EP3856672A1 - Procédé pour la planification et l'installation au moins partielle d'un système d'ascenseur dans une cage d'ascenseur - Google Patents

Procédé pour la planification et l'installation au moins partielle d'un système d'ascenseur dans une cage d'ascenseur

Info

Publication number
EP3856672A1
EP3856672A1 EP19762996.7A EP19762996A EP3856672A1 EP 3856672 A1 EP3856672 A1 EP 3856672A1 EP 19762996 A EP19762996 A EP 19762996A EP 3856672 A1 EP3856672 A1 EP 3856672A1
Authority
EP
European Patent Office
Prior art keywords
elevator shaft
elevator
installation
automated
shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19762996.7A
Other languages
German (de)
English (en)
Inventor
Andrea CAMBRUZZI
Christian Studer
Eliza OLCZYK
Oliver Simmonds
Philipp Zimmerli
Raphael Bitzi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventio AG
Original Assignee
Inventio AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inventio AG filed Critical Inventio AG
Publication of EP3856672A1 publication Critical patent/EP3856672A1/fr
Pending legal-status Critical Current

Links

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
    • B66B19/00—Mining-hoist operation
    • B66B19/002—Mining-hoist operation installing or exchanging guide rails

Definitions

  • the invention relates to a method for planning and at least partially installing an elevator system in an elevator shaft according to claim 1.
  • Installation steps that are used, for example, to install a component within the elevator shaft during an installation process have so far mostly been carried out by fitters or installation personnel.
  • a fitter moves to a position within the elevator shaft at which the component is to be installed and installs the component at a desired location there, for example by drilling holes in a shaft wall and inserting the component with screws or screws screwed into these holes Bolt is attached to the shaft wall.
  • the fitter can use tools and / or machines for this.
  • the assembly device can, for example, drill holes at defined positions on the shaft walls of the elevator shaft and insert anchor bolts into the drilled holes.
  • Rail brackets usually have a lower rail bracket part and an upper rail bracket part that can be screwed to the lower rail bracket part.
  • the lower part of the rail bracket is fixed to the shaft wall, for example screwed on.
  • the guide rail is connected to the upper part of the rail bracket, which can be moved relative to the lower part of the rail bracket. This enables alignment of the guide rail.
  • the division of labor between the automated assembly device and the fitter can be different.
  • WO 2017/016783 A1 describes an automated assembly device for carrying out an installation process in an elevator shaft of an elevator installation and a method for carrying out an installation process with such an assembly device.
  • a carrier component is fixed with a mechatronic installation component in the elevator shaft at different heights.
  • the installation component carries out various installation steps, such as drilling holes in a shaft wall of the elevator shaft.
  • WO 2017/016783 Al mainly focuses on the implementation of the installation and does not deal with its planning in more detail.
  • EP 1 225 522 A1 describes a design system for a product for an elevator, which is to be manufactured on the basis of a specific order.
  • EP 3 127 847 A1 describes an apparatus and a method for determining the
  • WO 2017/016780 A1 describes an automated assembly device for carrying out an installation process in an elevator shaft of an elevator installation and a method for carrying out an installation process with one
  • Assembly device are to be carried out, i.e. determining the automated installation steps
  • Assembly device can be carried out
  • Installation steps are only carried out after deriving an actual layout of the elevator system. This allows you to plan the automated installation steps
  • the installation of the Elevator system continued by one or more fitters.
  • the fitter aligns guide rails and fixes them to the shaft walls, installs a drive, assembles a cabin and guides all the necessary electrical ones
  • the assembly device carries out some installation steps automatically. In doing so, it can carry out only one installation step, for example drilling a hole in a shaft wall, several times at different positions in the elevator shaft, or else various installation steps, for example drilling a hole and inserting one
  • Elevator shaft executed.
  • the assembly device has in particular a carrier component and a mechatronic installation component.
  • the carrier component is designed to be relative to the elevator shaft, i.e. for example within the elevator shaft, to be relocated and positioned at different heights within the elevator shaft.
  • the installation component is held on the carrier component and is designed to carry out an installation step in the course of the installation process at least partially automatically, preferably fully automatically.
  • the installation component is
  • the assembly device has, in particular, a displacement device, by means of which the carrier component can be displaced in the elevator shaft, and a fixing component for fixing, in particular caulking, the carrier component in the elevator shaft.
  • Mounting device has in particular a control device for
  • the assembly device is, for example, corresponding to one described in WO 2017/016783 A1
  • the elevator shaft is carried out in particular by a planner, who is supported in particular by a special computer-supported planning tool.
  • the derivation can also be fully automated with a corresponding computer-aided tool.
  • the starting point for deriving the target layout is the target dimensions of the elevator shaft, that is to say, for example, width, depth and height of the elevator shaft, number of floors and dimensions of door cutouts.
  • the nominal dimensions of the elevator shaft can be found in construction plans of the building containing the elevator shaft. It is also possible for the nominal dimensions of the elevator shaft to be derived from a digital building model of the corresponding building.
  • other requirements such as the desired transport capacity of the elevator system, are taken into account when deriving the target layout of the elevator system.
  • the target layout of the elevator installation for example, includes the arrangement of a counterweight
  • the target layout can have a lower level of detail than the actual layout derived therefrom. For example, it is possible that only the
  • the planning steps which are to be carried out by an automated assembly device, are in particular also carried out by a planner. However, this step can also be carried out fully automatically. The planner puts in this
  • the planner determines which assembly device is to be used to carry out the automated installation steps.
  • the planner has the particular task of planning the installation of the elevator system in such a way that it can be carried out as quickly and / or economically as possible. Depending on the design of the target layout, different installation steps can be carried out automatically.
  • Determination of the automated installation steps also depends on the available automated assembly devices. It can
  • Installation steps is independent of the target layout of the elevator system. This is the case, for example, if for all possible layouts of
  • Elevator systems are always carried out automatically in the same installation steps. For example, it can be specified that holes are always drilled by an automated assembly device and the assembly device always
  • Assembly device can be performed is also carried out in particular by a planner. But it can also be fully automated. In the simplest case, the dimensions of the intended automated are
  • Mounting device compared with the dimensions of the elevator shaft. In particular, it is checked whether the mounting device can be brought into the elevator shaft, whether a support component with an installation component of the mounting device can be moved in the elevator shaft and whether the mounting component can be fixed in the elevator shaft.
  • the mounting device is in particular designed so flexibly that, for example, one fixing component for fixing the carrier component to different ones within a certain framework
  • Installation component can reach all necessary points in the elevator shaft.
  • the check as to whether the automated installation steps can be carried out by the assembly device is carried out in particular on the basis of the target dimensions of the elevator shaft and the target layout of the elevator system. However, it is also possible that the check mentioned is based on the actual dimensions of the
  • Elevator shaft and the actual layout of the elevator system So it is it is not absolutely necessary that the above-mentioned check is carried out on the basis of the target layout of the elevator system.
  • Elevator system to be installed.
  • some actual dimensions of the elevator shaft must be recorded on or in the elevator shaft.
  • the actual dimensions can be recorded manually by a planner or fitter, for example.
  • the planner or fitter measures the width and depth of the elevator shaft at different heights and / or checks whether the mass of the
  • Measuring system can, for example, be designed like a measuring system described in WO 2018/041815 A1.
  • the aim of the acquisition or measurement is to determine any differences from the nominal dimensions of the elevator shaft.
  • Dimensions of the elevator shaft can also be textures of surfaces, in particular the shaft walls or holes and local elevations of the
  • Shaft walls can be understood.
  • Dimensions of the elevator shaft are also to be understood here as the course of reinforcements in the shaft walls of the elevator shaft. This means that courses of
  • Reinforcements are recognized and documented using a suitable sensor, for example integrated into a digital model of the elevator shaft.
  • the derivation of an actual layout of the elevator system from the target layout of the elevator system and the recorded actual dimensions of the elevator shaft is also carried out by a planner, a mechanic or fully automatically.
  • the aim is to adopt the target layout as the actual layout of the elevator system. For this purpose, it is checked whether the target layout can be implemented in the real elevator shaft defined by the actual dimensions. For example, it is checked whether the planned size of the elevator car is also compatible with the actual dimensions of the elevator shaft.
  • Checking can include, for example, all specifications of the target or actual layout. If this is the case, then the target layout is adopted as the actual layout of the elevator shaft. If this is not the case, adjustments to the layout are made in accordance with the actual dimensions of the elevator shaft. For example, the size of the Elevator cabin can be adjusted. In addition, all other specifications of the target or actual layout can be adjusted. If the automated assembly device requires reference elements, for example in the form of cords stretched in the elevator shaft, to determine their position in the elevator shaft, their position is also determined in particular in this method step.
  • the planning of the automated installation steps based on the actual layout of the elevator system is also carried out by a planner, a mechanic or fully automated. For example,
  • the automated assembly device After the planning of the automated installation steps has been completed, these are carried out by the automated assembly device.
  • the implementation is started and monitored in particular by a technician.
  • the assembly device is removed from the elevator shaft and the installation is continued, in particular by a fitter by hand or with the support of tools.
  • Elevator shaft created a digital model of the elevator shaft. This enables a particularly precise derivation of the actual layout from the target layout of the elevator installation.
  • the actual layout of the elevator can be integrated into the digital model of the elevator shaft
  • Elevator system integrated and thus be shown particularly precisely.
  • a digital model of the elevator shaft should in particular be a CAD model of the
  • Elevator shaft can be understood, which may also contain additional information.
  • the level of detail of the digital model of the elevator shaft can vary. For example, only a few masses of the elevator shaft can be measured by hand and the digital model based on them. However, it is also possible for the complete elevator shaft to be measured very precisely using an automated measuring system and for the digital model to be derived from a point cloud generated in the process.
  • the digital model of the elevator shaft can be converted into a digital one
  • Elevator system checked again that the automated installation steps can be carried out by the assembly device.
  • a second check of the feasibility of the automated installation steps is thus carried out. This ensures particularly reliably that the automated installation steps can actually be carried out. The feasibility is also ensured if the actual layout of the elevator installation differs from the target layout.
  • the assembly device uses a suitable sensor to check whether the installation step can be carried out as planned before carrying out an upcoming installation step. This will be a third
  • the installation component of the assembly device receives a sensor, for example a laser scanner for distance measurement or a sensor
  • the sensor for armature detection it can be checked, for example, whether a reinforcement runs at the intended position, which involves drilling a hole at the intended position Position difficult or impossible.
  • the positioning of the sensor and the evaluation of the acquired sensor data is carried out in particular by the control device of the assembly device. If the feasibility check is positive, the
  • Verification of the feasibility is rescheduled in such a way that the installation step can be carried out and the rescheduled installation step is then carried out in this way. This ensures that the installation step can be carried out particularly reliably.
  • the intended position is shifted so that a recognized one
  • Reinforcement no longer affects drilling a hole.
  • a method for recognizing reinforcements and determining drilling positions is described, for example, in WO 2017/016782 A1.
  • a survey at the predetermined position can be removed using a ice cream, so that the actually planned installation step can then be carried out without the survey being impaired.
  • rescheduling is carried out under
  • a specified requirement can be that a particular Area around a planned drilling position no reinforcement may be located in the shaft wall.
  • the assembly device would only carry out the installation step in the form of drilling a hole in the shaft wall automatically if this requirement was met.
  • reinforcement is now available, for example at the edge of the area mentioned, the fitter can decide that he runs the risk that the drilling could not be successful and the hole will nevertheless be drilled at the intended position.
  • the fitter can compare the execution of the procedure to that of the
  • the fitter can, for example, change the sequence and carry out the operation directly via an input on the control device of the assembly device
  • control device of the assembly device it is also possible for the control device of the assembly device to have an interface via which the fitter can remotely access the, for example via a so-called app on a mobile phone
  • the sensor detects the sensor
  • Sensor data adapted the digital model of the elevator shaft. This enables the creation of a particularly accurate digital model of the elevator shaft.
  • the type of adjustments depends on the type of sensor used. If distances to the shaft wall were measured using the sensor, the mass of the elevator shaft contained in the digital shaft model is adapted locally.
  • the information about the reinforcements is transferred to the digital model of the elevator shaft.
  • information about installation steps carried out such as the position and type of holes in shaft walls, can be transferred to the digital model of the elevator shaft.
  • an assembly protocol for the automated installation steps created can be viewed as part of the elevator shaft model and thus a building model of the corresponding building. This means that the installation is logged and documented without additional effort.
  • the assembly protocol can be evaluated and used, for example, in the following installation steps carried out by a fitter. For example, the installer can get information from the assembly log as to which automated installation steps require manual rework.
  • the assembly protocol can be
  • the assembly protocol is created in particular by the control device of the assembly device and stored in such a way that it can be called up later.
  • the assembly log contains, for example, information about the exact positions at which the installation steps were carried out and / or about the successful or unsuccessful completion of the automated installation steps.
  • a simulation of the automated installation step is carried out. This makes it possible to check particularly precisely whether the planned automated installation steps can actually be carried out.
  • Installation steps carried out can be checked by a planner or automatically whether the installation steps can actually be carried out or whether there are, for example, collisions between the installation component and the elevator shaft or the support component.
  • the insertion of the assembly device into the elevator shaft can also be simulated. In one embodiment of the invention, the actual dimensions of the
  • Elevator shaft determines a position from a marking arranged on the elevator shaft. This enables a particularly precise recording of the actual dimensions and, in particular, the creation of a precise model of the elevator shaft.
  • the markings can be in the elevator shaft or in or immediately next to Door cutouts of the elevator shaft can be arranged.
  • the detection and evaluation of the markings mentioned can also advantageously be carried out independently of the method steps for planning and at least partially installing an elevator installation in an elevator shaft.
  • the markings can, for example, identify building axes, in particular a vertical axis.
  • the digital model of the elevator shaft can be correctly aligned on the basis of the building axes identified by means of the marking. It is also possible for the marking mentioned to denote a defined height, for example a so-called meter crack.
  • the meter crack marks a vertical one
  • a reinforcement plan of the shaft walls of the elevator shaft is taken into account when deriving a target layout of the elevator system.
  • the target layout can thus already be derived in such a way that as few problems as possible with the reinforcements in the shaft walls occur during the installation of the elevator system.
  • a reinforcement plan contains information about where and in particular at what depth reinforcements run in the shaft walls. The target layout is thus defined, for example, so that there are none where reinforcements are present
  • Reinforcing irons run in particular in the shaft walls, which are connected in the area of ceilings to horizontally extending reinforcing irons in the ceiling by means of special angles. So that are in the shaft walls in the range of
  • Ceilings have a particularly large number of reinforcing irons. It can therefore be advantageous if the guide rails are defined in the target layout in such a way that no lower rail bracket parts need to be fixed to the shaft walls in the area of ceilings.
  • the guide rails can have a length which corresponds to a distance between the ceilings of the building in which the elevator shaft is formed.
  • the guide rails can then in particular be fixed in such a way that they always abut one another in the area of a ceiling of the building. Since no lower rail bracket parts have to be arranged at the ends of the guide rails, there is therefore no fixing of lower rail bracket parts in the ceiling and thus in these No holes need to be drilled in areas.
  • guide rails with a suitable length that differs from the length of the other guide rails mentioned may have to be installed.
  • the described distribution of the guide rails in the elevator shaft is also independent of the procedural steps for planning and at least partially
  • Installation of an elevator system in an elevator shaft can advantageously be carried out.
  • a course of the alignment element is determined based on a course of the reference element and the actual layout of the elevator installation and information about the course of the alignment element is made available to the fitter.
  • the fitter can thus arrange the alignment element in the elevator shaft very quickly and without having to measure the elevator shaft.
  • two reference elements are used in the first installation phase and two alignment elements are used in the second installation phase, all of which are in particular designed as cords and mainly run in a main direction of extension of the elevator shaft.
  • the main direction of extension of the elevator shaft is to be understood here 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.
  • the main direction of extension does not necessarily have to run along the entire length of the elevator shaft along a single straight line. It is also possible, for example, for the course of the main direction of extension to be composed of straight lines, the transition regions of which can also be rounded.
  • the position of the mounting device, in particular of the support component can be determined, for example, in accordance with a method described in WO 2017/167719 A1.
  • the guide rails can be aligned on the alignment elements, for example, in accordance with a method described in WO 2015/091419 A1.
  • the information on the course of the alignment element can be made available to the fitter in a variety of ways.
  • distances between the alignment element and the reference element can be output for two different heights, and these can be set and measured by hand.
  • a special jig can also be used for setting, on which the distances mentioned can be set. If both the reference element and the alignment element are exactly vertical, the output of the distances mentioned is only sufficient for one height.
  • the installation component prefferably uses appropriate markings on a shaft wall or on a component additionally fixed to a shaft wall, for example a suitable angle plate. These markings can be used to position the alignment element.
  • information about the course of the reference element can also advantageously be carried out independently of the method steps for planning and at least partially installing an elevator system in an elevator shaft.
  • information about a current state of the device can be obtained via an interface of a control device of the assembly device
  • Assembly device are queried. This allows the assembly device to be monitored and any problems to be identified.
  • the information mentioned can include, for example, the information as to whether the assembly device is currently carrying out an installation step or is inactive. For example, the current position of the carrier component in the elevator shaft or Information about those already carried out and / or upcoming
  • Installation steps are queried.
  • the information is queried in particular remotely, for example via a communication network, in particular the Internet or a local WLAN.
  • the information can be queried, for example, using a so-called app that runs on a mobile phone.
  • the control device of the automated assembly device informs a competent fitter about the interface mentioned. To this end, the fitter is sent an active notification in particular. This will make the person responsible
  • Installer is immediately informed of a fault and he does not have to constantly query the condition of the assembly device to notice the occurrence of a fault.
  • the information or notification mentioned can be displayed, for example, by an app on a mobile phone of the responsible technician and / or the app emits an acoustic alarm.
  • Such notifications are also referred to as so-called push messages.
  • control device of the assembly device can be remotely controlled via an interface.
  • Remote control of the assembly device can be advantageous, for example, if the assembly device has brought itself into a situation from which it itself cannot get out, for example because every possible action would violate any specification.
  • the remote control can be carried out, for example, by a technician using the app mentioned.
  • the implementation of an installation step can be started or canceled via the remote control, the fixing of the
  • Carrier components are activated or deactivated or the carrier components are moved in the elevator shaft.
  • the assembly device and the described process steps based thereon, such as informing about errors or remote control of the control device, are also independent of the process steps for planning and at least partially Installation of an elevator system in an elevator shaft can advantageously be carried out.
  • FIG. 1 is a perspective view of an elevator shaft of an elevator system with a mounting device accommodated therein,
  • FIG. 2 is a perspective view of a mounting device
  • FIG. 6 shows a basic illustration of a mechanic's communication with a control device of an assembly device
  • FIG. 8 shows an arrangement of alignment elements with respect to reference elements in an elevator shaft in a side view.
  • an automated assembly device which can carry out automated installation steps, that is to say automated installation steps, in an elevator shaft of an elevator installation. 1 is one in one
  • Elevator shaft 10 of an elevator installation 12 is shown a mounting device 14, by means of which lower bracket parts 16 can be fixed to a shaft wall 18.
  • the elevator shaft 10 extends in a main direction of extent 11, which is oriented vertically in FIG. 1.
  • guide rails (46 in FIGS. 3 and 4) of the elevator system 12 can be fixed to the shaft wall 18 via the lower rail parts 16 in a later assembly step.
  • Mounting device 14 has a carrier component 20 and a mechatronic installation component 22.
  • the carrier component 20 is designed as a frame on which the mechatronic installation component 22 is mounted. This frame has dimensions that allow the carrier component 20 within the To shift elevator shaft 10 vertically, that is, for example, to move to different vertical positions on different floors within a building.
  • the mechatronic installation component 22 is designed as an industrial robot 24, which hangs downward on the frame of the
  • Carrier component 20 is attached.
  • One arm of the industrial robot 24 can be moved relative to the carrier component 20 and, for example, can be shifted towards the shaft wall 18 of the elevator shaft 10.
  • the carrier component 20 is connected via a steel cable serving as a support means 26 to a displacement component 28 in the form of a motor-driven cable winch, which is attached to the top of the elevator shaft 10 at a stop 29 on the ceiling of the elevator shaft 10.
  • a displacement component 28 in the form of a motor-driven cable winch, which is attached to the top of the elevator shaft 10 at a stop 29 on the ceiling of the elevator shaft 10.
  • the mounting device 14 also has a fixing component 30, by means of which the carrier component 20 can be fixed or caulked within the elevator shaft 10 in the lateral direction, that is to say in the horizontal direction.
  • two reference elements 13 in the form of cords are stretched over its entire length, which are aligned along the main direction of extent 11.
  • the reference elements 13 are installed in the elevator shaft 10 by a fitter and serve to determine the position of the mounting device 14, specifically the position of the carrier component 20 in the elevator shaft 10.
  • Fig. 2 shows an enlarged view of a mounting device 14 without the
  • the carrier component 20 is designed as a cage-like frame, in which a plurality of horizontally and vertically extending spars form a mechanically resilient structure.
  • tethers 32 are attached, which can be connected to the suspension means 26.
  • the mechatronic installation component 22 is implemented using an industrial robot 24.
  • the industrial robot 24 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 to say an assembly tool 34 guided by the industrial robot 24 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 to various assembly tools 34 at its cantilevered end.
  • the assembly tools 34 may differ in terms of their
  • the assembly tools 34 can be held on the carrier component 20 in such a way that the cantilevered end of the industrial robot 24 is moved towards them and can be coupled to one of them.
  • the industrial robot 24 can do this, for example, via a
  • One of the assembly tools 34 is designed as a sensor in the form of a laser scanner, by means of which the relative position of the carrier component 20 relative to the
  • Reference elements 13 can be determined. This can be carried out, for example, using a method which is described in WO 2017/167719 A1.
  • the position of the carrier component 20 in the elevator shaft 10 can be determined from the relative position of the carrier component 20 with respect to the reference elements 13. On the basis of the position of the carrier component 20, it can be determined at which points the shaft wall 18 a lower part 16 of the rail bracket is to be fastened.
  • One of the assembly tools 34 is designed as a sensor for armouring detection, by means of which armouring or its position in the shaft walls 18 can be recognized or determined.
  • the sensor for armor detection can be displaced along a shaft wall 18 by the industrial robot 24.
  • One of the assembly tools 34 is a drilling tool, similar to a drilling machine, designed.
  • the installation component 22 can be designed to enable at least partially automated drilling of fastening holes in one of the shaft walls 18 of the elevator shaft 10.
  • the drilling tool can be moved and handled by the industrial robot 24 in such a way that the drilling tool drills holes with a drill at a designated position in the shaft wall 18 of the elevator shaft 10, into which later fastening elements in the form of screws, screw anchors or anchor bolts are used to fix the lower parts of the rail bracket 16 are introduced.
  • Another assembly tool 34 is designed as a screwdriver for at least partially automatically screwing screw anchors or screws into previously drilled fastening holes in the shaft wall 18 of the elevator shaft 10.
  • Another assembly tool 34 is designed as an impact tool, for example in the form of a hammer, to at least partially automatically anchor bolts into previously drilled fastening holes in the shaft wall 18 of the elevator shaft 10
  • Another assembly tool 34 is designed as a gripper in order to attach a lower part 16 of the rail bracket to the shaft wall 18 at least partially automatically.
  • Another assembly tool 34 is designed as a marking tool, for example in the form of a milling cutter, around a marking on the shaft wall 18 or on a component mounted on a shaft wall 18, for example a lower part of a rail bracket
  • a mounting device does not have to have all of the types of tools 34 described. In particular if anchor bolts are driven into boreholes by means of an impact tool, a screwdriver for screwing screws into boreholes and a gripper for gripping lower parts of the rail bracket is not necessary.
  • a magazine component 36 can also be provided on the carrier component 20. The magazine component 36 can be used to store rail bracket lower parts 16 to be installed and to provide them to the installation component 22.
  • Magazine components 36 can also be stored and provided with screw anchors, screws or anchor bolts, which can be introduced into prefabricated fastening holes in the shaft wall 18 with the aid of the installation component 22.
  • the industrial robot 24 can, for example, automatically grip a screw from the magazine component 36 and, for example, incompletely with a mounting tool 34 designed as a screwdriver into previously drilled holes
  • An assembly tool 34 on the industrial robot 24 can then be replaced and, for example, a lower part 16 of the rail bracket can be gripped from the magazine component 36.
  • the lower part 16 of the rail bracket has fastening slots. If that
  • the assembly tool 34 which is designed as a screwing device, can again be used
  • Magazine component 36 engages and with a trained as a striking tool
  • Assembly tool 34 strikes in previously drilled mounting holes in the shaft wall 18.
  • the anchor bolts can be used to fix the lower parts of the rail bracket to the shaft wall 18 by hand.
  • the elevator system and the installation of the elevator system in the elevator shaft must be planned before starting the installation.
  • the starting point for the planning of the elevator system are the target dimensions of the elevator shaft, for example construction plans or a digital building model of the building in which the elevator system is to be installed. With the construction plans, target values for width, depth and height of the elevator shaft, number of floors and dimensions of
  • Door cutouts of the elevator shaft can be determined. From these target dimensions of the elevator shaft, a planner uses a computer-aided tool to calculate a target
  • a target layout of an elevator installation 12 is illustrated in a very simplified manner.
  • the target layout shows the dimensions of an elevator car 40 (only shown in FIG. 3), the arrangement of a counterweight 42, the positions of
  • the planner takes into account, in particular, a reinforcement plan for the shaft walls of the elevator shaft.
  • the reinforcement plan contains information about where and in particular at what depth reinforcements run in the shaft walls.
  • the planner specifies the target layout so that no holes need to be drilled where reinforcements are available.
  • the planner then defines the automated installation steps, that is to say the installation steps that are to be carried out by an automated assembly device.
  • the selection of the automated installation steps depends on a wide variety of factors.
  • the planner also specifies which assembly device is to be used for carrying out the automated installation steps.
  • the planner has to consider which ones
  • the target layout of the elevator system plays a major role, in particular the height of the elevator shaft. Since the introduction of an automated assembly device into an elevator shaft is associated with a certain outlay, the elevator shaft should have a certain minimum height so that the use of an automated assembly device is worthwhile. Because when choosing the automated
  • the planner checks that the automated installation steps can also be carried out by the intended automated assembly device.
  • the dimensions of the automated assembly device provided are compared with the dimensions of the elevator shaft. It is checked whether the assembly device can be brought into the elevator shaft, whether the support component can be moved with the installation component in the elevator shaft and whether it is possible to fix the support component in the elevator shaft.
  • the mounting device can be designed so flexible that the
  • Fixing component for fixing the carrier component can be adapted to different dimensions of the elevator shaft within a certain framework. Such adjustments are planned or specified by the planner as part of this procedural step.
  • the planner carries out a simulation of the automated installation steps. He uses a computer-aided simulation tool in which the
  • the planner checks whether the installation steps can actually be carried out or whether it is
  • the entire elevator shaft is recorded. This step can therefore only be carried out when the elevator shaft has been created.
  • the actual dimensions of the elevator shaft can be recorded in a wide variety of ways Way. On the one hand, some dimensions can be recorded manually by the planner or a fitter. The width and depth of the elevator shaft and the mass of the door cutouts are measured at different heights. However, it is also possible for the entire elevator shaft to be automated
  • Measuring system is measured. 5 shows a measuring system 110 during the measurement of an elevator shaft 10.
  • the optically inertial measuring system 110 is suspended from a suspension element in the form of a rope 111 and a displacement device in the form of a winch 112 from a shaft ceiling 113 of a shaft head 114 of a mainly rectangular elevator shaft 10.
  • the elevator shaft 10 runs in a vertically oriented main extension direction 11 and has a total of four shaft walls, only one rear shaft wall 117 and one front shaft wall 118 being shown in the side view of FIG. 1.
  • the front shaft wall 118 has a total of three door cutouts 44 which are arranged one above the other in the main direction of extent 11. In the door cutouts 44 will be at a later date
  • the measuring system 110 has a camera system in the form of a digital stereo camera 122 with a first camera 122a and a second camera 122b.
  • the stereo camera 122 is arranged on a mainly cuboid base 123 of the measuring system 110 in such a way that it is oriented vertically downwards in the direction of the shaft floor 120 in the suspended state shown.
  • the stereo camera 122 is designed such that it can capture sections of all four shaft walls in the state shown.
  • stereo camera 122 is connected to an evaluation unit 124 of measurement system 110, which receives and evaluates the images captured by stereo camera 122.
  • the evaluation unit 124 looks for prominent points in the images, for example corners or elevations in one of the shaft walls. As soon as it has identified a striking point in both images of the cameras l22a, l22b, it can be seen from the known distance of the two cameras l22a, l22b from one another and from
  • An inertial measuring unit 125 is located between the two cameras I22a, I22b
  • the inertial measuring unit 125 has three, not shown, each arranged perpendicular to each other
  • the inertial measuring unit 125 can estimate its position and thus the position of the measuring system 110 from the measured accelerations and transmit it to the evaluation unit 124 of the measuring system 110. It is also possible that the inertial measuring unit 125 only transmits the measured accelerations to the evaluation unit 124 and the evaluation unit 124 uses this to estimate the position of the measuring system 110. For a more precise determination of the position of the measuring system 110 in
  • Main extension direction 11 in elevator shaft 10, measuring system 110 is coupled to a position determination unit 126.
  • the position determination unit 126 has one oriented in the main direction of extent 11
  • Position information carrier in the form of a code tape 127, which is stretched between the shaft floor 121 and the shaft ceiling 113.
  • the code tape 127 has invisible magnetic code marks which provide information about the position in
  • the position determination unit 126 also has a one arranged laterally on the base body 123 of the measuring system 110
  • Reading unit 128 through which the code tape 127 is carried out.
  • the reading unit 128 reads out information in the form of the magnetic code marks of the code band 127 and can thus very precisely determine the position of the reading unit 128 and thus of the measuring system 110 in the main direction of extent 11.
  • the information read out from the code tape 127 can thus be regarded as additional information about the position of the measuring system 110 in the main direction of extension 11 compared to the information from the acceleration and rotation rate sensors of the inertial measuring unit 125.
  • the position of the measuring system 110 in the main direction of extension 11 determined by means of the position determination unit 126 is regarded as the correct position of the measuring system 110 and thus replaces the one estimated by the inertial measuring unit 125 Position of the measuring unit 110 in the main direction of extent. However, it is also possible for an average of the two positions mentioned to be assumed as the correct position. From the position of the measuring system 110 determined as described above and from the
  • the triangulation-determined position of a prominent point relative to the measuring system 110 determines the evaluation unit 124 the absolute position of the prominent point.
  • the evaluation unit 124 thus determines the positions of a large number of distinctive points.
  • the measuring system 110 is moved by the winch 112 from top to bottom in the elevator shaft 10.
  • the positions of the marking 129 on the elevator shaft 10 are also determined.
  • a mark 129 is arranged on a shaft wall in the area of each door cutout 44.
  • the markings 129 are designed as so-called meter cracks, which are a distance of one meter from the later
  • Mark flooring In addition, further markings (not shown in FIG. 5) can be arranged on the elevator shaft, which can be detected and evaluated with the measuring system 110. These marks can, for example
  • Point cloud created, with each point of the point cloud corresponding to one of the prominent points.
  • a digital model in the form of a CAD model of the elevator shaft 10 is derived from this point cloud and, if necessary, taking into account the positions of the markings mentioned.
  • the digital model then contains the actual dimensions of the elevator shaft 10.
  • the planner After recording the actual dimensions of the elevator shaft, the planner derives an actual layout of the elevator system from the target layout and the recorded actual dimensions of the elevator shaft. The planner primarily checks whether there are deviations between the target dimensions and the actual dimensions of the elevator shaft, which make it impossible to adopt the target layout as the actual layout of the elevator system. If this is not the case, the planner adopts the target layout as the actual layout of the elevator system. In the other case, the planner changes the target layout so that he receives an actual layout that is in the actual dimensions of the elevator shaft can be realized.
  • the planner After deriving the actual layout of the elevator installation, the planner checks again in particular that the automated installation step is different from the intended one
  • Assembly device can be performed. This check proceeds in the same way as the check described above.
  • the planner then plans the automated installation steps based on the actual layout of the elevator system. For example,
  • the assembly device 14 is inserted into the elevator shaft by one or more fitters
  • Fitter 50 can start the implementation of the automated installation steps directly via an input on a control device 52 of the automated assembly device.
  • the fitter 50 can use a cell phone 54
  • Communication network 56 for example the Internet or a local WLAN
  • an interface 58 of the control device 52 access the control device 52 and, for example, start the implementation of the installation steps.
  • the fitter 50 can also query information about the current state of the assembly device.
  • the information mentioned can include, for example, the information as to whether the assembly device is currently carrying out an installation step or is inactive. For example, the current position of the carrier component in the elevator shaft or information about those that have already been carried out and / or are imminent
  • the installer 50 is informed by the control device 52 via the interface 58, the communication network 56 and the mobile telephone 54.
  • the control device 52 sends a notification, a so-called push message, to the mobile phone 54 of the
  • the fitter 50 can remotely control the control device 52.
  • the remote control can be used to start or abort a specific installation step, the fixation of the
  • Carrier components are activated or deactivated or the carrier components are moved in the elevator shaft.
  • the assembly device After starting, the assembly device carries out the automated installation steps automatically. The assembly device checks certain before performing
  • Installation steps using a suitable sensor whether the installation step can be carried out as planned.
  • reinforcements are arranged in the intended position in the shaft wall, which could make it difficult or even impossible to successfully complete the installation step.
  • control device of the assembly device reschedules the
  • Installation step carried out.
  • the intended position for carrying out the installation step is shifted within permitted limits so that the installation step can be carried out.
  • the intended position is shifted so that a recognized reinforcement no longer impairs the drilling of a hole.
  • the detection of reinforcements and the definition of drilling positions can be carried out, for example, as described in WO 2017/016782 A1.
  • the installer can determine the execution of the installation step and the
  • a specified specification can be, for example, that there is no reinforcement in the area in a certain area around an intended drilling position
  • Shaft wall may be located.
  • the assembly device would only carry out the installation step in the form of drilling a hole in the shaft wall automatically if this requirement was met. However, if reinforcement is now available, for example at the edge of the area mentioned, the fitter can decide that he runs the risk that the drilling could not be successful and the hole will nevertheless be drilled at the intended position.
  • the communication required for this between the fitter and the control device of the assembly device proceeds in particular as described in connection with FIG. 6. With the sensor data recorded by the named sensor, the digital model of the
  • Adjusted elevator shaft If the reinforcements of a shaft wall have been detected using the sensor, the information about the reinforcements is transferred to the digital model of the elevator shaft. In addition, information about installation steps carried out, such as the position and type of holes in
  • the control device of the assembly device automatically creates one
  • the assembly report contains, for example, information about the exact positions to whom the installation steps were carried out and / or if the installation steps were completed successfully or not.
  • the mounting device 12 determines the position of the carrier component 20 by means of the one arranged in the elevator shaft 10
  • the phase in which the assembly device 12 carries out the automated installation steps can be referred to as a first installation phase.
  • Elevator system carried out by a mechanic by hand in a second installation phase.
  • the guide rails have to be aligned and fixed to a shaft wall.
  • the fitter can use alignment elements arranged in the elevator shaft and designed as cords to align the guide rails.
  • the correct course of the alignment elements can be derived directly from the course of the reference elements mentioned.
  • the fitter is provided with the necessary information by the control device of the assembly device. This can also be done as described in connection with FIG. 6. On the basis of this information, the fitter in the second
  • 7 and 8 show an example of what information can be made available to the fitter.
  • 7 and 8 show two reference elements 13 in the area of a door cutout 44 of the elevator shaft 10, with FIG
  • an alignment element 60 is arranged in the region of the guide rails 46.
  • the alignment elements 60 are at a distance from the associated reference elements 13 in the x and y directions of xOhl and yOhl or xlhl and ylhl.
  • the distances xOhl, yOhl, xlhl and ylhl are made available to the fitter.
  • the same is done for a height hO in the vicinity of the shaft pit 120 of the elevator shaft 10.
  • the distances xOhO, yOhO, xlhO and ylhO are determined in an analogous manner and made available to the fitter.
  • the fitter can Place the alignment elements 60 correctly in the elevator shaft 10 and then align the guide rails 46 with them.

Landscapes

  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)

Abstract

L'invention concerne un procédé pour la planification et l'installation au moins partielle d'un système d'ascenseur (12) dans une cage (10) d'ascenseur, des étapes d'installation automatisées étant réalisées par un dispositif de montage (14) automatisé. Le procédé comprend les étapes suivantes consistant : - à déduire une configuration théorique du système d'ascenseur (12) à partir des dimensions théoriques de la cage d'ascenseur, - à définir les étapes d'installation qui visent à être réalisées par un dispositif de montage (14) automatisé, - à contrôler que les étapes d'installation automatisées peuvent être réalisées par le dispositif de montage (14), - à détecter quelques dimensions réelles de la cage (10) d'ascenseur, - à déduire une configuration réelle du système d'ascenseur (12) à partir de la configuration théorique du système d'ascenseur (12) et des dimensions réelles détectées de la cage (10) d'ascenseur, - à planifier les étapes d'installation automatisées sur la base de la configuration réelle du système d'ascenseur (12) et - à effectuer les étapes d'installation automatisées au moyen du dispositif de montage (14).
EP19762996.7A 2018-09-26 2019-09-10 Procédé pour la planification et l'installation au moins partielle d'un système d'ascenseur dans une cage d'ascenseur Pending EP3856672A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP18196895 2018-09-26
PCT/EP2019/074016 WO2020064316A1 (fr) 2018-09-26 2019-09-10 Procédé pour la planification et l'installation au moins partielle d'un système d'ascenseur dans une cage d'ascenseur

Publications (1)

Publication Number Publication Date
EP3856672A1 true EP3856672A1 (fr) 2021-08-04

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EP19762996.7A Pending EP3856672A1 (fr) 2018-09-26 2019-09-10 Procédé pour la planification et l'installation au moins partielle d'un système d'ascenseur dans une cage d'ascenseur

Country Status (5)

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US (1) US11708244B2 (fr)
EP (1) EP3856672A1 (fr)
CN (1) CN112689608B (fr)
AU (1) AU2019345881A1 (fr)
WO (1) WO2020064316A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3784613B1 (fr) * 2018-04-24 2023-12-27 Inventio Ag Système de détermination de position et procédé de détermination d'une position de cabine d'une cabine d'ascenseur
US11724917B2 (en) * 2019-05-21 2023-08-15 Inventio Ag Aligning device and method for aligning a guide rail of an elevator system by means of force pulses
CN113620147A (zh) 2020-05-09 2021-11-09 奥的斯电梯公司 在建筑物的建造过程中使用的跃升电梯系统和跃升方法
JP7027507B1 (ja) * 2020-11-10 2022-03-01 東芝エレベータ株式会社 レール設置支援装置、レール設置支援方法、レール設置支援システムおよびレール設置支援プログラム

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Publication number Priority date Publication date Assignee Title
US4977983A (en) 1989-10-26 1990-12-18 Otis Elevator Company Mount system for elevator guide rails
JP3877492B2 (ja) 1999-08-31 2007-02-07 株式会社日立製作所 遠隔受注設計システムおよびエレベータ遠隔受注設計方法
JP4249006B2 (ja) 2003-12-17 2009-04-02 三菱電機ビルテクノサービス株式会社 エレベータのガイドレール搭載用移動作業床
FI123925B (fi) 2012-08-17 2013-12-13 Kone Corp Menetelmä hissiin liittyvän tiedon hallinnoinnissa
ES2669435T3 (es) 2013-12-19 2018-05-25 Inventio Ag Procedimiento para la instalación de un sistema de ascensor y un dispositivo
JP6322544B2 (ja) 2014-10-21 2018-05-09 株式会社日立ビルシステム 据付図作成装置、据付図作成方法及び据付図作成プログラム
ES2769749T3 (es) * 2015-07-24 2020-06-29 Inventio Ag Dispositivo de montaje automático para la realización de operaciones de instalación en una caja de ascensor de una instalación de ascensor
EP3127847B1 (fr) 2015-08-07 2017-12-20 KONE Corporation Dispositif et procede pour mesurer la position d'une plate-forme d'installation dans une cage d'ascenseur
EP3436390B1 (fr) 2016-03-31 2020-04-29 Inventio AG Dispositif et procede de montage destine a executer une procedure d'installation dans une cabine d'ascenseur
ES2779028T3 (es) 2016-04-20 2020-08-13 Inventio Ag Procedimiento y dispositivo de montaje para realizar un proceso de instalación en una caja de ascensor de una instalación de ascensor
WO2018041815A1 (fr) 2016-08-30 2018-03-08 Inventio Ag Procédé d'analyse et système de mesure servant à mesurer une cage d'ascenseur d'un système d'ascenseur
BR112019007154B1 (pt) 2016-11-24 2023-05-02 Inventio Ag Processo para montagem e dispositivo de alinhamento para alinhamento de um trilho guia de um sistema de elevador
AU2018217794B2 (en) * 2017-02-08 2021-05-13 Inventio Ag Method for fixing a rail bracket of an elevator system, and elevator system

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Publication number Publication date
CN112689608A (zh) 2021-04-20
US20210300729A1 (en) 2021-09-30
US11708244B2 (en) 2023-07-25
WO2020064316A1 (fr) 2020-04-02
CN112689608B (zh) 2023-02-21
AU2019345881A1 (en) 2021-03-11

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