EP3325396B2 - Automated mounting device for performing installation operations in a lift shaft of a lift assembly - Google Patents

Description

The present invention relates to an assembly device with which installation processes can be carried out in an elevator shaft of an elevator system. Furthermore, the invention relates to a method for carrying out an installation process in an elevator shaft of an elevator system.

The manufacture of an elevator system and, in particular, the installation of components of the elevator system within an elevator shaft in a building can involve a great deal of effort and/or high costs, since a large number of components must be mounted at different positions within the elevator shaft.

Assembly steps used to install a component within an elevator shaft, for example, have traditionally been performed by technicians or installation personnel. Typically, a person goes to the location within the elevator shaft where the component is to be installed and installs the component at the desired location, for example, by drilling holes in a shaft wall and securing the component to the shaft wall with screws or bolts inserted into these holes. This person may use tools and/or machines to do this.

Particularly in the case of very long elevator systems, i.e. so-called high-rise elevators, which are used to overcome large height differences in tall buildings, the number of components to be installed in the elevator shaft can be very large and therefore installation processes can entail considerable installation effort and high installation costs.

The JP 3034960 B2 describes a mounting device with the features of the preamble of claim 1

In the JP 3 214801 B2 A mounting device for aligning guide rails for an elevator car in an elevator shaft is described. Using the mounting device, pre-assembled guide rails can be aligned by installation personnel in the elevator shaft and secured to retaining profiles in the form of bracket elements installed by installation personnel in the elevator shaft. The mounting device has a screw device, which is an integral part of the mounting device. The mounting device also has a fixing device, by means of which the mounting device can be laterally supported on one of the aforementioned bracket elements installed by installation personnel.

There may therefore be a need to reduce the labor and/or costs involved in installing components within an elevator shaft of an elevator system. Furthermore, there may be a need, for example, to reduce the risk of personal injury during installation procedures within an elevator shaft of an elevator system. In addition, there may be a need, for example, to be able to complete installation procedures in an elevator shaft within a shorter time period.

At least one of the aforementioned needs can be met by an assembly device or assembly method according to the independent patent claims. Advantageous embodiments are defined in the dependent claims and the following description.

According to one aspect of the invention, an assembly device for performing an installation process in an elevator shaft of an elevator system is proposed. The assembly device comprises a support component and a mechatronic installation component. The support component is designed to be displaced relative to the elevator shaft, i.e., for example, within the elevator shaft, and to be positioned at different heights within the elevator shaft. The installation component is held on the support component and designed to perform an assembly step within the installation process at least partially automatically, preferably fully automatically. The installation component comprises an industrial robot, and the industrial robot is designed to be coupled to various assembly tools at its cantilevered end.

Possible features and advantages of embodiments of the invention may be considered to be based, among other things, on ideas and findings described below, without, however, being intended to limit the scope of the invention.

As mentioned in the introduction, it has been recognized that installation processes for assembling components within an elevator shaft of an elevator system can involve a considerable amount of labor, which has so far been largely performed by human installation personnel. Depending on the size of the elevator system and thus the number of components to be installed, the installation of all the components required for the elevator system within the elevator shaft can often take several days or even weeks.

Embodiments of the invention are based, among other things, on the idea of being able to carry out installation processes within an elevator shaft of an elevator system at least partially automatically using a suitably designed assembly device. Complete automation of the assembly steps involved would, of course, be advantageous.

During installation processes, particularly highly repetitive assembly steps, i.e. assembly steps that have to be carried out many times during the installation of the lift system, can be carried out automatically. For example, to install a guide rail within an elevator shaft, a large number of support profiles typically need to be attached to the walls of the elevator shaft. This typically requires drilling holes at numerous locations along the shaft, and then screwing in a support profile at each location.

For this purpose of automation, it is proposed to provide an assembly device which, on the one hand, has a carrier component and, on the other hand, a mechatronic installation component held on this carrier component.

The support component can be designed in various ways. For example, the support component can be constructed as a simple platform, frame, scaffold, cabin, or similar. The dimensions of the support component should be selected such that the support component can be easily inserted into the elevator shaft and relocated within this shaft. The mechanical design of the support component should be such that it can reliably support the mechatronic installation component held to it and, if necessary, can withstand static and dynamic forces exerted by the installation component during an assembly step.

The installation component should be mechatronic, i.e. it should have interacting mechanical, electronic and information technology elements or modules.

For example, the installation component should have a suitable mechanism to handle tools, e.g., during an assembly step. The tools can be appropriately moved to an assembly position and/or guided during an assembly step by the mechanism. The tools can be supplied with energy, for example, in the form of electrical energy, via the installation component. It is also possible for the tools to have their own power supply, for example, via batteries, accumulators, or a separate power supply via a cable.

Alternatively, the installation component itself can also have a suitable mechanism that forms a tool.

Electronic elements or modules of the mechatronic installation component can, for example, be used to appropriately control or monitor mechanical elements or modules of the installation component. Such electronic elements or modules can thus serve, for example, as a control system for the installation component.

Furthermore, the installation component can have information technology elements or modules that can be used, for example, to determine the position to which a tool should be placed and/or how the tool should be operated and/or guided during an assembly step.

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

Guide components can also be provided on the support component, by means of which the support component can be guided along one or more of the walls of the elevator shaft during vertical displacement within the elevator shaft. The guide components can be designed, for example, as support rollers that roll along the walls of the elevator shaft. Depending on the arrangement of the support rollers, one to, in particular, four support rollers can be provided on the support component.

It is also possible for guide ropes to be stretched within the elevator shaft to guide the support component. Furthermore, temporary guide rails can be installed in the elevator shaft to guide the support component. Furthermore, it is possible for the support component to be suspended via two or more resilient, flexible support elements, such as ropes, a chain, or belts.

An industrial robot is a universal, usually programmable machine for handling, assembling, and/or processing workpieces and components. Such robots are designed for use in an industrial environment and are currently used, for example, in the industrial production of complex goods in large quantities, such as in automotive manufacturing.

An industrial robot typically comprises a so-called manipulator, a so-called effector, and a controller. The manipulator can, for example, be a robot arm that can pivot about one or more axes and/or be displaced in one or more directions. The effector can, for example, be a tool, a gripper, or something similar. The controller can be used to appropriately control the manipulator and/or the effector, i.e., to appropriately displace and/or guide them.

In other words, the manipulator is designed to be coupled with various effectors. This enables particularly flexible use of the industrial robot and thus the assembly device.

The control system of the industrial robot comprises a so-called power unit and a control PC. The control PC carries out the actual calculations for the desired movements of the industrial robot and sends control commands for the control of the individual electric motors of the industrial robot to the power unit, which then converts these into implements specific control of the electric motors. The power unit is located on the carrier component, whereas the control PC is not located on the carrier component, but in or next to the elevator shaft. If the power unit were not located on the carrier component, a large number of cable connections would have to be routed via the elevator shaft to the industrial robot. Due to the arrangement of the power unit on the carrier component,

The industrial robot primarily requires only a power supply and a communication connection, for example, in the form of an Ethernet connection between the control PC and the power section, particularly via a so-called hanging cable. This enables a particularly simple cable connection, which, due to the small number of cables, is also very robust and less prone to errors. Additional functions, such as safety monitoring, can be implemented in the industrial robot's control system, which may require additional cable connections between the control PC and the power section.

The industrial robot can also have a so-called passive auxiliary arm, which can only be moved together with the robot arm and, in particular, has a device for holding a component, such as a retaining bracket. To attach the retaining bracket to a wall of the elevator shaft, the robot arm can, for example, be moved in such a way that the retaining bracket is picked up by the passive auxiliary arm and held in the correct position during the actual attachment to the wall, for example, by means of a screw.

Industrial robots are often equipped with various sensors that allow them to detect information about their environment, working conditions, components to be processed, etc. For example, sensors can detect forces, pressures, accelerations, temperatures, positions, distances, etc., for subsequent appropriate evaluation.

After initial programming, an industrial robot is typically capable of performing a workflow semi-automatically or fully automatically, i.e., largely autonomously. The execution of the workflow can be varied within certain limits, for example, depending on sensor information. Furthermore, the control system of an industrial robot can, if necessary, be self-learning.

An industrial robot can therefore be able to carry out various assembly steps as part of an installation process in an elevator shaft or to adapt to various conditions during such an assembly step, depending on the way in which its components are mechanically and/or electrically designed, as well as the way in which these components can be controlled using the industrial robot's controller.

Advantageous properties in this context can already be provided to a large extent by fully developed industrial robots, such as those already in use in other technical fields, and may only need to be adapted to specific conditions during installation processes in elevator shafts. To be able to move the industrial robot to a desired position within the elevator shaft, for example, it is attached to the support component. The support component, together with the industrial robot and any other installation components, can be relocated to a desired position within the elevator shaft.

As an alternative to the industrial robot design, the mechatronic installation component can also be configured in other ways. Among other things, mechatronic machines specifically designed for the aforementioned application in a (partially) automated elevator installation are conceivable, using, for example, special drills, screwdrivers, feeding components, etc. For example, linearly movable drilling tools, screwing tools, and the like could be used.

According to one embodiment, the mounting device may further comprise a positioning component configured to determine at least one of a position and an orientation of the mounting device within the elevator shaft. In other words, the mounting device should be capable of determining its position or pose relative to the current location and/or orientation within the elevator shaft using its positioning component.

In other words, the positioning component can be provided to determine a precise position of the mounting device within the elevator shaft with a desired accuracy, for example, an accuracy of less than 10 cm, preferably less than 1 cm or less than 1 mm. The orientation of the mounting device can also be determined with high accuracy, i.e., for example, an accuracy of less than 10°, preferably less than 5° or 1°.

If necessary, the positioning component can be designed to measure the elevator shaft from its current position. In this way, the positioning component can, for example, detect where it is currently located in the elevator shaft, how large the distances are to walls, a ceiling and/or a floor of the elevator shaft, etc. Furthermore, the positioning component can, for example, detect how far it is from a target position, so that based on this information, the mounting device can be moved in the desired manner in order to reach the target position. to reach.

The positioning component can determine the position of the mounting device in various ways. For example, position determination using optical measurement principles is conceivable. For example, laser distance measuring devices can measure distances between the positioning component and the walls of the elevator shaft. Other optical measurement methods, such as stereoscopic or triangulation-based measurement methods, are also conceivable. In addition to optical measurement methods, a wide variety of other positioning methods are also conceivable, for example, based on radar reflections or similar.

According to one embodiment, the installation component is designed to perform several different assembly steps at least partially automatically, preferably fully automatically. In particular, the installation component can be designed to use different assembly tools, such as a drill, a screwdriver, and/or a gripper, during the various assembly steps.

The ability to use different assembly tools enables the mechatronic installation component to carry out various assembly steps simultaneously or sequentially during an installation process in order, for example, to ultimately attach a component to a suitable position within the elevator shaft.

The installation component is specifically designed to accommodate the assembly tool used for each different type of assembly step before the assembly step is carried out. The installation component can therefore put down an assembly tool that is not required for the next assembly step and instead pick up the required assembly tool, i.e. change assembly tools. The installation component can therefore only be coupled with the assembly tool that is currently required. The installation component therefore requires little installation space and can carry out assembly steps in many different places. It can therefore be used very flexibly. If the installation component were always coupled with all the assembly tools required for the various assembly steps, it would require considerably more installation space. The respective assembly tools could then be used in considerably fewer places.

According to one embodiment, the assembly device further comprises a tool magazine component designed to store assembly tools required for various assembly steps and to provide them to the installation component. This allows unused assembly tools to be safely stored and secured against falling during the execution of work steps and during the relocation of the assembly device in the elevator shaft.

For example, according to one embodiment, the installation component is designed to drill holes in a wall of the elevator shaft in an at least partially automated manner as an assembly step.

The installation component can use a suitable drilling tool for this purpose. Both the tool and the installation component itself should be designed to cope with the conditions encountered during the installation step within the elevator shaft.

For example, the walls of an elevator shaft, to which components are to be mounted, are often made of concrete, especially reinforced concrete. Drilling holes in concrete can generate very strong vibrations and high forces. Both the drilling tool and the installation component itself should be suitably designed to withstand such vibrations and forces.

For this purpose, it may be necessary, for example, to suitably protect an industrial robot used as an installation component from damage caused by strong vibrations and/or the high forces acting during them. For example, it may be advantageous to provide one or more damping elements in the installation component to dampen or absorb vibrations. It is also possible for one or more damping elements to be arranged at a different location in the combination of assembly tool and installation component. A damping element can, for example, be integrated into the assembly tool or arranged in a connecting element between the installation component and the assembly tool. In this case, the assembly tool and the connecting element can be considered part of the installation component. A damping element is designed, for example, as one or more rubber buffers arranged in parallel, which are widely available and inexpensive on the market. A single rubber buffer can also be considered a damping element. It is also possible for a damping element to be designed as a telescopic damper.

The drill bits used are subject to wear and can also be damaged, for example, if they hit reinforcement. To detect a worn or defective drill bit, the feed rate during drilling and/or the time required to drill a hole to a desired depth can be monitored. If a feed rate limit is exceeded and/or a time limit is exceeded, the drill bit used is identified as no longer working, and a corresponding message is generated.

According to one embodiment, the installation component can be designed to screw screws into holes in a wall of the elevator shaft at least partially automatically as an assembly step.

In particular, the installation component be designed to screw concrete screws into prefabricated holes in a concrete wall of the elevator shaft. Such concrete screws can be used, for example, to create highly resilient anchor points within the elevator shaft to which components can be attached. Concrete screws can be screwed directly into the concrete, i.e., without necessarily using anchors, thus enabling quick and easy installation. However, screwing in screws, especially concrete screws, can require high forces or torques, which the installation component or an installation tool handled by it should be able to provide.

According to a further embodiment, the installation component can be designed to attach components to the wall of the elevator shaft at least semi-automatically as an assembly step. Components in this context can be a wide variety of shaft materials, such as retaining profiles, guide rail parts, screws, bolts, clamps, or the like.

According to one embodiment, the mounting device further comprises a magazine component which is designed to store components to be installed and to provide them to the installation component.

For example, the magazine component can accommodate a large number of screws, especially concrete screws, and make them available to the installation component as needed. The magazine component can either actively feed the stored components to the installation component or passively provide the components so that the installation component can actively remove them and then, for example, install them.

The magazine component may, if necessary, be designed to store various components and provide them to the installation component simultaneously or sequentially. Alternatively, several different magazine components may be provided in the assembly device.

According to one embodiment, the mounting device may further comprise a displacement component which is designed to displace the support component vertically within the elevator shaft.

In other words, the assembly device itself can be designed to suitably displace its support component within the elevator shaft using its displacement component. The displacement component will generally have a drive by means of which the support component can be moved within the elevator shaft, i.e., for example, between different floors of a building. Furthermore, the displacement component will have a control system by means of which the drive can be controlled in such a way that the support component can be brought to a desired position within the elevator shaft.

Alternatively, the relocation component itself can be part of the assembly device, but a relocation component can also be provided externally. For example, a drive pre-assembled in the elevator shaft can be provided as the relocation component. If necessary, this drive can already be a drive machine that will later serve for the elevator system, with which an elevator car is to be moved in the fully installed state and which can be used to relocate the support component during the preceding installation process. In this case, it can be provided to establish a data communication option between the assembly device and the external relocation component so that the assembly device can cause the relocation component to relocate the support component to a desired position within the elevator shaft.

Similar to a fully assembled elevator system, the support component can be connected to a counterweight via a tensile, flexible support element, such as a rope, chain, or belt, and the drive can act between the support component and the counterweight. Furthermore, the same drive configurations are possible for moving the support component as for moving elevator cars.

The relocation component can be designed in different ways in order to be able to move the support component together with the installation component held on it within the elevator shaft.

For example, according to one embodiment, the displacement component can be fixed either to the support component of the mounting device or to a stop at the top within the elevator shaft and can have a tensile-loadable, flexible support means such as a rope, a chain, or a belt, one end of which is held on the displacement component and the other end of which is fixed to the other element, i.e., to the stop at the top within the elevator shaft or to the support component. In other words, the displacement component can be attached to the support component of the mounting device, and a support means held on the displacement component can be fastened with its other end at the top to a stop point within the elevator shaft. Or conversely, the displacement component can be fixed at the top to the stop point in the elevator shaft, and the free end of its support means can then be fixed to the support component of the mounting device. The displacement component can then specifically displace the support component within the elevator shaft by displacing the support means.

For example, such a shift component It can be designed as a type of cable winch, in which a flexible cable can be wound onto a winch driven, for example, by an electric motor. The cable winch can be fixed either to the support component of the mounting device or, alternatively, at the top of the elevator shaft, for example, to an elevator shaft ceiling. The free end of the cable can then be attached opposite each other, either at the top of the support point in the elevator shaft or at the bottom of the support component. By selectively winding and unwinding the cable onto the winch, the mounting device can then be moved within the elevator shaft.

Alternatively, the displacement component may be attached to the support component and configured to exert a force on a wall of the elevator shaft by moving a movement component to displace the support component within the elevator shaft by moving the movement component along the wall.

In other words, the displacement component can be attached directly to the support component and can actively move along the wall of the elevator shaft using its motion component.

For example, the displacement component can have a drive that moves one or more movement components in the form of wheels or rollers, wherein the wheels or rollers are pressed against the wall of the elevator shaft so that the wheels or rollers set in rotation by the drive can roll along the wall with as little slippage as possible and can thereby displace the displacement component together with the support component attached to it within the elevator shaft.

Alternatively, it would be conceivable for a movement component of a displacement component to transfer forces to the wall of the elevator shaft in a different way. For example, gears could serve as the movement component and engage with a rack attached to the wall to enable the displacement component to be displaced vertically within the elevator shaft.

According to one embodiment, the support component further comprises a fixing component which is designed to fix the support component and/or the installation component within the elevator shaft in a direction transverse to the vertical, i.e., for example, in a horizontal or lateral direction.

Fixing in the lateral direction can be understood to mean that the support component together with the installation component attached to it can not only be moved vertically, for example with the aid of the relocation component, to a position at a desired height within the elevator shaft, but that the support component can then also be fixed there in the horizontal direction with the aid of the fixing component.

In this context, support against a wall means that the fixing component is supported directly and without the need for pre-mounted components, such as bracket elements, and can therefore transmit forces into the wall. This support can be achieved in various ways.

In a specific embodiment, the fixing component is designed to fix at least one of the support component and the installation component within the elevator shaft in a direction along the vertical.

For this purpose, the fixing component can, for example, be designed to rest or wedge itself laterally against the walls of the elevator shaft, so that the support component can no longer move horizontally relative to the walls. For this purpose, the fixing component can, for example, have suitable supports, rams, levers, or similar elements. The supports, rams, or levers can, in particular, be designed so that they can be displaced outwards toward the wall of the elevator shaft and thus pressed against the wall. It is possible for supports, rams, or levers, all of which can be displaced outwards, to be arranged on opposite sides of the support component or the installation component.

It is also possible to have outwardly movable supports, rams, or levers on only one side, and a fixed support element on the opposite side. The support element has, in particular, a vertically elongated shape and extends at least over the entire vertical extent of the support component. It has, for example, a primarily beam-shaped basic shape. The mounting device is, in particular, introduced into the elevator shaft such that the support element is arranged in the walls of the elevator shaft on a side with door openings. Due to its elongated shape, the support element enables sufficient support even if the mounting device is to be fixed in the area of a door opening.

The support element can, in particular, be designed so that its distance from the support component can be manually adjusted, particularly in various steps. The distance can only be adjusted manually and only before the mounting device is inserted into the elevator shaft. This allows the fixing device to be adapted to the dimensions of the elevator shaft.

Caulking against the walls of the elevator shaft may cause deformation of the support component. This is particularly the case if the support or caulking occurs near a door opening. This deformation may change the relative position of a storage component described above to the installation component. This can lead to problems with the installation component's ability to accommodate tools and components to be installed. Such problems can be avoided, for example, if the support component is designed to be rigid enough to prevent deformation during support or caulking, or if the magazine components are arranged relative to the installation component in such a way that their relative positions do not change even if the support component deforms.

It is also possible for the fixing device to have suction cups, which can exert a holding force against a wall of the elevator shaft and thus fix the support component to the walls of the elevator shaft. For example, a pump can actively generate a vacuum at the suction cups to increase the holding force. The support component is supported against the walls of the elevator shaft via the suction cups. The fixation by means of suction cups also works vertically.

It is also possible for the support component to be temporarily fixed to one or more walls of the elevator shaft using fasteners, such as screws, bolts, or nails, thus supporting itself against the walls. This support also acts vertically. This temporary fixation is released when the support component needs to be moved to another position within the elevator shaft.

In addition, the support component can be supported and secured by components already installed in the elevator shaft, such as support profiles. The support can also be arranged in a vertical direction.

It is also possible that, when using a tool within an assembly step, only the respective tool is fixed relative to a wall of the elevator shaft. For this purpose, a frame, relative to which the tool is movably guided, can be fixed to a wall of the elevator shaft, for example, using suction cups. Alternatively, the frame can also be temporarily fixed to a wall of the elevator shaft using fasteners, such as screws, bolts, or nails.

By securing the support component laterally within the elevator shaft, the fixing component can prevent the support component from moving horizontally within the elevator shaft during an assembly step in which the installation component is working and, for example, exerts transverse forces on the support component. In other words, the fixing component can serve as a kind of abutment for the installation component attached to the support component, so that the installation component can indirectly support itself laterally on the walls of the elevator shaft via the fixing component. Such lateral support can be necessary, for example, during a drilling process in order to absorb the resulting horizontal forces and to prevent or dampen vibrations.

In a specific embodiment of this type, the support component can be designed in two parts. The installation component is attached to a first part. The fixing component is attached to a second part. The support component can then further comprise an alignment component designed to align the first part of the support component relative to the second part of the support component, for example, by rotating it about a spatial axis.

With such a configuration, the fixing component can fix the second part of the support component within the elevator shaft, for example by supporting itself laterally against walls of the elevator shaft. Particularly preferably, the fixing component is designed to support the second part of the support component on a shaft access side and a wall opposite thereto. The alignment component of the support component can then align the other, first part of the support component in a desired manner relative to the laterally fixed second part of the support component, for example by the alignment component rotating this first part about at least one spatial axis. This also displaces the installation component attached to the first part. In this way, the installation component can be brought into a position and/or orientation in which it can easily and precisely carry out a desired assembly step.

According to one embodiment, the mounting device further comprises a reinforcement detection component which is designed to detect reinforcement within a wall of the elevator shaft.

The reinforcement detection component is thus capable of detecting reinforcement, such as a steel profile, that is usually not visually detectable and is located deeper inside a wall. Information about the presence of such reinforcement can be advantageous, for example, when holes are to be drilled into the wall of an elevator shaft as part of an assembly step, as this can prevent drilling into the reinforcement and thus damaging both the reinforcement and potentially the drilling tool.

The mounting device has a scanning component that can be used to measure the distance to an object, such as a wall of the elevator shaft. The scanning component can, for example, be guided along the wall of the elevator shaft using the installation component in a defined motion, and the distance to the wall can be continuously measured. This allows conclusions to be drawn about the angular position of the wall and the condition of the wall with regard to unevenness, steps, or existing holes. The information obtained can be used, for example, to adjust the control of the installation component, such as changing a planned drilling position.

Alternatively or additionally, the scanning component can be moved in a zigzag pattern along the wall in an area where a bracket element is to be mounted, and a height profile of the wall can be created from the measured distances. This height profile can be used, as described, to adjust the control of the installation component.

A further aspect of the invention relates to a method for performing an installation process in an elevator shaft of an elevator system. The method comprises introducing a mounting device according to an embodiment as described herein into an elevator shaft, a controlled displacement of the mounting device within the elevator shaft, and finally, an at least partially, preferably fully, automatic execution of an installation step within the installation process using the mounting device.

In other words, the assembly device described above can be used to carry out assembly steps of an installation process in an elevator shaft partially or fully automated, and thus partially or fully autonomously.

It should be noted that some possible features and advantages of the invention are described herein with reference to different embodiments. In particular, features are described partly with reference to a mounting device according to the invention and partly with reference to a method according to the invention for carrying out an installation process in an elevator shaft. A person skilled in the art will recognize that the features can be combined, adapted, or exchanged as appropriate to arrive at further embodiments of the invention. In particular, a person skilled in the art will recognize that device features described with reference to the mounting device can be adapted analogously to describe an embodiment of the method according to the invention, and vice versa.

• Fig. 1 zeigt eine perspektivische Ansicht eines Aufzugschachts einer Aufzuganlage mit einer darin aufgenommenen Montagevorrichtung gemäß einer Ausführungsform der vorliegenden Erfindung.
• Fig. 2 zeigt eine perspektivische Ansicht einer Montagevorrichtung gemäß einer Ausführungsform der vorliegenden Erfindung.
• Fig. 3 zeigt eine Sicht von oben in einen Aufzugschacht einer Aufzuganlage mit einer darin aufgenommenen Montagevorrichtung gemäß einer alternativen Ausführungsform der vorliegenden Erfindung.
• Fig. 4 zeigt eine Seitenansicht in einen Aufzugschacht einer Aufzuganlage mit einer darin aufgenommenen Montagevorrichtung und deren Energie- und Kommunikationsverbindungen.
• Fig. 5 zeigt einen Teil einer als Industrieroboter ausgeführten Installationskomponente mit einem Dämpfungselement und einem daran gekoppelten Montagewerkzeug in Form eines Bohrers.
• Fig. 6 zeigt einen Teil einer als Industrieroboter ausgeführten Installationskomponente mit einem Dämpfungselement in einem Verbindungselement zu einem Montagewerkzeug in Form eines Bohrers.
• Fig. 7a und 7b zeigen Armierungen in einer Wand eines Aufzugschachts in zwei Bereichen, in denen zusammengehörige Löcher gebohrt werden sollen, und eine Illustration einer Suche nach möglichen Bohrpositionen.
• Fig. 8a und 8b zeigen Armierungen in einer Wand eines Aufzugschachts in zwei Bereichen, in denen zusammengehörige Löcher gebohrt werden sollen, und eine Illustration einer alternativen Suche nach möglichen Bohrpositionen.

Embodiments of the invention are described below with reference to the accompanying drawings, wherein neither the drawings nor the description are to be construed as limiting the invention.

• Fig. 1 shows a perspective view of an elevator shaft of an elevator system with a mounting device accommodated therein according to an embodiment of the present invention.
• Fig. 2 shows a perspective view of a mounting device according to an embodiment of the present invention.
• Fig. 3 shows a view from above into an elevator shaft of an elevator system with a mounting device accommodated therein according to an alternative embodiment of the present invention.
• Fig. 4 shows a side view into an elevator shaft of an elevator system with a mounting device accommodated therein and its energy and communication connections.
• Fig. 5 shows part of an installation component designed as an industrial robot with a damping element and a coupled assembly tool in the form of a drill.
• Fig. 6 shows a part of an installation component designed as an industrial robot with a damping element in a connecting element to an assembly tool in the form of a drill.
• Fig. 7a and 7b show reinforcements in a wall of an elevator shaft in two areas where matching holes are to be drilled, and an illustration of a search for possible drilling positions.
• Fig. 8a and 8b show reinforcements in a wall of an elevator shaft in two areas where matching holes are to be drilled, and an illustration of an alternative search for possible drilling positions.

The figures are merely schematic and not to scale. The same reference numerals designate the same or equivalent features in the various figures.

Fig. 1 shows an elevator shaft 103 of an elevator system 101, in which an assembly device 1 according to an embodiment of the present invention is arranged. The assembly device 1 has a support component 3 and a mechatronic installation component 5. The support component 3 is designed as a frame on which the mechatronic installation component 5 is mounted. This frame has dimensions that allow the support component 3 to be displaced vertically within the elevator shaft 103, i.e., along the vertical 104, i.e., to be moved, for example, to different vertical positions on different floors within a building. In the example shown, the mechatronic installation component 5 is designed as an industrial robot 7. which is attached to the frame of the support component 3 in a downwardly suspended manner. An arm of the industrial robot 7 can be moved relative to the support component 3 and, for example, relocated toward a wall 105 of the elevator shaft 3.

The support component 3 is connected via a steel cable serving as a support means 17 to a displacement component 15 in the form of a motor-driven cable winch, which is mounted at the top of the elevator shaft 103 at a stop 107 on the ceiling of the elevator shaft 103. With the aid of the displacement component 15, the mounting device 1 can be displaced vertically within the elevator shaft 103 over the entire length of the elevator shaft 103.

The mounting device 1 further comprises a fixing component 19, by means of which the support component 3 can be fixed in the lateral direction, i.e., in the horizontal direction, within the elevator shaft 103. The fixing component 19 on the front side of the support component 3 and/or the rams (not shown) on a rear side of the support component 3 can be displaced forwards or backwards outwards for this purpose, thus caulking the support component 3 between walls 105 of the elevator shaft 103. The fixing component 19 and/or the rams can be spread outwards, for example, using hydraulics or the like, in order to fix the support component 3 in the elevator shaft 103 in the horizontal direction. Alternatively, it would be conceivable to fix only parts of the installation component 5 in the horizontal direction, for example, by supporting a drilling machine accordingly against the walls of the elevator shaft 103.

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

The support component 3 is designed as a cage-like frame in which several horizontally and vertically extending beams form a mechanically resilient structure. The beams and any bracing provided are dimensioned such that the support component 3 can withstand forces that may occur during various assembly steps performed by the installation component 5 during an installation process in the elevator shaft 103.

Attached to the top of the cage-like support component 3 are retaining cables 27, which can be connected to a support element 17. By displacing the support element 17 within the elevator shaft 103, i.e., for example, by winding or unwinding the flexible support element 17 onto the cable winch of the displacement component 15, the support component 3 can thus be displaced vertically in a suspended position within the elevator shaft 103.

In an alternative embodiment (not shown) of the mounting device 1, the displacement component 15 could also be provided directly on the support component 3 and, for example, by means of a cable winch, pull the support component 3 up or down on a support means 17 rigidly fixed at the top of the elevator shaft 3.

In a further possible embodiment (not shown), the displacement component 15 could also be fixedly mounted directly on the support component 3 and, for example, drive rollers via a drive that are pressed firmly against walls 105 of the elevator shaft 103. In such an embodiment, the mounting device 1 could move vertically within the elevator shaft 103 automatically without any prior installations having to be carried out within the elevator shaft 103, in particular without, for example, a support means 17 having to be provided within the elevator shaft 103.

Furthermore, guide components, for example in the form of support rollers 25, can be provided on the support component 3, by means of which the support component 3 can be guided along one or more of the walls 105 of the lift shaft 103 during a vertical displacement within the lift shaft 103.

The fixing component 19 is provided on the side of the support component 3. In the example shown, the fixing component 19 is designed with an elongated beam extending in the vertical direction, which can be displaced horizontally with respect to the frame of the support component 3. For this purpose, the beam can be attached to the support component 3, for example, via a lockable hydraulic cylinder or a self-locking motor spindle. When the beam of the fixing component 19 is displaced away from the frame of the support component 3, it moves laterally towards one of the walls 105 of the elevator shaft 103. Alternatively or additionally, pistons could be displaced rearward on the rear side of the support component 3 in order to spread the support component 3 in the elevator shaft 103. In this way, the support component 3 can be caulked within the elevator shaft 103, thus laterally securing the support component 3 within the elevator shaft 103, for example, during an assembly step. Forces applied to the support component 3 can be transferred to the walls 105 of the elevator shaft 103 in this state, preferably without the support component 3 being able to shift within the elevator shaft 103 or vibrate.

In a special embodiment (not shown in detail), the support component 3 can be designed in two parts. The installation component 5 can be attached to a first part, and the fixing component 19 can be attached to a second part. In such an embodiment, an alignment component can also be provided on the support component 3. which enables a controlled alignment of the first part of the support component 3 carrying the installation component 5 relative to the second part of the support component 3 that can be fixed within the elevator shaft 103. For example, the alignment device can move the first part about at least one spatial axis relative to the second part.

In the illustrated embodiment, the mechatronic installation component 5 is implemented using an industrial robot 7. It should be noted, however, that the mechatronic installation component 5 can also be implemented in other ways, for example, with differently designed actuators, manipulators, effectors, etc. In particular, the installation component could comprise mechatronics or robotics specifically adapted for use in an installation process within an elevator shaft 103 of an elevator system 1.

In the example shown, the industrial robot 7 is equipped with several robot arms that can pivot about pivot axes. For example, the industrial robot can have at least six degrees of freedom, meaning that an assembly tool 9 guided by the industrial robot 7 can be moved with six degrees of freedom, i.e., for example, with three rotational degrees of freedom and three translational degrees of freedom. For example, the industrial robot can be designed as a vertical articulated-arm robot, a horizontal articulated-arm robot, a SCARA robot, or a Cartesian robot or gantry robot.

The robot can be coupled to various assembly tools 9 at its cantilevered end 8. The assembly tools 9 can differ in terms of their design and intended use. The assembly tools 9 can be held on the support component 3 in a tool magazine component 14 such that the cantilevered end of the industrial robot 7 can be moved toward them and coupled to one of them. For this purpose, the industrial robot 7 can, for example, have a tool changing system designed to enable the handling of at least several such assembly tools 9.

One of the assembly tools 9 can be designed as a drilling tool, similar to a drill. By coupling the industrial robot 7 with such a drilling tool, the installation component 5 can be configured to enable at least partially automated, controlled drilling of holes, for example, in one of the shaft walls 105 of the elevator shaft 103. The drilling tool can be moved and handled by the industrial robot 7, for example, in such a way that the drilling tool, with a drill bit, drills holes at a predetermined position, for example, in the concrete of the wall 105 of the elevator shaft 103, into which holes, for example, fastening screws for securing fastening elements can later be screwed. The drilling tool, as well as the industrial robot 7, can be suitably designed so that they can, for example, withstand the considerable forces and vibrations that occur when drilling into concrete.

Another assembly tool 9 can be designed as a screwing device for at least semi-automatically screwing screws into previously drilled holes in a wall 105 of the elevator shaft 103. The screwing device can be designed in particular such that it can also be used to screw concrete screws into the concrete of a shaft wall 105.

A magazine component 11 can also be provided on the support component 3. The magazine component 11 can be used to store components 13 to be installed and to make them available to the installation component 5. In the example shown, the magazine component 11 is arranged in a lower region of the frame of the support component 3 and accommodates various components 13, for example in the form of different profiles, which are to be mounted on walls 105 within the elevator shaft 103 in order to be able to attach guide rails for the elevator system 101 thereto, for example. Screws can also be stored and made available in the magazine component 11, which can be screwed into prefabricated holes in the wall 105 with the aid of the installation component 5.

In the example shown, the industrial robot 7 can, for example, automatically grip a fastening screw from the magazine component 11 and, for example, use an assembly tool 9 designed as a screwing device to partially screw it into previously drilled fastening holes in the wall 105. An assembly tool 9 can then be changed on the industrial robot 7 and, for example, a component 13 to be assembled can be gripped from the magazine component 11. The component 13 can have fastening slots. When the component 13 is brought into a predetermined position using the installation component 5, the previously partially screwed-in fastening screws can engage in these fastening slots or pass through them. Subsequently, the assembly tool 9 designed as a screwing device can be reconfigured and the fastening screws can be tightened.

In the example shown, it is evident that with the aid of the mounting device 1, an installation process in which components 13 are mounted on a wall 105 can be carried out completely or at least partially automatically in that the installation component 5 first drills holes in the wall 105 and then fastens components 13 in these holes using fastening screws.

Such an automated installation process can be carried out relatively quickly and can be particularly useful for repeated installations within The installation work carried out in an elevator shaft helps to save considerable installation effort and thus time and costs. Since the assembly device can largely automate the installation process, interactions with human installation personnel can be avoided or at least reduced to a minimum, thus significantly reducing risks for installation personnel that typically occur during such installation processes, especially accident risks.

In order to precisely position the mounting device 1 within the elevator shaft 103, a positioning component 21 can also be provided. The positioning component 21 can, for example, be permanently mounted on the support component 3 and thus be moved along with the movement of the mounting device 1 within the elevator shaft 3. Alternatively, the positioning component 21 could also be arranged independently of the mounting device 1 at a different position within the elevator shaft 103 and from there determine the current position of the mounting device 1.

The positioning component 21 can use different measuring principles to precisely determine the current position of the mounting device 1. Optical measuring methods, in particular, appear suitable for enabling a desired accuracy in position determination of, for example, less than 1 cm, preferably less than 1 mm, within the elevator shaft 103. A controller of the mounting device 1 can evaluate signals from the positioning component 21 and, based on these signals, determine an actual positioning relative to a target positioning within the elevator shaft 103. Based on this, the controller can then, for example, first move or have the support component 3 move to a desired height within the elevator shaft 103. Subsequently, the controller can appropriately control the installation component 5, taking into account the then determined actual position, for example to drill holes at desired locations within the elevator shaft 3, screw in screws, and/or ultimately mount components 13.

The assembly device 1 can further comprise a reinforcement detection component 23. In the illustrated example, the reinforcement detection component 23 is accommodated in the magazine component 11, similar to one of the assembly tools 9, and can be handled by the industrial robot 7. In this way, the reinforcement detection component 23 can be moved by the industrial robot 7 to a desired position, where, for example, a hole is subsequently to be drilled into the wall 105. Alternatively, the reinforcement detection component 23 could also be provided on the assembly device 1 in a different manner.

The reinforcement detection component 23 is designed to detect reinforcement within the wall 105 of the elevator shaft 103. For this purpose, the reinforcement detection component can, for example, use physical measurement methods in which electrical and/or magnetic properties of the typically metallic reinforcement within a concrete wall are used to detect this reinforcement with precise positioning.

If reinforcement has been detected within the wall 105 using the reinforcement detection component 23, a control of the mounting device 1 can, for example, correct previously assumed positions of screw holes to be drilled in such a way that there is no overlap between the screw holes and the reinforcement.

• Der Aufzugschacht 103 kann vermessen werden. Dabei können beispielsweise Türöffnungen 106 detektiert werden, eine genaue Ausrichtung des Aufzugschachts 103 erkannt werden und/oder ein Schachtlayout optimiert werden. Gegebenenfalls können durch einen Vermessungsvorgang erhaltene reale Vermessungsdaten des Aufzugschachts 103 mit Plandaten, wie sie beispielsweise in einem CAD-Modell des Aufzugschachts 103 angegeben sind, abgeglichen werden.
• Eine Orientierung und/oder Lokalisierung der Montagevorrichtung 1 innerhalb des Aufzugschachts 103 kann bestimmt werden.
• Bewehrungseisen oder Armierungen in Wänden 105 des Aufzugschachts 103 können detektiert werden.
• Dann können Vorarbeiten wie Bohrarbeiten, Fräsarbeiten, Schneidarbeiten etc. durchgeführt, wobei diese Vorarbeiten vorzugsweise teil- oder vollautomatisch von der Installationskomponente 5 der Montagevorrichtung 1 durchgeführt werden können.
• Anschließend können Bauteile 13 wie zum Beispiel Befestigungselemente, Interfaceelemente und/oder Bracket-Elemente installiert werden. Beispielsweise können Betonschrauben in zuvor gebohrte Löcher eingeschraubt werden, Bolzen eingeschlagen werden, Teile miteinander verschweißt, vernagelt und/oder verklebt oder Ähnliches werden.
• Bauteile und/oder Schachtmaterial wie beispielsweise Brackets, Schienen, Schachttürelemente, Schrauben und Ähnliches können dabei unterstützt von der Montagevorrichtung 1 oder vollständig automatisiert gehandhabt werden.
• Benötigtes Material und/oder Bauteile können automatisiert und/oder von Personal unterstützt in der Montagevorrichtung 1 nachgefüllt werden.

In summary, an assembly device 1 is described with which, for example, an installation process can be carried out partially or fully automatically within an elevator shaft 103 with the assistance of a robot. The assembly device 1 can at least support installation personnel in the installation of components of the elevator system 101 within the elevator shaft 103, i.e., for example, carry out preparatory work. In particular, multiple, i.e., repetitive, work steps can be automated and thus carried out quickly, precisely, with low risk, and/or cost-effectively. The installation process steps carried out in an assembly method can differ with regard to the individual work steps to be performed, a sequence of work steps, and/or a necessary human-machine interaction. For example, the assembly device 1 can carry out parts of the installation process automatically, but installation personnel can interact with the assembly device 1 in such a way that assembly tools 9 can be changed manually and/or components can be refilled into the magazine component, for example, by hand. Intermediate work steps carried out by installation personnel are also conceivable. A functional scope of a mechatronic installation component 5 provided in the assembly device 1 can include all or part of the work steps listed below:

• The elevator shaft 103 can be surveyed. For example, door openings 106 can be detected, a precise alignment of the elevator shaft 103 can be determined, and/or a shaft layout can be optimized. If necessary, actual survey data of the elevator shaft 103 obtained through a surveying process can be compared with plan data, such as those specified in a CAD model of the elevator shaft 103.
• An orientation and/or localization of the mounting device 1 within the elevator shaft 103 can be determined.
• Reinforcing bars or reinforcements in walls 105 of the elevator shaft 103 can be detected.
• Then, preliminary work such as drilling, milling, cutting, etc. can be carried out, whereby this preliminary work can preferably be carried out partially or fully automatically by the installation component 5 of the assembly device 1.
• Components 13 such as fasteners, interface elements, and/or bracket elements can then be installed. For example, concrete screws can be screwed into previously drilled holes, bolts can be driven in, parts can be welded, nailed, and/or glued together, or similarly.
• Components and/or shaft material such as brackets, rails, shaft door elements, screws and the like can be handled with the assistance of the assembly device 1 or completely automatically.
• Required material and/or components can be refilled in the assembly device 1 automatically and/or with personnel assistance.

Through these and possibly additional work steps, 103 work steps and a workflow can be coordinated during an installation process within an elevator shaft, for example, minimizing machine-human interactions, thus creating a system that operates as autonomously as possible. Alternatively, a less complex and thus more robust system can be used for an assembly device, although in this case, automation is only established to a lesser degree, typically requiring more machine-human interactions.

The displacement component for displacing the mounting device in the elevator shaft can also be arranged on the support component of the mounting device and act on the walls of the elevator shaft. Such a mounting device 1 in an elevator shaft 103 is shown in Fig. 3 shown in a view from above. A displacement component 115 has two electric motors 151, which are arranged on the support component 3 of the assembly device 1. On opposite sides of the support component 3, a rotatable axle 153 is fastened via two guides 152 each. Two wheels 154 are fastened to each of the axles 153 in a rotationally fixed manner relative to the axles 153. The wheels 154 can roll on walls 105 of the elevator shaft 103 and are pressed against the respective wall 105 by pressing devices (not shown). The electric motors 151 are drive-connected to the axles 153 via a drive connection 155, for example in the form of gears and a chain, and can thus drive the wheels 154 and displace the support component 3 within the elevator shaft 103.

On the carrier component 3 in the Fig. 3 In addition, on a side where there is no displacement component 115, a fixing component is arranged, which consists of a support element 119 and a telescopic cylinder 120. The support element 119 is arranged in such a way that it is on one side with the Fig. 3 not shown door openings 106 in the walls 105 of the elevator shaft 103 (analogous to Fig. 1 ). The mounting device 1 is thus inserted into the elevator shaft 103 in such a way that the support element 119 is arranged accordingly.

The elongated support element 119 has a mainly cuboid or beam-shaped basic shape and is oriented in a vertical direction. Analogous to the illustration in Fig. 1 and 2 It extends over the entire vertical extent of the support component 3 and also protrudes beyond the support component in both directions. The support element 119 is connected to the support component 3 via two cylindrical connecting elements 123. The connecting elements 123 consist of two parts (not shown separately) that can be manually pushed into and pulled apart from one another, and can be fixed in several positions. This allows a distance 122 to be set between the support element 119 and the support component 3.

On the side of the support component 3 opposite the support element 119, a telescopic cylinder 120 is arranged centrally. The telescopic cylinder 120 has an extendable piston 121 connected to a U-shaped extension element 124. The piston 121 can be extended so far toward the wall 105 of the elevator shaft 103 that the support element 119 and the extension element 124 connected to the piston 121 rest against the walls 105 of the elevator shaft 103, and the support component 3 is thus caulked to the walls 105. The support component 3 is thus fixed in the vertical direction and in the horizontal direction, i.e., transversely to the vertical direction. In the example shown, the telescopic cylinder 120 is extended and retracted by an electric motor. However, other drive types, such as pneumatic or hydraulic, are also conceivable.

The Fig. 3 The telescopic cylinder 120 shown is arranged on or in the region of an upper side of the support component 3. Similarly, the support component 3 also has a telescopic cylinder on or in the region of its underside.

It is also possible to arrange two or more telescopic cylinders at the same height, for example, three or four. In this case, the piston of the telescopic cylinder can be positioned against the wall of the elevator shaft without the need for an extension element.

A fixing component consisting of a support element and telescopic cylinders is also possible in combination with a mounting device which is fixed by means of a support means as in Fig. 1 and 2 shown, can be moved within the elevator shaft.

The mounting device must be supplied with power in the elevator shaft and communication with the mounting device is necessary. Fig. 4 Energy and communication connections to an assembly device 1 in an elevator shaft 103 are shown. The assembly device 1 has a support component 3 and a mechatronic installation component 5 in the form of an industrial robot 7. The industrial robot 7 is controlled by a controller consisting of a power unit 156 arranged on the support component 3 and a control PC 157 arranged on a floor outside the elevator shaft 103. The control PC 157 and the power unit 156 are connected to one another via a communication line 158, for example in the form of an Ethernet line. The communication line 158 is part of a so-called hanging cable 159, which also includes power lines 160, via which the assembly device 1 is supplied with electrical energy from a voltage source 161. For reasons of clarity, the lines within the assembly device 1 are not shown.

The power section 156 of the industrial robot 7 is thus supplied with electrical energy via the power lines 160 and communicates with the control PC 157 via the communication line 158. The control PC 157 can therefore send control signals to the power section 156 via the communication line 158, which then converts these into specific controls for the individual electric motors (not shown) of the industrial robot 7 and thus, for example, moves the industrial robot 7 as specified by the control PC 157.

In Fig. 5 1 shows part of an installation component 5 designed as an industrial robot 7, comprising a damping element 130 and an assembly tool coupled thereto in the form of a drill 131. A drill bit 132, which can be driven by the drill 131, is inserted into the drill 131. The damping element 130 consists of several rubber buffers 136 arranged in parallel, each of which can be regarded as a damping element. The damping element 130 is inserted into an arm 133 of the industrial robot 7 and divides it into a first, drill-side part 134 and a second part 135. The damping element 130 connects the two parts 134, 135 of the arm 133 of the industrial robot 7 and transmits shocks and vibrations introduced via the drill bit 132 to the second part 135 in a dampened manner.

According to Fig. 6 A damping element 130 can also be arranged in a connecting element 137 from an industrial robot 7 to an assembly tool in the form of a drill 131. The damping element is basically the same as the damping element 130 in Fig. 5 The connecting element 137 is firmly connected to the drill 131, so that the industrial robot 7 receives the combination of connecting element 137 and drill 131 for drilling a hole in a wall of the elevator shaft.

It is also possible for a damping element to be designed as an integral part of a drill.

To monitor wear of the drill bit 132 of the drill 131, the feed rate during drilling and/or the time required to drill a hole to a desired depth are monitored. If the feed rate falls below a certain limit and/or the time required to drill a hole to a certain depth is exceeded, the drill bit used is detected as no longer working properly, and a corresponding message is generated.

Based on the Fig. 7a and 7b A method for creating an image of the position of reinforcements within a wall of an elevator shaft and a method for determining a first and a corresponding second drilling position are described.

In Fig. 7a An area 140 of a wall of an elevator shaft is shown, in which a bore is to be drilled at a first drilling position. For a better description of the methods, the area 140 is divided into grid squares, which are labeled to the right with consecutive letters A to J and downwards with ascending numbers 1 to 10. This division was analogous in the Fig. 7b carried out.

In the Fig. 7a In the illustrated region 140, first and second reinforcements 141, 142 run from top to bottom, running straight and parallel to one another at least in the illustrated region 140. The first reinforcement 141 runs from B1 to B10, and the second reinforcement 142 from I1 to I10. Additionally, third and fourth reinforcements 143, 144 run from left to right, running straight and parallel to one another at least in the illustrated region. The third reinforcement 143 runs from A4 to J4, and the fourth reinforcement 144 from A10 to J10.

To create an image of the displayed position of the reinforcements 141, 142, 143, 144, the reinforcement detection component 23 is guided several times by the installation component 5 along the wall 105 of the elevator shaft. The reinforcement detection component 23 is first guided several times from top to bottom (and vice versa) and then from left to right (and vice versa). During the movement, the reinforcement detection component 23 continuously provides the distance 145 to the nearest reinforcement 143 in the direction of movement, so that the displayed image of the position of the reinforcements 141, 142, 143, 144 can be created from the known position of the reinforcement detection component 23 and the stated distance 145.

Once the position of the reinforcements 141, 142, 143, 144 is known, a first possible area 146 for the first drilling position can be determined. Fig. 7a this first possible area 146 is a rectangle with the corners C5, H5, C9 and H9.

The Fig. 7b shown area 147 of a For example, the wall of an elevator shaft is offset laterally from the area 140 in Fig. 7a In this area 147, a second drilling is to be carried out, whereby the drilling position cannot be freely selected, but is determined in a predetermined manner relative to the first drilling position in the area 140 according to Fig. 7a The second drilling position corresponding to the first drilling position must, for example, be offset laterally by a certain distance from the first drilling position. In the example shown, the area 147 is in Fig. 7b offset by this distance laterally from the area 140 in Fig. 7a Corresponding first and second drilling positions are shown in the example shown in the Fig. 7a and 7b arranged in matching grid squares. So if the first drilling in grid square B2 in area 140 of the Fig. 7a carried out, the second drilling must be in area 147 of the Fig. 7b also be carried out in grid square B2. This ensures that the second hole is correctly positioned relative to the first hole.

Since reinforcements in walls are not aligned the same way over their entire length, the courses of reinforcements 141, 142, 143, 144 in Fig. 7b not identical as in Fig. 7a The first reinforcement 141 runs in Fig. 7b from D1 to D10 and the second reinforcement 142 from J1 to J10. The third reinforcement 143 runs in Fig. 7b from A5 to J5 and the fourth reinforcement 144 as in Fig. 7a from A10 to J10.

After how to Fig. 7a also described for area 147 in Fig. 7b Once an image of the position of the reinforcements 141, 142, 143, 144 has been created, a second possible area 148 for the second drilling position can be determined. Fig. 7b This second possible area 148 is a rectangle with the corners E6, I6, E9 and I9. The possible areas for the first and second drilling positions result from the overlap area of the first area 146 and the second area 148. This results in a rectangular area 149 for the first drilling position and a rectangular area 150 for the second drilling position, each with the corners E6, H6, E9, H9. From these areas 149, 150, a grid square can be selected for the first and second drilling positions. In the Fig. 7a, 7b In the example shown, the first drilling position 170 is Fig. 7a and the second drilling position 171 in Fig. 7b each defined in grid square E7.

Based on the Fig. 8a and 8b An alternative method for determining a first and a corresponding second drilling position is described. The arrangement of the reinforcements 141, 142, 143, 144 in the Fig. 8a corresponds to the arrangement in the Fig. 7a and the arrangement in the Fig. 8b the arrangement in the Fig. 7b . The division into grid squares is also identical.

First, according to Fig. 8a possible positions for the first drilling position are determined. To do this, the reinforcement detection component 23 is used to check whether drilling is possible at a desired drilling position, in this case D5. This is the case here. Subsequently, further possible positions for the first drilling position are searched for. To do this, starting from the desired drilling position D5, further grid squares are checked in a clockwise spiral, in this case E5, E6, and D6. As soon as four possible positions have been found, the search for further possible positions is aborted. If one of the positions was not possible due to reinforcement, the search would continue until four possible positions have been found.

Then, as in Fig. 8b shown, a possible second drilling position is searched for. Due to the described assignment of the two drilling positions, the second drilling position must be in the same grid square as the first drilling position. The first step is to check whether the desired drilling position, in this case D5, is also possible for the second drilling position. In the example shown, this is not possible due to a collision with the reinforcement 141, so the search continues in a spiral manner analogous to the procedure for the first drilling position. The second possible position E5 is not possible due to a collision with the reinforcement 143. The third possible position E6 is possible, so that in the Fig. 8a and 8b In the example shown, the first drilling position 172 in Fig. 8a and the second drilling position 173 in Fig. 8b which is determined in grid square E6.

Claims (13)

1. Mounting device (1) for carrying out an installation process in an elevator shaft (103) of an elevator system (101), the mounting device comprising:

   a carrier component (3);

   a mechatronic installation component (5);

   the carrier component (3) being designed to be displaced relative to the elevator shaft (103) and to be positioned at different heights within the elevator shaft (103);

   the installation component (5) being held on the carrier component (3) and designed to at least semi-automatically perform a mounting step as part of the installation process,

   whereby the installation component (5) has an industrial robot (7) and the industrial robot (7) is designed to be coupled to various mounting tools (9) at the unsupported end (8) thereof,

   characterized by that

   the mounting device (1) comprises a scanning component, by means of which a distance to a wall (105) of the elevator shaft (103) can be measured.
2. Mounting device according to claim 1, further comprising a positioning component (21) which is designed to determine at least one of a position and an orientation of the mounting device (1) within the elevator shaft (103).
3. Mounting device according to either claim 1 or claim 2, wherein the installation component (5) is designed to perform several different types of mounting steps at least semi-automatically.
4. Mounting device according to claim 3, wherein the installation component (5) is designed to use different mounting tools (9) in the different types of mounting steps.
5. Mounting device according to claim 4, wherein the installation component (5) is designed to receive the mounting tool (9) used in each of the different types of mounting steps before the mounting step is carried out.
6. Mounting device according to either claim 4 or claim 5, further comprising a tool magazine component (14), wherein the tool magazine component (14) is designed to store various mounting tools (9) and provide them to the installation component (5).
7. Mounting device according to any of claims 1 to 6, wherein the installation component (5) is designed to carry out at least one of the following mounting steps:

   - at least semi-automatically controlled drilling of holes in a wall (105) of the elevator shaft (103);

   - at least semi-automatic screwing of screws into holes in a wall (105) of the elevator shaft (103);

   - at least semi-automatic attachment of parts to the wall (105) of the elevator shaft (103).
8. Mounting device according to any of claims 1 to 7, further comprising a displacement component (15) which is designed to displace the carrier component (3) vertically within the elevator shaft (103).
9. Mounting device according to claim 8, wherein the displacement component (15) is fixed to one of the carrier component (3) and a holding point (107) at the top of the elevator shaft (103) and has a flexible carrier means (17) that can be subjected to tensile stress, one end of which is held on the displacement component (15) and the other end of which is fixed to another of the carrier component (3) and the holding point (107) at the top of the elevator shaft (103), and the displacement component (15) can displace the carrier component (3) within the elevator shaft (103) by displacing the carrier means (17).
10. Mounting device according to claim 8, wherein the displacement component (15) is attached to the carrier component (3) and is designed to exert a force on a wall (105) of the elevator shaft (103) by moving a movement component in order to displace the carrier component (3) within the elevator shaft (103) by moving the movement component along the wall (105).
11. Mounting device according to any of claims 1 to 10, wherein the carrier component (3) has a fixing component (19) which is designed to transversely fix at least one of the carrier component (3) and the installation component (5) within the elevator shaft (103) in a direction transverse to the vertical.
12. Mounting device according to any of claims 1 to 11, further comprising a reinforcement detection component (23) which is designed to detect a reinforcement within a wall (105) of the elevator shaft (103).
13. Method for carrying out an installation process in an elevator shaft (103) of an elevator system (101), comprising:

    introduction of a mounting device (1) according to any of claims 1 to 12 into the elevator shaft (103);

    controlled displacement of the mounting device (1) within the elevator shaft (103);

    at least semi-automatic performance of the mounting step as part of the installation process with the aid of the mounting device (1).