EP3592684B1 - Montagesystem zur durchführung eines installationsvorgangs in einem aufzugschacht einer aufzuganlage - Google Patents

Montagesystem zur durchführung eines installationsvorgangs in einem aufzugschacht einer aufzuganlage Download PDF

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Publication number
EP3592684B1
EP3592684B1 EP18711494.7A EP18711494A EP3592684B1 EP 3592684 B1 EP3592684 B1 EP 3592684B1 EP 18711494 A EP18711494 A EP 18711494A EP 3592684 B1 EP3592684 B1 EP 3592684B1
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EP
European Patent Office
Prior art keywords
component
displacement
carrier component
support wall
elevator shaft
Prior art date
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EP18711494.7A
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German (de)
English (en)
French (fr)
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EP3592684A1 (de
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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Priority to PL18711494T priority Critical patent/PL3592684T3/pl
Publication of EP3592684A1 publication Critical patent/EP3592684A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation

Definitions

  • the invention relates to an assembly system for performing an installation process in an elevator shaft of an elevator installation according to the preamble of claim 1.
  • the WO 2017/016783 A1 describes an assembly system for carrying out an installation process in an elevator shaft of an elevator installation.
  • the assembly system has an assembly device with a carrier component and a mechatronic installation component in the form of an industrial robot, a displacement component arranged above the assembly device in the elevator shaft and a suspension element, for example designed as a rope or chain, which is at least indirectly fixed to the carrier component.
  • the displacement component can displace the carrier component and thus the assembly device by means of the suspension element in the elevator shaft, the carrier component being able to be supported at least during a displacement in the elevator shaft via an upper support roller on a support wall of the elevator shaft.
  • the WO 2015/102525 A1 describes a device for lining a mine shaft with concrete, which is held by a support means and can be lowered into the mine shaft.
  • the mine shaft is mainly aligned vertically, but has sections that are inclined with respect to the vertical.
  • the device has variable support elements by means of which it can support itself against the shaft walls of the mine shaft. The support takes place in such a way that the suspension element always runs vertically.
  • the assembly system has an assembly device with a carrier component and a mechatronic installation component, a displacement component arranged above the assembly device in the elevator shaft and a suspension element which is at least indirectly fixed to the carrier component.
  • the displacement component can displace the carrier component and thus the assembly device by means of the suspension element in the elevator shaft, the carrier component being able to be supported at least during a displacement in the elevator shaft via an upper support roller on a support wall of the elevator shaft.
  • the support means of the assembly system has an inclined pull with respect to the vertical in the direction of the support wall of the elevator shaft.
  • the carrier component is supported only on the supporting wall and not additionally on a wall opposite the supporting wall.
  • an oblique pull of the suspension element is understood to mean that the suspension element does not run exactly vertically or vertically downwards, but rather inclined relative to the perpendicular or vertical, and an oblique tension in the direction of the support wall of the elevator shaft is understood here to mean that the suspension element runs so inclined in the direction of the support wall that it has a smaller distance to the support wall in the area of the displacement component than in the area of the connection to the carrier component.
  • a distance of the suspension element in the area of the displacement component from a vertical or vertical line through the connection of the suspension element to the carrier component is, for example, between 20 and 60 cm, in particular between 35 and 52 cm.
  • the assembly system according to the invention has a compensating element which is designed and arranged in such a way that it counteracts tilting of the carrier component about the upper support roller in the direction of the support wall during displacement of the carrier component in the elevator shaft.
  • the mentioned horizontal component of the holding force in the direction of the support wall causes a torque around the upper support roller. If this torque is too great, the support component can tilt around the upper support roller in the direction of the support wall, the upper part of the support component rotating in the direction of the support wall and thus a distance between the lower area and the support wall increases. With such a tilting of the carrier component there is again the risk of the assembly device hitting a shaft wall and thus the risk of damage to the assembly device and / or the elevator shaft.
  • the mentioned horizontal component of the holding force and thus the torque around the upper support roller is mainly dependent on the diagonal pull in the direction of the support wall and becomes greater, in particular, with increasing diagonal pull.
  • the diagonal pull of the suspension element changes in the direction of the shaft wall during a displacement of the carrier component.
  • the diagonal pull and thus the horizontal component of the holding force in the direction of the support wall, as well as the torque around the upper support roller, without suitable countermeasures increase, i.e. increase, with a reduction in a first distance between the displacement component and the support component or mounting device.
  • the compensation element of the assembly system can counteract the tilting of the carrier component around the upper support roller in various ways, which are described in connection with the further embodiments of the invention.
  • the installation component of the assembly device is held on the carrier component and is designed to carry out an assembly step in the context of the installation process at least partially automatically, preferably fully automatically. It should be mechatronic, i.e. it should have interacting mechanical, electronic and information technology elements or modules.
  • the mounting device can in particular according to one in
  • WO 2017/016783 A1 be executed assembly device described.
  • the feature that the displacement component is arranged above the assembly device in the elevator shaft relates to a functional state of the assembly system.
  • the assembly system is mounted in an elevator shaft in such a way that the carrier component and thus the assembly device can be relocated in the elevator shaft.
  • the displacement component can be arranged in the elevator shaft or above the elevator shaft.
  • the displacement component can be designed, for example, as a type of cable winch in which the suspension element is in the form of a flexible cable or a chain, for example a winch driven by an electric motor, for example, can be wound up.
  • the carrier component has, in particular, a pair of upper support rollers which are arranged next to one another in the horizontal direction in the functional state of the assembly system.
  • the carrier component also has, in particular, a lower or a pair of lower support rollers, via which the carrier component is additionally supported on the support wall of the elevator shaft at least during displacement in the elevator shaft.
  • the lower support rollers are arranged below the upper support rollers.
  • the support wall on which the carrier component is supported during a displacement in the elevator shaft is one of the usually four shaft walls of the elevator shaft that are present. So there is no need for an additional retaining wall.
  • the shaft wall that is opposite the door cutouts for shaft doors of the elevator system is selected as the supporting wall.
  • the assembly system can thus also be used when several elevator shafts are arranged next to one another, which are not separated from one another by shaft walls.
  • a device for measuring the elevator shaft for example based on a laser scanner or one or more 3D cameras, can also be arranged on the carrier component. Said device can be moved with the carrier component in the elevator shaft and measure the elevator shaft. For example, a digital model of the elevator shaft can be created based on the measurements mentioned.
  • the compensating element is designed and arranged in such a way that when a first distance between the displacement component and the assembly device is reduced, it counteracts an increase in the oblique pull of the suspension element. Since, as described above, the transverse force acting on the carrier component in the direction of the supporting wall increases with increasing diagonal pull, an at least less pronounced increase in the diagonal pull results in an increase in the Lateral force and thus an increase in the torque around the upper support roller. Tilting of the carrier component and thus of the assembly device when the first distance between the displacement component and assembly device is reduced, that is to say when the assembly device is pulled up in the elevator shaft, is thus effectively prevented.
  • the mentioned less large increase in the diagonal pull relates to a course of the diagonal pull that would result in an assembly system without a compensating element. Compared with a diagonal pull at the beginning of a pulling up, the diagonal pulling can remain the same during the pulling up, increase only a little or even become smaller.
  • the compensation element is arranged at the displacement component and designed so that when the first distance between the displacement component and the assembly device is reduced, it increases a second distance between the suspension element in the area of the displacement component and the support wall.
  • the increase in the second distance counteracts the increase in the diagonal pull, which, as described above, leads to at least a less pronounced increase in the transverse force in the direction of the supporting wall.
  • the arrangement of the compensation element in the displacement component has the advantage that it does not have to be arranged on the carrier component and thus does not take up any installation space on the carrier component and in particular does not increase the weight of the assembly device.
  • the displacement component is arranged in particular in or directly above the elevator shaft in such a way that it can be displaced in a direction perpendicular to the support wall. For this purpose, it can be guided on one or two rails, for example.
  • the position of the displacement component is not changed and only the course of the suspension element in the area of the displacement component is changed, that is, for example, is more or less deflected.
  • a pulley can be used whose distance from the support wall can be changed.
  • the compensating element is arranged on the carrier component and designed in such a way that when the first distance between the displacement component and the assembly device is reduced, a third distance is achieved
  • the suspension element of the support component, via which the support component is connected to the support means, is reduced to the support wall.
  • the suspension element is arranged such that it can be displaced relative to the carrier component in a direction perpendicular to the support wall.
  • the reduction in the third distance counteracts the increase in the diagonal pull of the suspension element in the direction of the support wall, which, as described above, leads to at least a less pronounced increase in the transverse force in the direction of the support wall.
  • Said suspension element is part of the carrier component and is designed, for example, as an eyelet or a hook.
  • the carrier component only has exactly one suspension element. The suspension element is thus fixed directly to the carrier component. A displacement of the suspension element can be implemented very easily, with which a simple and inexpensive implementation of a compensation element is possible.
  • a suspension means is arranged between the support means and the support component.
  • the suspension element and the suspension element are connected via a connecting element.
  • the suspension element is thus fixed to the carrier component via the suspension element, so that the suspension element is indirectly fixed to the carrier component.
  • the compensation element is designed and arranged in such a way that when the first distance between the displacement component and the assembly device is reduced, it reduces a fourth distance between the connecting element and the supporting wall. The position of the connecting element relative to the suspension means is therefore changed.
  • the reduction in the fourth distance counteracts the increase in the oblique pull of the suspension element in the direction of the support wall, which, as described above, leads to at least a less pronounced increase in the transverse force in the direction of the support wall.
  • the suspension means is designed, for example, as a rope loop which is fixed at both ends to the carrier component. Such a rope loop can also be referred to as a so-called hanger.
  • the connecting element of the suspension means is designed, for example, as an eyelet, which can be moved along the rope loop and thus the distance between the eyelet and the supporting wall can be changed.
  • the compensation element has at least one energy store, which the displacement component, the deflection element or the suspension element with a force in a direction perpendicular to the support wall of the Lift shaft acted upon.
  • the above-described horizontal component of the holding force on the carrier component must be supported by the displacement component or the deflection element or acts on the suspension element.
  • the energy store is arranged and designed so that a change in the horizontal component of the holding force to a displacement of the displacement component, the deflecting element or the suspension element and what, as described above, counteracts an increase in the oblique pull of the holding means in the direction of the support wall.
  • the energy store which can be carried out by means of calculations or simple experiments, a desired diagonal pull of the holding means in the direction of the supporting wall can be achieved.
  • the compensation element can thus be implemented very easily and without controllable actuators. It is therefore very cost-effective and less prone to errors.
  • the energy store can be designed, for example, as a spring which acts on the displacement component, the deflection element or the suspension element in the direction mentioned.
  • the energy store can, for example, also be designed as an air or hydraulic store. It is also possible that an energy store is arranged on opposite sides of the displacement component, the deflecting element or the suspension element, which energy store applies a force from both sides.
  • the compensation element has at least one actuator which is designed and arranged so that it can move the displacement component, the deflection element, the suspension element or the connecting element in a direction perpendicular to the support wall of the elevator shaft.
  • the actuator can for example be designed electrically, hydraulically or pneumatically and have a movable adjusting cylinder which is coupled to the displacement component, the deflecting element, the suspension element or the connecting element.
  • the mounting system has in particular a Control device which is provided to control the actuator accordingly.
  • the aforementioned control device also controls, in particular, further actuators of the assembly system, such as the displacement component, for example.
  • the assembly device has, in particular, a fixing component, with the aid of which the carrier component can be fixed in the lateral direction, that is to say in the horizontal direction, within the elevator shaft.
  • a fixing in the lateral direction should be understood to mean that the carrier component together with the installation component attached to it can not only be brought vertically to a position at a desired height within the elevator shaft with the aid of the displacement component and the suspension element, but that the carrier component can be brought there with the aid of the Fixing component can then also be fixed in the horizontal direction.
  • the fixing component can be designed, for example, to be laterally supported on walls of the elevator shaft or to be caulked so that the carrier component can no longer move in the horizontal direction relative to the walls.
  • the fixing component can have suitable supports, stamps, levers or the like, for example.
  • the suspension element When the assembly device is fixed in the elevator shaft by means of the fixing component, it no longer has to be held by the suspension element. In this case, the suspension element is no longer loaded and can also be relieved by the displacement component. In this state, the displacement component, the deflecting element, the suspension element or the connecting element is also not loaded, so that they can be moved without great effort.
  • the control device controlling said actuator is therefore provided in particular to control the actuator for moving the displacement component, the deflecting element, the suspension element or the connecting element when the assembly device is fixed in the elevator shaft by means of the fixing component. This means that an actuator that is not very powerful and therefore inexpensive is sufficient.
  • the second, third or fourth distance is in particular depending on the first distance between the displacement component and the assembly device or on a
  • the first distance and the inclination are measured directly or indirectly for this purpose.
  • the first distance can be measured directly by means of a distance sensor, for example. It can also be measured indirectly by measuring the distance to a floor of the elevator shaft or on the basis of a measured initial distance between the displacement component and the assembly device and the distance covered by the assembly device. The distance covered can be determined, for example, on the basis of a measurement of the rotation of a drive roller of the displacement component.
  • the inclination can, for example, be measured directly on the carrier component by means of an inclination sensor. By measuring the distance between the carrier component, for example in a lower region of the carrier component, to the support wall, the inclination of the carrier component can also be measured indirectly.
  • a table is stored in which the second, third or fourth distance to be set is stored as a function of the current first distance or the current inclination of the carrier component.
  • the table mentioned can be determined by means of calculations or simple experiments.
  • the second, third or fourth distance is thus set by means of a control. It is also possible for the second, third or fourth distance to be set by means of a control.
  • a desired inclination of the carrier component can be set by means of a manipulated variable embodied as a second, third or fourth distance.
  • the compensating element is designed and arranged in such a way that when a first distance between the displacement component and the mounting device is reduced, it increases a fifth distance between a center of gravity of the mounting device and the supporting wall.
  • the compensating element has, in particular, an actuator which can move a compensating weight.
  • a small, light and inexpensive actuator can be used for the compensation element, since the compensation weight is not under load when it is moved, that is to say it can be moved with a very small adjusting force.
  • the assembly system has, in particular, a control device which is provided to control the actuator accordingly.
  • the aforementioned control device also controls, in particular, further actuators of the assembly system, such as the displacement component, for example.
  • the mechatronic installation component is part of the compensating element and the fifth distance is increased by changing the position of the mechatronic installation component. This means that no additional counterweight and no additional actuator are necessary, which enables a particularly light and inexpensive assembly device.
  • the mechatronic installation component can be designed, for example, as an industrial robot with a robot arm. Before moving the assembly device, the robot arm is brought as close as possible to the support wall. During the displacement of the assembly device, that is, while the said first distance is being reduced, the robot arm is then moved further and further away from the support wall, with the result that the center of gravity also moves away from the support wall and the said fifth distance increases. In order to achieve the greatest possible shift in the focus of the To achieve assembly device, the industrial robot can pick up additional parts, such as components to be assembled, before the displacement and thus increase the weight moved during the displacement. For this purpose, the assembly system has a control device which is provided to control the mechatronic installation component accordingly.
  • the fifth distance is set in particular as a function of the first distance between the displacement component and the mounting device or of the inclination of the carrier component.
  • a suitable setting of the fifth distance is thus always possible and thus a suitable setting of the distance between the center of gravity of the assembly device and the supporting wall. Tilting of the carrier component around the upper support roller in the direction of the support wall can thus be prevented particularly reliably.
  • the compensation element has a force introduction point at which the holding force applied by the displacement component via the suspension element is introduced into the carrier component, and the upper support roller, the force introduction point at the same level or below the upper support roller, in particular an axis of rotation of the upper one Support roller, is arranged.
  • the upper support roller can be arranged, for example, on a spacer element protruding upward from the carrier component.
  • the compensating element is not a separate component, but is made up of a combination of components of the carrier component which are arranged in a special way with respect to one another.
  • the compensating element can thus be implemented in a particularly cost-effective manner.
  • the force introduction point is in particular the point at which a suspension element, for example in the form of a hook or an eyelet, on which the suspension element is suspended, is fixed to the carrier component.
  • the suspension element can also be part of the carrier component or be formed by it, for example the suspension element can be designed as a through opening in the carrier component into which the suspension element can be suspended.
  • the point at which the force is introduced is the point at which contact between the suspension element and the carrier component occurs.
  • the suspension element can in particular also be part of the
  • Compensating elements are viewed.
  • the arrangement of the force introduction point with respect to the upper support roller relates again to the functional state of the assembly system already mentioned above.
  • the point of application of force lies with a direct connection between the suspension element and the carrier component on the above-mentioned suspension element. If a suspension element is arranged between the suspension element and the carrier component, at least two force introduction points result, namely at the connection points between the suspension element and the carrier component. These several force introduction points are usually at the same level. If this is not the case, then all force application points should be arranged at the same level or below the upper support roller.
  • the compensation element with the above-mentioned arrangement of the force introduction point (s) with respect to the upper support roller can be combined with all of the other described embodiments of the compensation element.
  • the displacement component displaces the assembly device by means of the suspension element in the elevator shaft.
  • the carrier component is supported at least during one
  • the suspension element has an inclined pull with respect to the vertical in the direction of the supporting wall of the elevator shaft.
  • the assembly system has a compensating element, which counteracts tilting of the carrier component around the upper support roller in the direction of the support wall when the support component is displaced in the elevator shaft.
  • the Fig. 1 and 2 show an assembly system 1 without a compensating element, which is designed and arranged in such a way that it counteracts a tilting of the carrier component 3 about the upper support roller 21 in the direction of a support wall 108 during a displacement of a carrier component 3 in the elevator shaft 103.
  • the Fig. 1 and 2 serve to explain the technical problem, which is solved by the combination of a diagonal pull of a suspension element relative to the vertical in the direction of the support wall and a compensating element.
  • Fig. 1 shows an elevator shaft 103 of an elevator installation in which an assembly system 1 is arranged.
  • the assembly system 1 has an assembly device 5 with a carrier component 3 and a mechatronic installation component 7.
  • the carrier component 3 is designed as a frame on which the mechatronic installation component 7 is mounted. This frame has dimensions that enable the carrier component 3 to be displaced vertically within the elevator shaft 103, that is to say along the perpendicular or vertical 104, that is to say, for example, to move to different vertical positions on different floors within a building.
  • the mechatronic installation component 7 is designed in the form of an industrial robot which is attached to the frame of the carrier component 3 hanging down. An arm of the industrial robot can be moved relative to the carrier component 3 and, for example, be displaced towards or away from a shaft wall 105 of the elevator shaft 3.
  • the carrier component 3 is connected to a displacement component 15 in the form of a motor-driven cable winch via a steel cable serving as a suspension element 17, 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 via a steel cable serving as a suspension element 17, 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 5 can be displaced vertically within the elevator shaft 103 over an entire length of the elevator shaft 103.
  • the assembly device 5 also has a fixing component 19, with the aid of which the carrier component 3 can be fixed in the lateral direction, that is to say in the horizontal direction, within the elevator shaft 103.
  • the fixing component 19 on the front side of the carrier component 3 and / or stamps (not shown) on a rear side of the carrier component 3 can be shifted to the front or rear to the outside and in this way caulk the carrier component 3 between walls 105 of the elevator shaft 103.
  • the industrial robot can be coupled at its self-supporting end with various assembly tools, not shown in detail.
  • the assembly tools can differ in terms of their design and purpose. With these assembly tools, the assembly device can be in a fixed state
  • Assembly steps can be carried out semi-automatically or fully automatically.
  • a magazine component (not shown in greater detail) can also be provided on the carrier component 3.
  • the magazine component can serve to store components to be installed and to make them available to the industrial robot 7.
  • the magazine component can, for example, accommodate various components, in particular in the form of different profiles, which are to be mounted within the elevator shaft 103 on shaft walls 105 in order, for example, to be able to attach guide rails for the elevator system 101 to them. Screws can also be stored and made available in the magazine component, which screws can be screwed into prefabricated holes in the shaft wall 105 with the aid of the industrial robot 7.
  • Support rollers are provided, with the aid of which the carrier component 3 is guided during a vertical displacement within the elevator shaft 103 along a shaft wall, which is referred to below as a support wall 108.
  • the support wall 108 is the shaft wall opposite the door openings 106 of the elevator shaft 103.
  • the support rollers roll on the support wall 108 during the displacement of the assembly device 5.
  • one to, in particular, four support rollers can be provided.
  • the carrier component 3 has a pair of upper support rollers 21 and a pair of lower support rollers 22.
  • the upper support rollers 21 are arranged in an upper area and the lower support rollers 22 in a lower area of the carrier component 3.
  • the assembly device 5 is arranged in a lower region of the elevator shaft 103 and thus before being shifted upwards.
  • the carrier component 3 is at a first distance s1 from the displacement component 15.
  • the support means 17 fixed directly on the support component 3, by means of which the displacement component 15 can displace the assembly device 5 in the elevator shaft 103, has an oblique pull ⁇ in the direction of the support wall 108.
  • Said diagonal pull ⁇ corresponds to the angle that the support means 17 includes in the direction of the support wall 108 with the perpendicular or vertical 104. Due to the diagonal pull ⁇ , a holding force acting on the support component 3 via the support means 17 has a horizontal component 39 in the direction of the support wall 108. There is a force application point 38, on which the holding force is introduced into the carrier component 3, is arranged above the upper support roller 21, in particular above an unmarked axis of rotation of the upper support roller 21, the horizontal component 39 of the holding force results in a counterclockwise torque 23 around the upper support roller 21.
  • the force introduction point 38 is the point at which a suspension element (not shown in more detail), for example in the form of a hook or an eyelet, on which the suspension element 17 is suspended, is fixed to the carrier component 3.
  • the torque 23 is thus oriented in such a way that, given a corresponding size, it can lead to a lifting of the lower support rollers 22 and thus to a tilting of the carrier component 3 about the upper support roller 21 in the direction of the support wall 108.
  • the horizontal component of the holding force in the direction of the support wall 108 ensures that at least the upper support rollers 21 do not lift off the support wall 108 and thus the assembly device 5 cannot swing freely in the elevator shaft 103. Such oscillation can lead to the assembly device 5 striking one of the shaft walls 105 and thus damage to the assembly device 5 and to the shaft wall 105
  • the torque 23 * is so great that the lower support rollers 22 lift off the support wall 108 and the carrier component 3 tilts about the upper support roller 21 in the direction of the support wall 108.
  • the assembly device 5 can strike the shaft wall 105, which can lead to damage to the assembly device 5 and to the shaft wall 105.
  • the assembly system 1 according to Fig. 4 has a compensating element 24 that so is designed and arranged that it counteracts a tilting of the carrier component 3 about the upper support roller 21 in the direction of the support wall 108 during a displacement of the carrier component 3 in the elevator shaft 103.
  • the mounting device 5 has in Fig. 4 the same position in the elevator shaft 103 as in FIG Fig. 2 .
  • the compensation element 24 has an energy store in the form of a spring 25.
  • the spring 25 is arranged between a stationary support element 26 and the displacement component 15, which in this case is designed to be displaceable in a direction vertical to the support wall 108.
  • a horizontal component of the holding force acts on the carrier component 3, which must be supported by the displacement component 15 in the opposite direction, that is, against the spring 25.
  • the spring 25 thus acts on the displacement component 15 with a holding force in the direction perpendicular to the support wall 108.
  • the displacement component 15 has in FIG Fig. 4 a second distance s2 from the support wall 108.
  • assembly system 1 is off Fig. 4 shown after the shifting of the assembly device 5 upwards.
  • the diagonal pull ⁇ of the suspension element 17 in the direction of the support wall 108 is approximately the same as in the position of the assembly device 5 in FIG Fig. 4 and thus much smaller than the diagonal pull ⁇ * in Fig. 3 , i.e. without the use of a compensating element.
  • the displacement component 15 has in Fig. 5 a second distance s2 * from the support wall 108, which is significantly greater is in as the second distance s2 Fig. 4 .
  • a compensating element 124 is arranged on top of the carrier component 3.
  • the support means 17 is fixed to the support component 3 via a suspension element 127 which is displaceable in the perpendicular direction to the support wall 108.
  • the compensation element 124 has two springs 125 which are arranged on opposite sides of the suspension element 127 with respect to the support wall 108 and thus each exert a holding force on the suspension element 127.
  • the ends of the springs 125 lying opposite the suspension element 127 are fixed in a stationary manner with respect to the carrier component 3 in a manner not shown further.
  • the suspension element 127 has in Fig. 6 a third distance s3 from the support wall 108.
  • the assembly device 5 If the assembly device 5 is now shifted upwards, the horizontal component of the holding force on the carrier component 3 increases and the suspension element 127 is pressed in the direction of the support wall 108 and shifted against the force of the springs 125 in the direction of the support wall 108. This displacement of the suspension element 127 in turn counteracts the enlargement of the diagonal pull a of the suspension element 17 in the direction of the support wall 108.
  • An equilibrium is constantly established, which is mainly determined by the characteristics of the springs 125. By means of calculations or simple experiments, the springs 125 can be designed in such a way that tilting of the assembly device 5 can be reliably avoided.
  • assembly system 1 is off Fig. 6 shown after the shifting of the assembly device 5 upwards.
  • the diagonal pull ⁇ of the suspension element 17 in the direction of the support wall 108 is approximately the same as in the position of the assembly device 5 in FIG Fig. 6 and thus much smaller than the diagonal pull ⁇ * in Fig. 3 , i.e. without the use of a compensating element. This was achieved by displacing the suspension element 127 in the perpendicular direction to the support wall 108.
  • the suspension element 127 has in Fig. 7 a third distance s3 * from the support wall 108, which is significantly smaller than the third distance s3 in Fig. 6 .
  • a suspension means 228 is arranged between the support means 17 and the support component 3, the support means 17 and the suspension means 228 being connected via a connecting element 229.
  • the Suspension means 228 is designed as a rope loop, the ends of which are connected to carrier component 3 on opposite sides with respect to support wall 108.
  • a compensating element 224 is arranged on the suspension means 228 and is designed in such a way that it can move the connecting element 229 relative to the suspension means 228.
  • the compensation element 224 has an only in Fig. 10
  • the illustrated actuator 230 in the form of an electric motor, by means of which the connecting element 229 can be displaced relative to the suspension means 228.
  • the actuator 230 can drive a drive roller 231.
  • the suspension means 228 runs between the drive roller 231 and a pressure roller 232.
  • the pressure roller 232 is pressed against the suspension means 228 by means of a spring, which is not shown, and this is thus pressed against the drive roller 231. If the actuator 230 now drives the drive roller 231, it rolls on the suspension means 228, whereby the position of the connecting element 229 relative to the suspension means 228 and thus a fourth distance s4 from the support wall 108 can be set.
  • the actuator 230 is activated by a control device 237.
  • the control device 237 sets said fourth distance as a function of an inclination of the carrier component 3.
  • an inclination sensor 233 is arranged at the bottom of the carrier component 3.
  • the control device 237 measures the inclination and adjusts the fourth distance by means of a control system in such a way that the carrier component 3 is always oriented vertically, that is to say has no inclination. It is also possible for the control device 237 to set the mentioned fourth distance as a function of the first distance between the displacement component 15 and the assembly device 5. To this end, the control device 237 can measure the first distance directly by means of a distance sensor (not shown).
  • control device it is also possible for the control device to measure a distance from a floor of the elevator shaft 103 and to determine the first distance therefrom.
  • control device 237 detects how far the displacement component 15 displaces the assembly device 5 in the elevator shaft 103 and, based on a first distance before the displacement, determines the current first distance.
  • a table is stored in the control device 237 in which the fourth distance is stored as a function of the first distance.
  • the connecting element 229 has a fourth distance s4 from the support wall 108.
  • assembly system 1 is off Fig. 8 shown after the shifting of the assembly device 5 upwards.
  • the diagonal pull ⁇ of the suspension element 17 in the direction of the support wall 108 is approximately the same as in the position of the assembly device 5 in FIG Fig. 8 and thus much smaller than the diagonal pull ⁇ * in Fig. 3 , i.e. without the use of a compensating element.
  • the connecting element 229 has in Fig. 9 a fourth distance s4 * from the support wall 108, which is significantly smaller than the fourth distance s4 in Fig. 8 .
  • Fig. 11 is a for compensating element 24 of Figures 4 and 5 alternative compensation element 324 shown.
  • the compensating element 324 has an actuator 330, by means of which the displacement component 15 can be displaced.
  • the actuator 330 is designed as an electric motor which can retract and extend an adjusting cylinder 333 that acts on the displacement component 15.
  • the actuator 330 is switched off analogously to the actuator 230 Fig. 10 controlled by a control device 337.
  • Fig. 12 is another for compensating element 24 of Figures 4 and 5 alternative compensation element 424 shown.
  • the compensation element 424 also has an actuator 430, by means of which a deflection element 434 in the form of a deflection roller can be displaced in a direction perpendicular to the support wall 108.
  • the displacement component 15 is stationary and is arranged in such a way that the support means 17 is guided horizontally out of the displacement component 15 and is then deflected downward via the deflection element 434.
  • the displacement of the deflecting element 434 has the same effect as the displacement of the displacement component 15 in FIG Fig. 11 .
  • the actuator 430 is designed as an electric motor which can retract and extend an adjusting cylinder 433 that acts on the deflecting element 434.
  • the actuator 430 is switched off analogously to the actuator 230 Fig. 10 controlled by a control device 437.
  • the deflection element in the form of a deflection roller could also be analogous to the displacement component in FIG Figures 4 and 5 with one or two energy stores, in particular in the form of springs, a holding force is applied.
  • the actuator and the control device could be omitted.
  • Fig. 13 is a for compensating element 124 of Figures 6 and 7 alternative compensation element 524 shown.
  • the compensating element 524 has an actuator 530, by means of which the suspension element 127 can be displaced.
  • the actuator 530 is designed as an electric motor which can retract and extend an adjusting cylinder 533 that acts on the suspension element 127.
  • the actuator 530 is switched off analogously to the actuator 230 Fig. 10 controlled by a control device 537.
  • control devices 237, 337, 437, 537 described, which control the actuators 230, 330, 430, 530 are designed in particular in such a way that they control the said actuators 230, 330, 430, 530 when the assembly device 5 is activated by means of the fixing component 19 is fixed in the elevator shaft 106.
  • the assembly system 1 according to Figures 14 and 15 is very similar to the assembly system 1 according to Figs. 2 and 3 so that only the differences are discussed. Also with the assembly system 1 according to Figures 14 and 15 does not change anything at the connection between displacement component 15, suspension element 17 and carrier component 3, so that in Fig. 15 at a smaller distance s1 * a significantly larger diagonal pull ⁇ * of the suspension element 17 in the direction of the shaft wall 108 results.
  • the assembly system 1 has a compensating element 624.
  • the compensation element 624 has an actuator 630 which is connected to a balance weight 635.
  • the balance weight 635 can be shifted relative to the carrier component 3 mainly in the horizontal direction by means of the actuator 630.
  • a center of gravity 636 of the assembly device 5 can be shifted and thus a fifth distance between the center of gravity 636 and the support wall 108 can be changed or set.
  • the actuator 630 is controlled by a control device 637 in such a way that when the first distance between the displacement component 15 and Mounting device 5, the fifth distance between the center of gravity 636 of the mounting device 5 and the support wall 108 is increased.
  • the actuator 630 is controlled analogously to the actuator 230.
  • Fig. 14 the mounting system 1 is shown before a shift upwards.
  • the center of gravity 636 of the assembly device 5 is at a fifth distance s5 from the supporting wall 108.
  • the fifth distance s5 * is significantly larger.
  • the assembly system 1 according to Figures 16 and 17 has a compensation element 724, which is basically the same as the compensation element 624 from the Fig. 13 and 14th is working. The difference is that the assembly system 1 according to the Figures 16 and 17 the mechatronic installation component 7 in the form of the industrial robot is part of the compensation element 724 and is used as a compensation weight.
  • the center of gravity 736 is shifted in this case by changing the position of the mechanical installation component 7, that is to say by changing the position of the mechatronic installation component 7 Fig. 16 the mounting system 1 is shown before a shift upwards.
  • the mechatronic installation component 7 is arranged as close as possible to the support wall 108, so that a fifth distance s5 of the center of gravity 736 of the assembly device 5 from the support wall 108 results.
  • the position of the mechatronic installation component 7 is continuously changed by a corresponding activation from a control device 737 so that it is at an ever greater distance from the support wall 108.
  • the fifth distance s5 * is significantly larger.
  • the upper support roller 21 is arranged on a spacer element 840 which protrudes upward from the carrier component 3.
  • a force introduction point 838, at which the holding force is introduced into the carrier component 3, is thus arranged below the upper support roller 21, in particular below an unmarked axis of rotation of the upper support roller 21. It would also be possible for the force introduction point to be arranged at the same level as the upper support roller.
  • the horizontal component 839 of the holding force thus runs below it of the support roller 21, which leads to a torque 823 about the upper support roller 21, which is opposite to the torque 23 in Fig. 2 is oriented. The torque 823 therefore cannot lead to the lower support roller 22 lifting off the support wall 108 and thus to the carrier component 3 tipping about the upper support roller 21.
  • the lower support roller 22 is pressed against the support wall 108 by the torque 823.
  • the upper support roller 21, the spacer element 840 and the force introduction point 838 thus form a compensation element 829 which counteracts the tilting of the support component 3 around the upper support roller 21 in the direction of the support wall 108 during the displacement of the carrier component 3 in the elevator shaft 103.
  • the compensation element can also comprise a suspension element (not shown), for example in the form of an eyelet, a hook or a through opening of the carrier component.
  • a shifting of the carrier component 3 upwards does not change anything in the arrangement of the opposite Fig. 18 larger horizontal component 839 of the holding force to the upper support roller 21.
  • the orientation of the torque 823 around the upper support roller remains unchanged, so that even during or after a displacement of the support component 3 upwards, the support component 3 does not tilt in the direction of the support wall 108 comes.

Landscapes

  • Supply And Installment Of Electrical Components (AREA)
  • Automatic Assembly (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
  • Types And Forms Of Lifts (AREA)
  • Handcart (AREA)
EP18711494.7A 2017-03-06 2018-03-02 Montagesystem zur durchführung eines installationsvorgangs in einem aufzugschacht einer aufzuganlage Active EP3592684B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL18711494T PL3592684T3 (pl) 2017-03-06 2018-03-02 System montażowy do przeprowadzania procesu instalacji w szybie dźwigu instalacji dźwigowej

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17159435 2017-03-06
PCT/EP2018/055189 WO2018162350A1 (de) 2017-03-06 2018-03-02 Montagesystem zur durchführung eines installationsvorgangs in einem aufzugschacht einer aufzuganlage

Publications (2)

Publication Number Publication Date
EP3592684A1 EP3592684A1 (de) 2020-01-15
EP3592684B1 true EP3592684B1 (de) 2021-05-05

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EP18711494.7A Active EP3592684B1 (de) 2017-03-06 2018-03-02 Montagesystem zur durchführung eines installationsvorgangs in einem aufzugschacht einer aufzuganlage

Country Status (8)

Country Link
US (1) US11572256B2 (pl)
EP (1) EP3592684B1 (pl)
CN (1) CN110382395B (pl)
AU (1) AU2018231367B2 (pl)
BR (1) BR112019016943A2 (pl)
PL (1) PL3592684T3 (pl)
SG (1) SG11201906935TA (pl)
WO (1) WO2018162350A1 (pl)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020048727A1 (de) 2018-09-03 2020-03-12 Inventio Ag Montagesystem zur durchführung eines installationsvorgangs in einem aufzugschacht einer aufzuganlage
EP4054967B1 (de) 2019-11-08 2023-10-25 Inventio Ag Installationseinrichtung für eine verwendung in einem aufzugschacht
MX2022005731A (es) * 2019-11-12 2022-06-09 Inventio Ag Marco de montaje para desplazamiento y fijacion en un pozo.
US11772934B2 (en) * 2019-11-12 2023-10-03 Inventio Ag Mounting frame for displacing and fixing in a shaft
AU2021220916B2 (en) * 2020-02-11 2024-08-08 Inventio Ag Assembly apparatus for implementing assembly steps on a wall and method for arranging a magazine component on an assembly apparatus
WO2022237980A1 (en) * 2021-05-12 2022-11-17 Kone Corporation An arrangement and a method for installing an elevator
WO2024149926A1 (en) * 2023-01-09 2024-07-18 Kone Corporation Installation carriage, use of installation carriage and method of installing components

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4949815A (en) * 1989-06-08 1990-08-21 Otis Elevator Company Sheave array of a self propelled elevator using a linear motor on the counterweight
JP2002187680A (ja) * 2000-12-22 2002-07-02 Toshiba Corp かご枠姿勢制御装置及び同装置を備えたエレベータ
JP2004331268A (ja) * 2003-05-01 2004-11-25 Ohbayashi Corp 中間階免震建造物
US20090097952A1 (en) * 2005-08-30 2009-04-16 Otis Elevator Company Method and device for transporting an elevator car drive machine
JP5172837B2 (ja) 2006-07-24 2013-03-27 オーチス エレベータ カンパニー エレベータ
JP2009196790A (ja) * 2008-02-22 2009-09-03 Toshiba Elevator Co Ltd エレベータ
EP2370336B1 (de) * 2008-12-26 2013-10-09 Inventio AG Exzentrisch gehängte aufzugskabine
WO2015102525A1 (en) 2014-01-02 2015-07-09 Bergteamet Ab Arrangement and method for the lining of a vertical mine shaft
CN104444700A (zh) * 2014-10-13 2015-03-25 上海富士电梯有限公司 电梯偏载调节系统
SG11201800575SA (en) 2015-07-24 2018-02-27 Inventio Ag Automated mounting device for performing assembly jobs in an elevator shaft of an elevator system

Also Published As

Publication number Publication date
CN110382395B (zh) 2022-01-11
WO2018162350A1 (de) 2018-09-13
AU2018231367B2 (en) 2021-03-18
US11572256B2 (en) 2023-02-07
BR112019016943A2 (pt) 2020-04-14
PL3592684T3 (pl) 2021-08-23
SG11201906935TA (en) 2019-09-27
CN110382395A (zh) 2019-10-25
AU2018231367A1 (en) 2019-08-22
US20210130136A1 (en) 2021-05-06
EP3592684A1 (de) 2020-01-15

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