior to fixing the carrier component 3, it can be concluded that the carrier component 3 has been deformed by the fixing.
  • FIG. 3 is a simplified view from the side of the mounting device 1 in an elevator shaft 103 before fixing the carrier component 3, that is in an initial state and in Fig. 4 shown after fixing.
  • a representation of the installation component 5 has been omitted for reasons of clarity. Only the holding device 109 is shown, which is arranged on the upper part 30 of the carrier component 3.
  • the mounting device 1 is located in the area of a door cutout 123 of a wall 105 in the form of a front wall 124 of the elevator shaft 103.
  • the mounting device 1 is positioned such that the upper part 30 of the carrier component 3 is in the area of the door cutout 123 and the lower part 31 below the Door cutout 123 is located.
  • the fixing component 19 of the carrier component 3 can thus be supported in the region of the lower part 31 on the front wall 124, in the region of the upper part 30, however, there is no abutment for support.
  • the support component 3 is caulked by moving the stamps 25 in the direction of a wall 105 in the form of a rear wall 125 of the elevator shaft 103, the support component 3 in the area of the upper part 30 is pressed into the door cutout 123 and in the area of the lower part 31 it lies over the fixing component 19 on the front wall 124.
  • an output coordinate system is assigned to the installation component, which has its origin 126 in the center on the upper side of the holding device 109.
  • the x-axis runs horizontally in the direction of the rear wall 125.
  • the z-axis runs vertically downwards, that is along the main direction of extent of the elevator shaft 103, and a y-axis (not shown) runs into the plane of the drawing.
  • a first reference point 23 is arranged directly on the lower part 31 with the carrier component 3 and has an x coordinate x1A and a z coordinate z1A.
  • a second reference point 24 is arranged on a side part 33 of the carrier component 3 opposite the fixing component 19 and has an x coordinate x2A and a z coordinate z2A.
  • the y coordinate is not relevant for this consideration.
  • the x coordinate x1A of the first reference point 23 is smaller than the x coordinate x2A of the second reference point 24.
  • the z coordinate z1A of the first reference point 23 is larger than the z coordinate z2A of the second reference point 24. Identify the coordinates mentioned an initial position of the two reference points 23, 24 and are stored in the control device 21 of the installation component 5.
  • the distance of the coupling of the first reference point 23 in the main direction of extent from the holding device 109 thus corresponds to the z coordinate z1A and the distance of the coupling of the second reference point to the z coordinate z2A.
  • the carrier component 3 Due to the fixation of the carrier component 3 by the punches 25 and the fixing component 19, the carrier component 3 is deformed in such a way that the upper part 30 moves relative to the lower part 31 against the x direction, that is to say along a fixing direction. This also shifts the origin of the coordinate system of the installation component 5. The shifted origin is designated by the reference symbol 126 '. This results in an x 'and a z' axis of the coordinate system. To simplify matters, it is assumed that the distance between the upper part 30 and the lower part 31 remains the same, that there is no displacement along the y-axis and also no twisting about one of the axes. This leaves the y and z coordinates of the reference points 23, 24 and all other elements the installation component 3 unchanged and only the x coordinates change to x 'coordinates.
  • the control device 21 To determine the x ′ coordinates after fixing with respect to the shifted origin 126 ′, the control device 21 brings the sensor 121 into the vicinity of the first reference point 23 and uses the sensor 121 to determine a distance in the x ′ direction between the sensor 121 and the first reference point 23 Since the control device 21 knows the position and thus the x'-coordinate of the sensor 121, it can determine the x'-coordinate x1I of the first reference point 23 in the fixing position with the aid of the measured distance from the sensor 121. The coordinates mentioned identify an actual position of the first reference point 23.
  • control device 21 can calculate the displacement dx origin 126 'with respect to the original origin 126 ,
  • the described method can be repeated with the second reference point 24 and the actual coordinate x2I of the second reference point 24 can be determined.
  • the actual position of the second reference point 24 can be determined analogously to the determination of the actual position of the first reference point 23.
  • the extent of the change in the x ′ coordinate of the reference point 24 in the x direction can be determined.
  • the coupling of which to the carrier component is at the same distance in the main direction of extension from the holding device 109 as the second reference point 24, the x ′ coordinate changes to the same extent as for the second reference point 24.
  • the reference points 23, 24 in particular each identify a position of a magazine for receiving assembly means.
  • a deformation sensor 127 in the form of strain gauges can be arranged at corners of the carrier component 3, by means of which stresses in the carrier component 3 are measured in the fixing position. On the basis of the measured voltages, the control device 21 determines the deformation of the carrier component 3 by means of a finite element calculation.
  • control device 21 can also search for the actual positions of relevant assembly means directly by means of the sensor 121, store them and then use them for planned assembly steps.
  • the sensor 121 can in particular be designed as a 3D camera, the images of which are evaluated by means of image processing.

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)
  • Cage And Drive Apparatuses For Elevators (AREA)

Claims (15)

  1. Procédé de mise en œuvre d'un processus d'installation dans une cage d'ascenseur (103) d'une installation d'ascenseur (101), comportant au moins les étapes suivantes :
    - insertion d'un dispositif de montage (1) dans la cage d'ascenseur (103), le dispositif comprenant un composant de support (3) et un composant d'installation mécatronique (7), comportant un dispositif de commande (21), maintenu par le composant de support (3), au moins un moyen de montage (9, 13) étant disposé sur le composant de support (3),
    - fixation du composant de support (3) dans une position de fixation dans la cage d'ascenseur (103),
    caractérisé par les étapes :
    - de détermination d'une position réelle du moyen de montage (9, 13) par rapport au composant d'installation (7),
    - de mise en contact d'un moyen de montage (9, 13) avec le composant d'installation (7) en utilisant la position réelle du moyen de montage (9, 13), et
    - de réalisation d'une étape de montage à l'aide du moyen de montage mis en contact (9, 13).
  2. Procédé selon la revendication 1,
    caractérisé en ce que
    le composant d'installation (7) est maintenu par le composant de support (3) par l'intermédiaire d'un dispositif de maintien (109), et en ce que la position réelle du moyen de montage (9, 13) par rapport au dispositif de maintien (109) est déterminée.
  3. Procédé selon la revendication 1 ou 2,
    caractérisé en ce qu'
    au moins deux magasins (11, 32) pour moyens de montage (9, 13) sont disposés sur le composant de support (3), et en ce que la position réelle d'un moyen de montage (9, 13) dans chaque magasin (11, 32) est déterminée.
  4. Procédé selon la revendication 1, 2 ou 3,
    caractérisé en ce que
    la position réelle du moyen de montage (9, 13) par rapport au composant d'installation (7) est déterminée en fonction d'une position initiale du moyen de montage (9, 13) enregistrée dans le dispositif de commande (21) du composant d'installation (7) et par une déformation du composant de support (3) causée par la fixation.
  5. Procédé selon la revendication 4,
    caractérisé en ce que
    la déformation du composant de support (3) est déterminée à partir d'une position réelle mesurée au moyen d'un capteur (121) et d'une position initiale d'au moins un point de référence (23, 24) du composant de support (3), enregistrée dans le dispositif de commande (21) du composant d'installation (7).
  6. Procédé selon la revendication 5,
    caractérisé en ce que
    la position réelle du point de référence (23, 24) est mesurée sans contact.
  7. Procédé selon la revendication 5 ou 6,
    caractérisé en ce que
    le capteur (121) destiné à mesurer la position réelle du point de référence (23, 24) est déjà disposé sur le composant d'installation (7) avant la fixation du composant de support (3) dans la position de fixation.
  8. Procédé selon la revendication 7,
    caractérisé en ce que
    ledit capteur (121) est disposé de manière fixe sur le composant d'installation (7).
  9. Procédé selon la revendication 4,
    caractérisé en ce qu'
    au moins un capteur de déformation (127) est disposé sur le composant de support (3), capteur au moyen duquel une mesure d'une déformation du composant de support (3) est mesurée.
  10. Procédé selon la revendication 9,
    caractérisé en ce que
    les contraintes dans le composant de support (3) sont déterminées au moyen du capteur de déformation (127), et en ce que la déformation du composant de support (3) est déterminée sur la base des contraintes mesurées.
  11. Dispositif de montage destiné à la mise en œuvre d'un processus d'installation dans une cage d'ascenseur (103) d'une installation d'ascenseur (101), comportant :
    un composant de support (3) et un composant d'installation mécatronique (7) maintenu par le composant de support (3), caractérisé par
    - un dispositif de commande (21) destiné à déterminer une position réelle d'un moyen de montage (9, 13) disposé sur le composant de support (3) par rapport au composant d'installation (7), et à entraîner le composant d'installation (7) en utilisant la position réelle du moyen de montage (9, 13), de manière à recevoir un moyen de montage (9, 13) et à réaliser une étape de montage à l'aide du moyen de montage reçu (9, 13).
  12. Dispositif de montage selon la revendication 11,
    caractérisé en ce que
    le dispositif de commande (21) est destiné à déterminer la position réelle du moyen de montage (9, 13) par rapport au composant d'installation (7) en fonction d'une position initiale du moyen de montage (9, 13) enregistrée dans le dispositif de commande (21) et par une déformation du composant de support (3) causée par la fixation.
  13. Dispositif de montage selon la revendication 11 ou 12,
    caractérisé par
    un capteur, qui est disposé de manière fixe sur le composant d'installation (7), destiné à mesurer une position réelle d'un point de référence (23, 24).
  14. Dispositif de montage selon la revendication 11 ou 12,
    caractérisé en ce qu'
    au moins un capteur de déformation (127) est disposé sur le composant de support (3), capteur au moyen duquel une mesure d'une déformation du composant de support (3) peut être mesurée.
  15. Dispositif de montage selon la revendication 14,
    caractérisé en ce que
    le capteur de déformation (127) est conçu de telle sorte que des contraintes dans le composant de support (3) peuvent être déterminées, et en ce que le dispositif de commande est destiné à déterminer la déformation du composant de support (3) sur la base des contraintes mesurées.
EP17717710.2A 2016-04-20 2017-04-13 Dispositif et procede de montage destine a executer une procedure d'installation dans une cabine d'ascenseur Active EP3445697B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP16166260 2016-04-20
PCT/EP2017/059017 WO2017182396A1 (fr) 2016-04-20 2017-04-13 Procédé et dispositif de montage pour effectuer une opération d'installation dans une cage d'ascenseur d'une installation d'ascenseur

Publications (2)

Publication Number Publication Date
EP3445697A1 EP3445697A1 (fr) 2019-02-27
EP3445697B1 true EP3445697B1 (fr) 2020-01-22

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Country Link
US (1) US11242227B2 (fr)
EP (1) EP3445697B1 (fr)
CN (1) CN109071181B (fr)
AU (1) AU2017253550B2 (fr)
BR (1) BR112018070791A2 (fr)
ES (1) ES2779028T3 (fr)
SG (1) SG11201808460WA (fr)
WO (1) WO2017182396A1 (fr)

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PL3436390T3 (pl) * 2016-03-31 2020-10-19 Inventio Ag Sposób i urządzenie montażowe do przeprowadzania procesu instalacji w szybie dźwigowym instalacji dźwigowej
CN109071181B (zh) * 2016-04-20 2020-12-29 因温特奥股份公司 用于在电梯设备的电梯竖井中执行安装过程的方法和装配设备
US11235953B2 (en) * 2017-03-27 2022-02-01 Inventio Ag Method and assembly device for carrying out an installation process in an elevator shaft of an elevator system
PL3807205T3 (pl) * 2018-06-14 2022-07-25 Inventio Ag Sposób wznoszenia instalacji dźwigowej
EP3856672A1 (fr) 2018-09-26 2021-08-04 Inventio AG Procédé pour la planification et l'installation au moins partielle d'un système d'ascenseur dans une cage d'ascenseur
US11767196B2 (en) * 2020-02-11 2023-09-26 Inventio Ag Assembly device for carrying out assembly steps on a wall and method for arranging a magazine component on an assembly device
JP2022083028A (ja) * 2020-11-24 2022-06-03 株式会社日立ビルシステム エレベーター作業装置

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JP4411371B1 (ja) * 2009-03-30 2010-02-10 エヌ・ティ・ティジーピー・エコ株式会社 エレベータ昇降路内の位置情報取得装置とそのガイド装置
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Publication number Publication date
SG11201808460WA (en) 2018-11-29
CN109071181B (zh) 2020-12-29
WO2017182396A1 (fr) 2017-10-26
EP3445697A1 (fr) 2019-02-27
BR112018070791A2 (pt) 2019-02-05
CN109071181A (zh) 2018-12-21
ES2779028T3 (es) 2020-08-13
AU2017253550B2 (en) 2019-12-19
AU2017253550A1 (en) 2018-11-15
US11242227B2 (en) 2022-02-08
US20190112159A1 (en) 2019-04-18

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