HK1248199B - Automated mounting device for performing assembly jobs in an elevator shaft of an elevator system - Google Patents

Description

Automated assembly device for carrying out installation in an elevator shaft of an elevator installation

Technical Field

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

Background Art

The production of an elevator system and in particular the required installation of its components within the elevator shaft in a building can be complex and/or costly, since a large number of components must be mounted at various locations within the elevator shaft.

The assembly steps, by which, for example, components are installed within the elevator shaft as part of the installation process, have hitherto mostly been performed by technicians or installers. Typically, the person is located within the elevator shaft at the location where the component is to be installed and there installs the component at the desired location, for example by drilling holes into the shaft wall and securing the component to the shaft wall using screws screwed into the holes or inserted bolts. For this purpose, the person may use tools and/or machines.

Especially when elevator installations are very long, i.e. in the case of so-called high-rise elevators, with which great height differences in high-rise buildings have to be overcome, the number of components that need to be installed in the elevator shaft can be very large, which results in a considerable installation effort and high installation costs.

JP3214801B2 describes an assembly device for aligning guide rails for elevator cars in an elevator shaft. This assembly device allows an installer to align guide rails pre-installed in the elevator shaft and secure them to a retaining profile in the form of a bracket element installed by the installer in the elevator shaft. For this purpose, the assembly device includes a screwing device that is an integral component of the assembly device. It also includes a fixing device that allows the assembly device to be laterally supported on one of the aforementioned bracket elements installed by the installer.

Summary of the Invention

Therefore, there may be a need to reduce the effort and/or costs for installing components in the elevator shaft of an elevator system. Furthermore, there may be a need, for example, to reduce the risk of personal injury during installation processes within the elevator shaft of the elevator system. Furthermore, there may be a need, for example, to enable installation processes in the elevator shaft to be carried out within a shorter timeframe.

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

According to one aspect of the present invention, an assembly device for performing an installation process in an elevator shaft of an elevator system is provided. The assembly device comprises a carrier part and a mechatronic mounting part. The carrier part is designed to be movable 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 mounting part is held on the carrier part and is designed to carry out the assembly steps within the installation process at least partially automatically, preferably fully automatically.

The carrier part further comprises a fixing element which is designed to fix the carrier part and/or the mounting part in a direction transverse to the vertical direction, ie, for example, in a horizontal direction or laterally, within the elevator shaft.

The term "lateral fixation" should be understood to mean that the carrier element together with the mounting element mounted thereon can not only be moved vertically, for example by means of a displacement element, to a position at a desired height within the elevator shaft, but that the carrier element can also be fixed in this position in the horizontal direction by means of fixing elements.

According to the invention, the fixing element is designed to be supported laterally on the wall of the elevator shaft, so that the carrier part can no longer move horizontally relative to the wall. Support on the wall should be understood in this context as meaning that the fixing part supports the wall directly and without the intermediary of components pre-mounted on the wall, such as bracket elements, i.e., is able to introduce forces into the wall. This support can be implemented in various ways.

The fixing element according to the invention advantageously makes it possible to use the assembly device in the elevator shaft of an elevator system without the component having to be previously mounted on the wall of the elevator shaft by the installer. As a result, the component can be installed in the elevator shaft with particularly low effort and thus particularly cost-effectively.

The possible features and advantages of the embodiments of the present invention can also be considered to be based on the concepts and insights described below, and thus do not limit the scope of the present invention.

In a specific embodiment, the fixing element is designed to fix at least one of the carrier element and the mounting element in the vertical direction within the elevator shaft. As a result, the fixing also takes effect in the vertical direction and thus also prevents vertical movement of the mounting element. As a result, the mounting element can be securely fixed in the elevator shaft and, during the execution of the assembly steps, does not shift either vertically or transversely to the vertical direction, thereby endangering the correct execution of the assembly steps.

The fixing element is particularly aligned for laterally fixing itself to or between the walls of the elevator shaft. This fixing can also be considered as support on the wall of the elevator shaft. For this purpose, the fixing element can, for example, have suitable struts, punches, rods, etc. The struts, punches, or rods can be designed in particular so that they can be moved outward toward the wall of the elevator shaft and thus pressed against it. It is possible to arrange struts, punches, or rods on opposite sides of the carrier part or the mounting part, all of which can be moved outward.

Alternatively, it is possible to arrange an outwardly movable support, punch, or rod only on one side, and a fixed support element on the opposite side. The support element preferably has a vertically elongated shape and, in particular, extends at least over the entire vertical extent of the carrier part. For example, it has a basic shape with a main beam-like body. The assembly device is introduced into the elevator shaft in such a way that the support element is arranged in the elevator shaft wall on the side with the door opening. Due to its elongated shape, the support element provides sufficient support even when the assembly device is to be fixed in the area of the door opening.

In particular, the support element can be designed in such a way that the distance between the support element and the carrier element can be adjusted manually, in particular in different steps. The distance can only be adjusted manually and only before the assembly device is introduced into the elevator shaft. This allows the fastening device to be adapted to the specifications of the elevator shaft.

When securing the carrier element to the wall of the elevator shaft, deformation of the carrier component may occur. This applies in particular when the support or securing is performed in the area of a door opening. This deformation may cause the relative position of the aforementioned storage component to change relative to the mounting component, which can lead to problems with the mounting component accommodating tools and components to be installed. This problem can be avoided, for example, by designing the carrier component with such rigidity that it does not deform during support or securing, or by arranging the storage component relative to the mounting component in such a way that the relative position of the storage component and the mounting component does not change even if the carrier component deforms.

It is also possible for the fixing device to include a suction cup, by means of which a holding force can be achieved against the wall of the elevator shaft, thereby securing the carrier element against the wall of the elevator shaft. For example, a negative pressure can be actively generated at the suction cup by means of a pump to increase the holding force. The suction cup supports the carrier element against the wall of the elevator shaft. Fixation by means of the suction cup also takes place vertically.

It is also possible to temporarily fasten the carrier part to one or more walls of the elevator shaft by means of fastening means (e.g. in the form of bolts, studs or nails) and thus support it on the wall. This support also acts vertically. When the carrier part is to be moved to another location within the elevator shaft, the temporary fastening is released.

Furthermore, it is possible to only secure the respective tool to the wall of the elevator shaft while it is being used in the assembly step. To this end, a frame, in which the tool is movably guided, can be secured to the wall of the elevator shaft, for example, by means of a suction cup. Alternatively, the frame can also be temporarily secured to the wall of the elevator shaft by means of fastening structures, for example in the form of screws, studs, or nails.

By laterally securing the carrier component within the elevator shaft via the securing element, it is possible, for example, to prevent the carrier component from moving horizontally within the elevator shaft during the assembly process (in which the mounting component is in operation and, for example, exerts lateral forces on the carrier component). In other words, the securing element can act as a kind of support for the mounting component mounted on the carrier component, so that the mounting component can be indirectly supported laterally against the elevator shaft wall via the securing element. This lateral support can be particularly necessary, for example, during the drilling process to absorb the horizontally acting forces that occur therein and to prevent or dampen vibrations.

As mentioned at the outset, it has been found that the installation process for assembling components within the elevator shaft of an elevator system can be associated with a high level of work effort, which has previously been borne predominantly by manual installers. Depending on the size of the elevator system and thus the number of components to be assembled, the assembly of all components required for the elevator system within the elevator shaft can often take several days or even weeks.

The embodiments of the present invention are primarily based on the idea that the installation process in the elevator shaft of an elevator system can be at least partially automated by means of a suitably designed assembly device. Complete automation of the assembly steps that need to be performed here is of course advantageous.

Within the scope of the installation process, particularly highly repetitive assembly steps, i.e., those that must be performed multiple times during the installation of the elevator system, can be automated. For example, typically, to install the guide rails inside the elevator shaft, numerous retaining profiles must be fastened to the wall of the elevator shaft. For this purpose, holes must first be drilled at numerous locations along the elevator shaft, and then retaining profiles must be screwed in place.

For the purpose of automation, it is proposed to provide a mounting device which has, on the one hand, a carrier part and, on the other hand, a mechatronic mounting part held on the carrier part.

The carrier component can be designed in various ways. For example, it can be designed as a simple platform, a frame, a base, a car, etc. The dimensions of the carrier component should be selected so that it can be easily accommodated in the elevator shaft and moved within it. The mechanical design of the carrier component should be selected so that it can reliably support the mechatronic assembly components held thereon and, if necessary, withstand the static and dynamic forces exerted by the assembly components during the assembly steps.

The installed components should be mechatronic, that is, have cooperating mechanical, electronic and information technology components or modules.

For example, the mounting component should have suitable mechanical means to enable the manipulation of the tool, for example, during the assembly step. The tool can be suitably brought to the assembly position by the mechanical means and/or suitably guided during the assembly step. The tool can be supplied with energy, for example, in the form of electrical energy, via the mounting component. It is also possible for the tool to have its own energy supply, for example, with dry cells, batteries, or a separate power supply via a cable.

Alternatively, the mounting element can also itself have suitable mechanical means forming a tool.

The electronic components or modules of the mechatronic installation component can be used, for example, to appropriately control or monitor the mechanical components or modules of the installation component. Such electronic components or modules can thus be used, for example, as a control device for the installation component.

Furthermore, the assembly component can have information technology elements or modules, with the aid of which it is possible to deduce, for example, to which position the tool should be brought and/or how the tool should be handled and/or guided there during the assembly steps.

The interaction between the mechanical, electronic and information technology elements or modules should take place in such a way that at least one assembly step within the scope of the assembly process can be performed partially or fully automatically by the assembly device.

Furthermore, guide elements can be provided on the carrier element, by means of which the carrier element can be guided along one or more walls of the elevator shaft during vertical displacement within the shaft. The guide elements can be embodied, for example, as support rollers that roll along the walls of the elevator shaft. Depending on their arrangement on the carrier element, up to four support rollers can be provided.

It is also possible to have guide ropes tensioned inside the elevator shaft, which serve to guide the support element. Furthermore, guide rails can also be temporarily installed in the elevator shaft for guiding the support element. Furthermore, it is possible to suspend the support element by means of two or more load-bearing, bendable support means, such as ropes, chains, or belts.

According to one embodiment, the mechatronic assembly component has an industrial robot.

Industrial robots are generally programmable machines used for manipulating, assembling and/or processing workpieces and components. These robots are designed for use in industry and have been used in automated manufacturing, for example, in the industrial production of complex, high-volume items.

Industrial robots typically have a manipulator, an actuator, and a control unit. The manipulator can, for example, be a robot arm that can pivot about one or more axes and/or move in one or more directions. The actuator can, for example, be a tool, a gripper, etc. The control unit can be used to appropriately control the manipulator and/or the actuator, i.e., to appropriately move and/or guide them.

The industrial robot is particularly designed to be coupled to different assembly tools at its free-load end. In other words, the operating device is designed to be coupled to different actuators. This allows for a particularly flexible use of the industrial robot and thus also the assembly plant.

The control device of an industrial robot typically comprises a so-called power unit and a control computer. The control computer performs the actual calculations for the desired movement of the industrial robot and sends control instructions for actuating the robot's various electric motors to the power unit, which then converts the control instructions into specific actuation plans for the electric motors. The power unit is typically located on a carrier unit, while the control computer is not located on the carrier unit but rather in or near the elevator shaft. If the power unit is not located on the carrier unit, multiple cable connections must be routed through the elevator shaft to the industrial robot. The placement of the power unit on the carrier unit means that the industrial robot only requires a single power supply and communication connection, for example, an Ethernet connection between the control computer and the power unit, typically via a so-called pendant cable. This results in a particularly simple cable connection that, due to the small number of cables, is very stable, durable, and less prone to failure. Other functions, such as safety monitoring in the control of the industrial robot, can be implemented, which may require additional cable connections between the control computer and the power unit.

An 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 holding bracket. To fasten the holding bracket to the wall of the elevator shaft, the robot arm can, for example, be moved in such a way that the holding bracket is received by the passive auxiliary arm and, during the actual fastening, is held in the correct position on the wall, for example, by means of screws.

Industrial robots are also usually equipped with various sensors, with which they can detect, for example, their surroundings, their working environment, the components to be processed, etc. For example, sensors can be used to detect forces, pressures, accelerations, temperatures, positions, distances, etc., in order to subsequently perform appropriate evaluations of these parameters.

After initial programming, an industrial robot can typically execute a workflow partially or fully automatically, that is, as automatically as possible. The execution of the workflow can be modified within certain limits, for example, based on sensor information. Furthermore, the control of the industrial robot can optionally be performed in a self-learning manner.

As a result, the industrial robot can, based on a concept in which its components are mechanically and/or electrically designed and based on a concept in which the components can be controlled by means of a control device of the industrial robot, perform different assembly steps within the scope of the installation process in the elevator shaft or adapt to different conditions during such an assembly step.

Advantageous properties within this context are already present in a wide range of developed industrial robots, as they are already used in other technical fields, and may only need to be adapted to the specific conditions during installation in the elevator shaft of an elevator system. In order to move the industrial robot to a desired position within the elevator shaft, for example, the industrial robot is mounted on a carrier component, wherein the carrier component can be moved together with the industrial robot and, if necessary, other mounting components to the desired position within the elevator shaft.

As an alternative to the design as an industrial robot, the mechatronic assembly component can also be designed in other ways. It is also conceivable, particularly for the aforementioned application, to use the mechatronic machine designed for (partially) automated elevator installation, using, for example, special drilling, screwing, conveying elements, etc. For example, linearly movable drilling tools, screwing tools, etc., can be used.

According to one embodiment, the assembly device may further comprise a positioning element designed to determine at least one of the position and orientation of the assembly device within the elevator shaft. In other words, the assembly device should be used with its positioning element to determine its position or attitude relative to its current position and/or orientation within the elevator shaft.

In other words, the positioning element can be designed to determine the exact position of the assembly device within the elevator shaft with a desired accuracy, for example, less than 10 cm, preferably less than 1 cm or less than 1 mm. The orientation of the assembly device can also be determined with high accuracy, for example, less than 10°, preferably less than 5° or 1°.

If necessary, the positioning component can be designed to measure the elevator shaft based on its current position. In this way, the positioning component can, for example, determine where the positioning component is currently located in the elevator shaft, such as the distance from the walls, ceiling, and/or floor of the elevator shaft. Furthermore, the positioning component can, for example, determine its distance from the target position, so that, based on this information, the assembly device can be moved in the desired manner to reach the target position.

The positioning component can determine the position of the assembly device in various ways. For example, position determination can be conceivable using optical measurement principles. For example, a laser distance measuring device can measure the distance between the positioning component and the wall of the elevator shaft. Other optical measurement methods are also conceivable, such as stereographic measurement methods or measurement methods based on triangulation. In addition to optical measurement methods, various other position determination methods are also conceivable, such as those based on radar reflections.

According to one embodiment, the mounting component is designed to perform a plurality of different assembly steps at least partially automatically, preferably fully automatically. In particular, the mounting component can be designed to use different assembly tools, such as drills, screwdrivers and/or grippers, in different assembly steps.

The possibility of using different assembly tools enables the mechatronic assembly component to perform different types of assembly steps simultaneously or successively during the assembly process, in order, for example, to finally mount the component in the appropriate position inside the elevator shaft.

The mounting component is specifically designed to accommodate assembly tools used in different types of assembly steps before the assembly steps are carried out. This allows the mounting component to store assembly tools that are not needed for the next assembly step and accommodate the assembly tools required for that step, i.e., to change assembly tools. This allows the mounting component to always be connected to only the assembly tools that are needed. This allows the mounting component to be used with very little structural space and to perform assembly steps in a wide variety of locations. This allows the mounting component to be used very flexibly. If the mounting component were always connected to all the assembly tools required for the different assembly steps, it would require significantly more structural space. This allows the corresponding assembly tools to be used in significantly fewer locations.

According to one embodiment, the assembly device further comprises a tool storage element, which is designed to store the assembly tools required for the various assembly steps and to make them available to the installation element. This allows for the safe storage of unneeded assembly tools and thus prevents them from falling during the execution of the work steps and while the assembly device is being moved in the elevator shaft.

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

The installation part can utilize suitable drilling tool for this reason.At this, tool also has the installation part itself all should be suitably constructed, so that in the assembly step, meet the conditions that occur in the elevator shaft.

For example, the walls of an elevator shaft, onto which components are to be mounted, are often made of concrete, in particular reinforced concrete. When drilling in concrete, very strong vibrations and high forces can occur. Both the drilling tool and the mounting components themselves must be suitably designed to withstand these vibrations and forces.

For this purpose, it may be necessary, for example, to suitably protect the industrial robot used as the mounting component from severe vibrations and/or the high forces that arise therefrom. For example, it may be advantageous to provide one or more buffer elements in the mounting component in order to dampen or absorb vibrations. It is also possible to arrange one or more buffer elements in a combination of an assembly tool and a mounting component at another location. The buffer element can, for example, be integrated into the assembly tool or arranged in a connecting element between the mounting component and the assembly tool. In this case, the assembly tool and the connecting element can be considered as part of the mounting component. The buffer element can be implemented, for example, as one or more parallel-arranged rubber buffers, which are commercially available in a wide selection and at low cost. A single rubber buffer can also be considered a buffer element. It is also possible to implement the buffer element as a telescopic buffer.

The drills used are subject to wear and tear and can also be damaged, for example, when they strike rebar. To detect damage or failure of the drill, for example, the feed rate during drilling and/or the duration of drilling at the desired depth can be monitored. If a feed rate limit is exceeded and/or a duration limit is exceeded, the drill is detected as abnormal and a corresponding notification is generated.

According to one embodiment, the mounting element can be designed to screw a screw into a hole in the wall of the elevator shaft at least partially automatically as an assembly step.

The mounting component can be designed, in particular, for screwing concrete bolts into pre-machined holes in the concrete wall of the elevator shaft. These concrete bolts, for example, can create highly load-bearing holding points within the elevator shaft, to which components can be fixed. Concrete bolts can be screwed directly into the concrete, eliminating the need for expansion bolts, thereby enabling quick and easy assembly. However, screwing in the bolts, particularly concrete bolts, can require high forces or torques, which must be provided by the mounting component or the assembly tool operated by it.

According to another embodiment, the mounting part can be designed to, as an assembly step, at least partially automatically, component is installed on the wall of the elevator shaft. In this article, component can be different shaft materials, for example, parts, bolts, bolts, clips etc. that keep profiled parts, guide rails.

According to one embodiment, the assembly device further comprises a storage component, which is designed to store components to be assembled and provide them to the assembly component.

For example, the storage unit can receive a plurality of bolts, in particular concrete bolts, and provide them to the installation unit when necessary. Here, the storage unit can either actively transport the stored components to the installation unit, or passively provide the components in such a way that the installation unit can actively remove the components and then, for example, assemble them.

The storage unit can be designed to store different types of components as necessary and provide them to the assembly unit simultaneously or in sequence. Alternatively, a plurality of different storage units can be provided in the assembly device.

According to one embodiment, the mounting device can also have a displacement element which is designed to displace the carrier element vertically within the elevator shaft.

In other words, the assembly device itself can be designed to suitably displace its carrier part within the elevator shaft using its displacement component. The displacement component typically has a drive, by means of which the carrier part can be moved within the elevator shaft, i.e., for example, between different floors of a building. Furthermore, the displacement component has a control device, by means of which the drive can be operated in a controlled manner so that the carrier part can be brought to the desired position within the elevator shaft.

As an alternative to the arrangement in which the displacement component itself is part of the assembly device, the displacement component can also be arranged externally. For example, a drive device pre-installed in the elevator shaft can be provided as the displacement component. If necessary, the drive device can also be a drive mechanism later used for the elevator system, which is used to move the elevator car in the fully installed state and can be used to move the carrier component during the preceding installation process. In this case, provision can be made for data communication between the assembly device and the external displacement component so that the assembly device can cause the displacement component to move the carrier component to the desired position within the elevator shaft.

In a similar manner to a fully assembled elevator system, the counterweight can be connected in this case via a tensile-load-bearing, flexible support mechanism, such as a rope, chain, or belt, and a drive can act between the carrier part and the counterweight. Furthermore, the displacement concept for the carrier part can be the same drive configuration as for the displacement concept of the elevator car.

The displacement element can be embodied in different ways in order to be able to move the carrier element with the mounting element held thereon within the elevator shaft.

For example, according to one embodiment, the displacement component can be fixed either to a support part of the assembly device or to an upper holding point within the elevator shaft and include a tensile-load-bearing, flexible support mechanism, such as a rope, chain, or belt, with one end of the support mechanism being held on the displacement component and the other end being fixed to another element, namely, an upper holding point within the elevator shaft or to the support part. In other words, the displacement component can be mounted on the support part of the assembly device, and the support mechanism held on the displacement component can be fixed upwardly with its other end to a holding point within the elevator shaft. Alternatively, the displacement component can be fixed upwardly to a holding point in the elevator shaft, while the free end of the support mechanism can be fixed to the support part of the assembly device. The displacement component can then be moved in a targeted manner within the elevator shaft by moving the support mechanism.

For example, such a displacement element can be designed as a rope winch, wherein a bendable rope can be wound onto a winch driven, for example, by an electric motor. The rope winch can be either fixed to a carrier part of the assembly device or, alternatively, fixed from above in the elevator shaft, for example, to the elevator shaft ceiling. The free end of the rope can then be mounted either from above on a holding point in the elevator shaft or from below on the carrier part. By selectively winding the rope onto and unwinding it from the winch, the assembly device can be moved within the elevator shaft.

Alternatively, the displacement element can be mounted on the carrier element and designed to exert a force on the wall of the elevator shaft by displacing the moving element, so that the carrier element is moved along the wall in the elevator shaft by displacing the moving element.

In other words, the displacement element can be mounted directly on the carrier element and can be actively moved along the wall of the elevator shaft by means of its moving element.

For example, the displacement element can have a drive for this purpose, which drives one or more moving parts in the form of wheels or rollers, wherein the wheels or rollers press against the wall of the elevator shaft so that the wheels or rollers, which are driven in rotation by the drive, can roll along the wall with minimal slippage, and in this way the displacement element together with the carrier part mounted thereon can be moved within the elevator shaft.

Alternatively, it is conceivable that the moving part of the displacement part transmits the force to the wall of the elevator shaft in other ways. For example, a gear can be used as the moving part and embedded in a toothed rod mounted on the wall so that the displacement part can be moved vertically in the elevator shaft.

In a special embodiment of this embodiment, the carrier component can be implemented in two parts. The mounting component is mounted on the first part, and the fixing component is mounted on the second part. The carrier component can then have an alignment component designed to align the first carrier component part with respect to the second carrier component part, for example by rotating it about a spatial axis of rotation.

In this embodiment, the fixing means can secure the second part of the carrier component within the elevator shaft, for example, by laterally supporting the carrier component against a wall of the elevator shaft. Particularly preferably, the fixing means are designed to support the second part of the carrier component against a wall at the shaft entrance and a wall opposite thereto. The alignment means of the carrier component can then align the further first part of the carrier component in the desired manner relative to the laterally fixed second part of the carrier component, for example, by rotating the first part about at least one spatial axis of rotation. This also causes the mounting means attached to the first part to be displaced. In this way, the mounting means can be brought into a position and/or orientation in which the desired assembly steps can be carried out simply and precisely.

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

The rebar detection component can thus detect rebars, such as steel profiles, which are often not visually visible and are located deep within the wall. Information about the presence of such rebars can be advantageous, for example, when drilling holes into the wall of the elevator shaft as part of an assembly step, as this prevents drilling into the rebar and thus damaging it, and possibly also the drilling tool.

Furthermore, the assembly device can include a scanning component that can measure the distance to an object, such as the wall of an elevator shaft. For example, the scanning component can be guided along the wall of the elevator shaft in a defined motion using the mounting component and continuously measures the distance to the wall. This allows inferences to be drawn about the angular position of the wall and its characteristics with respect to unevenness, flat surfaces, or existing holes. The information obtained can be used, for example, to adapt the control of the mounting component, for example, by changing the planned drilling location.

Alternatively or additionally, the scanning component can be guided in a meandering pattern along the wall in the area where the carrier element is to be mounted, and a height curve can be generated from the measured distances. The device height curve can be used, as described, to adapt the control to the component.

Another aspect of the present invention relates to a method for carrying out an installation process in an elevator shaft of an elevator installation. This method comprises: according to one embodiment, a mounting device, as described herein, is introduced into the elevator shaft; a step of controlled movement of the mounting device within the elevator shaft; and finally, a step of at least partially automatically, preferably fully automatically, securing at least one carrier part and a mounting part in the elevator shaft in a direction transverse to the vertical direction by lateral support against the walls of the elevator shaft; and a step of carrying out the installation process by means of the mounting device.

In other words, the assembly device described above can be used to partially or fully automate, and thus partially or fully automatically, the assembly steps of the installation process in the elevator shaft.

In one embodiment of the method according to the invention, the assembly device is introduced into the elevator shaft in such a way that the vertically elongated support element is arranged opposite the wall of the elevator shaft having the door opening. This allows for a secure fixing of the carrier part even in the area of the door opening.

It should be noted that some possible features and advantages of the present invention are described herein with reference to various embodiments. In particular, some features are described in conjunction with an assembly device according to the present invention and in conjunction with a method for performing an installation process in an elevator shaft. Those skilled in the art will appreciate that the aforementioned features can be combined, matched, or replaced in appropriate ways to obtain further embodiments of the present invention. In particular, those skilled in the art will appreciate that device features described in conjunction with the assembly device can be similarly matched to describe embodiments of the method according to the present invention, and vice versa.

BRIEF DESCRIPTION OF THE DRAWINGS

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, wherein neither the accompanying drawings nor the description are to be construed as limiting the present invention.

FIG1 shows a perspective view of an elevator shaft of an elevator installation with an assembly device according to one embodiment of the invention accommodated therein.

FIG. 2 shows a perspective view of an assembly device according to one embodiment of the present invention.

FIG. 3 shows a view from above into the elevator shaft of an elevator installation with an assembly device according to an alternative embodiment of the invention accommodated therein.

FIG. 4 shows a side view of the elevator shaft of an elevator installation with the assembly device accommodated therein and its energy and communication connections.

FIG. 5 shows a part of a mounting component embodied as an industrial robot, with a damping element and a mounting tool coupled thereto in the form of a drill.

FIG. 6 shows a part of a mounting component embodied as an industrial robot with a damping element in a connecting element to an assembly tool in the form of a drill.

7a and 7b show reinforcement in the wall of an elevator shaft in two areas in which associated boreholes should be drilled, and a diagram illustrating the search for feasible drilling positions.

8a and 8b show reinforcement in the wall of an elevator shaft in two areas in which associated boreholes should be drilled, and diagrams showing alternatives for finding feasible borehole positions.

The figures are merely exemplary and not true to scale. The same reference numerals in different figures denote identical or identically acting features.

DETAILED DESCRIPTION

FIG1 shows an elevator shaft 103 of an elevator system 101, in which an assembly device 1 according to one embodiment of the present invention is arranged. The assembly device 1 comprises a carrier part 3 and a mechatronic mounting component 5. The carrier part 3 is embodied as a frame, on which the mechatronic mounting component 5 is mounted. The frame has dimensions that allow the carrier part 3 to be moved vertically, i.e., along a vertical line 104, within the elevator shaft 103, i.e., for example, to different vertical positions on different floors within a building. In the example shown, the mechatronic mounting component 5 is embodied as an industrial robot 7, which is mounted downwardly on the frame of the carrier part 3. The arm of the industrial robot 7 can be moved relative to the carrier part 3 and, for example, moved to a wall 105 of the elevator shaft 3.

The carrier part 3 is connected via a steel cable serving as a support 17 to a displacement element 15 in the form of a motor-driven cable winch, which is mounted on the elevator shaft 103 from above at a holding point 107 on the ceiling of the elevator shaft 103. The displacement element 15 allows the assembly device 1 to be displaced vertically within the elevator shaft 103 over the entire length of the elevator shaft 103.

The assembly device 1 further comprises a fixing element 19, by means of which the carrier element 3 can be fixed laterally, that is, horizontally, within the elevator shaft 103. The fixing element 19 on the front side of the carrier element 3 and/or a punch (not shown) on the rear side of the carrier element 3 can be displaced outwardly, forwardly or backwardly, to thereby fix the carrier element 3 between the walls 105 of the elevator shaft 103. The fixing element 19 and/or the punch can be expanded outwardly, for example, by means of hydraulics or the like, to fix the carrier element 3 horizontally in the elevator shaft 103. Alternatively, it is conceivable to fix only part of the mounting element 5 horizontally, for example by supporting a drilling machine against the wall of the elevator shaft 103.

FIG. 2 shows an enlarged view of an assembly device 1 according to one embodiment of the present invention.

The carrier part 3 is designed as a cage-like or cage-like frame, wherein a plurality of horizontally and vertically extending struts form a structure capable of withstanding mechanical loads. The struts and any cross braces provided are dimensioned so that the carrier part 3 can withstand the forces that may occur in the elevator shaft 103 during the various assembly steps performed by the mounting part 5 within the context of the installation process.

Attached to the top of the retaining ring-type support part 3 are retaining ropes 27 which can be connected to the support means 17. By moving the support means 17 in the elevator shaft 103, i.e., for example, by winding the bendable support means 17 onto or unwinding it from the winch of the displacement element 15, the support part 3 can thus be displaced vertically in the elevator shaft 103 while suspended.

In an alternative embodiment of the assembly device 1 (not shown), the displacement element 15 can also be arranged directly on the support part 3 and, for example, by means of a cable winch, lift or lower the support part 3 on a support means 17 rigidly fixed above in the elevator shaft 3 .

In another possible embodiment (not shown), the displacement element 15 can also be fixedly mounted directly on the carrier element 3 and, for example, drive rollers, which are fixedly pressed against the wall 105 of the elevator shaft 103, for example, by means of a drive. In this embodiment, the assembly device 1 is moved vertically autonomously within the elevator shaft 103 without having to be previously installed in the elevator shaft 103, in particular without having to provide, for example, a support mechanism 17 in the elevator shaft 103.

Guide elements, for example in the form of support rollers 25 , can also be provided on the carrier part 3 , by means of which the carrier part 3 can be guided along one or more walls 105 of the elevator shaft 103 during vertical movement within the elevator shaft 103 .

A fixing element 19 is provided on the side of the carrier part 3. In the example shown, the fixing element 19 is constructed with a vertically extending, elongated strut that can be moved horizontally relative to the frame of the carrier part 3. For this purpose, the strut can be mounted on the carrier part 3, for example, by a lockable hydraulic cylinder or a self-locking motor spindle. When the strut of the fixing element 19 is moved away from the frame of the carrier part 3, it moves laterally toward the wall 105 of the elevator shaft 103. Alternatively or additionally, a punch can be moved backward on the back side of the carrier part 3 to open the carrier part 3 in the elevator shaft 103. In this way, the carrier part 3 can be fixed inside the elevator shaft 103 and thus laterally secured therein, for example, during the assembly steps. In this state, forces applied to the carrier part 3 can be transmitted to the wall 105 of the elevator shaft 103, preferably without causing the carrier part 3 to move or vibrate within the elevator shaft 103.

In a specific embodiment (not shown in detail), the carrier element 3 can be implemented in two parts. The mounting element 5 is mounted on the first part, and the fixing element 19 is mounted on the second part. In this embodiment, an alignment element can also be provided on the carrier element 3, which enables controlled alignment of the first part of the carrier element 3, which carries the mounting element 5, relative to the second part of the carrier element 3, which can be fixed in the elevator shaft 103. For example, the alignment device can move the first part relative to the second part about at least one spatial axis of rotation.

In the embodiment shown, the mechatronic installation component 5 is implemented by means of an industrial robot 7. It should be noted that the mechatronic installation component 5 can also be implemented in different ways, for example with differently designed actuators, operating devices, actuators, etc. The installation component can, in particular, have mechatronic components or robotic devices that are specifically adapted for use during the installation process in the elevator shaft 103 of the elevator installation 1.

In the example shown, industrial robot 7 is equipped with multiple robot arms that can pivot about pivot axes. For example, the industrial robot can have at least six degrees of freedom, meaning that assembly tool 9 guided by industrial robot 7 can move with six degrees of freedom, for example, three rotational degrees of freedom and three translational degrees of freedom. For example, the industrial robot can be implemented as a vertical bending arm robot, a horizontal bending arm robot, a SCARA robot, a Cartesian coordinate robot, or a gantry crane robot.

The robot can be coupled to different assembly tools 9 at its freely protruding end 8. The assembly tools 9 can differ in their design and intended use. The assembly tools 9 can be held in a tool storage part 14 on a carrier part 3 so that the freely protruding end of the industrial robot 14 can be moved toward the assembly tools and coupled to one of them. For this purpose, the industrial robot 7 can, for example, have a tool changing system designed to allow the tool changing system to operate multiple 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 to such a drilling tool, the mounting component 5 can be designed to enable at least partially automated, controlled drilling of a hole in one of the shaft walls 105 of the elevator shaft 103. The drilling tool can be driven and operated by the industrial robot 7, for example, in such a way that the drilling tool, using a drill bit, drills a hole at a desired location, for example, in the concrete of the shaft wall 105 of the elevator shaft 103, into which a fastening bolt for securing a fastening element can later be screwed. The drilling tool and the industrial robot 7 can be designed so that they can withstand the significant forces and vibrations that occur, for example, when drilling in concrete.

Another assembly tool 9 can be designed as a screwing device to at least partially automatically screw a screw into a previously drilled hole in the wall 105 of the elevator shaft 103. Here, the screwing device can be designed in particular so that concrete screws can also be screwed into the concrete of the shaft wall 105 by means of it.

A storage unit 11 may also be provided on the carrier part 3. The storage unit 11 can be used to move components 13 to be installed and provide them to the mounting unit 5. In the example shown, the storage unit 11 is arranged in the lower region of the frame of the carrier part 3 and accommodates a plurality of different components 13, for example, of different configurations, which need to be mounted on the wall 105 within the elevator shaft 103 in order to, for example, fasten guide rails for the elevator system 101 to the wall. Screws may also be provided and supported in the storage unit 11, which can be screwed into prefabricated holes in the wall 105 using the mounting unit 5.

In the example shown, the industrial robot 7 can, for example, automatically grab a fixing bolt from the storage part 11 and partially screw it into a previously drilled fixing hole in the wall 105 using, for example, an assembly tool 9 configured as a screwing device. Next, the assembly tool 9 on the industrial robot 7 can be changed and, for example, grab a component 13 to be assembled from the storage part 11. The component 13 can have a fixing slot. When the component 13 is brought into the desired position using the mounting part 5, the previously partially screwed fixing bolt can be embedded in the fixing slot or extend through it. Next, the assembly tool 9 can be changed again to be equipped with a screwing device and the fixing bolt can be tightened.

In the example shown, it can be seen that the assembly process of the component 13 on the wall 105 can be performed completely or at least partially automatically with the help of the assembly device 1, in that the mounting part 5 first drills a hole in the wall 105 and then fixes the component 13 in the hole with the help of fixing screws.

This automated installation process can be carried out very quickly and, in particular, assists with installation work that must be carried out repeatedly in the elevator shaft, saving considerable installation effort and, therefore, time and costs. Because the assembly device can largely automate the installation process, interaction with human installers is avoided or reduced to a minimum, so that the risks that typically arise for installers during such installation processes, in particular the risk of accidents, can also be significantly reduced.

In order to accurately position the assembly device 1 within the elevator shaft 103, a positioning component 21 may be provided. The positioning component 21 may, for example, be fixedly mounted on the carrier component 3 so that it moves along with the assembly device 1 as it moves within the elevator shaft 3. Alternatively, the positioning component 21 may be arranged independently of the assembly device 1 at another location within the elevator shaft 103 and, starting from that location, determine the current position of the assembly device 1.

The positioning element 21 can use various measuring principles to precisely determine the current position of the assembly device 1. Optical measuring methods are particularly suitable for achieving the desired accuracy of, for example, less than 1 cm, preferably less than 1 mm, when determining the position within the elevator shaft 103. The control device of the assembly device 1 can evaluate the signals from the positioning element 21 and, using them, determine the actual position within the elevator shaft 103 relative to the target position. Based on this, the control device can, for example, first move or drive the carrier element 3 within the elevator shaft 103 to the desired height. Subsequently, the control device can appropriately control the mounting element 5, taking into account the actual position thus determined, to, for example, drill holes at the desired locations within the elevator shaft 3, insert screws, and/or finally assemble the component 13.

Here, the assembly device 1 may include a reinforcement detection component 23. In the example shown, the reinforcement detection component 23 is housed in the storage component 11, similar to the one in the assembly tool 9, and can be operated by the industrial robot 7. In this way, the reinforcement detection component 23 can be brought by the industrial robot 7 to the desired location, where, for example, a hole is to be drilled later in the wall 105. Alternatively, the reinforcement detection component 23 may also be arranged on the assembly device 1 in other ways.

The rebar detection component 23 is designed to detect rebars inside the wall 105 of the elevator shaft 103. To this end, the rebar detection component can, for example, use physical measurement methods in which the electrical and/or magnetic properties of the typically metallic rebars in the concrete wall are utilized for accurately identifying the rebars.

If reinforcements have been identified inside the wall 105 by means of the reinforcement detection component 23 , the control device of the assembly device 1 can, for example, correct the previously assumed positions of the bolt holes to be drilled so that no intersections occur between the bolt holes and the reinforcements.

In summary, an assembly device 1 is described that enables the partially or fully automated installation process to be performed within an elevator shaft 103, for example, with the assistance of robots. The assembly device 1 can at least assist installers when installing components of the elevator system 101 within the elevator shaft 103, for example, by performing preparatory work. In particular, recurring, i.e., repeated, processes can be automated, i.e., quickly, accurately, with low risk, and/or cost-effectively. The installation processes performed within the assembly method can differ in terms of the individual processes to be performed, the process flow, and/or the required human interaction. For example, while the assembly device 1 can automatically perform part of the installation process, the installer can also interact with the assembly device 1 to manually replace the assembly tool 9 and/or manually insert components into a storage unit. Intermediate processes performed by the installer are also conceivable. The functional scope of the mechatronic assembly component 5 provided in the assembly device 1 can include all or part of the following processes:

The elevator shaft 103 can be measured. For example, the door opening 106 can be detected, the exact orientation of the elevator shaft 103 can be determined, and/or the shaft layout can be optimized. If necessary, the actual measurement data of the elevator shaft 103 obtained by the measurement process can be compared with the planned data (as provided, for example, in a CAD model of the elevator shaft 103).

The orientation and/or position of the assembly device 1 within the elevator shaft 103 can be determined.

Reinforcement bars or steel bars in the wall 105 of the elevator shaft 103 can be detected.

Preparatory work such as drilling, milling, cutting, etc. can then be carried out, wherein the preparatory work can preferably be carried out partially or completely automatically by the assembly component 5 of the assembly device 1 .

Next, member 13, for example fixing element, interface element and/or bracket element can be installed.For example, concrete bolt can be screwed in the hole drilled in advance, nailed into bolt, parts are mutually welded, riveted and/or bonded etc.

Components such as brackets, rails, shaft door elements, bolts etc. and/or shaft materials can be handled with the assistance of the assembly device 1 or fully automatically.

The required materials and/or components can subsequently be introduced into the assembly device 1 automatically and/or with the assistance of personnel.

By means of the described and possibly further steps, the steps and workflows can be coordinated with one another during the installation process in the elevator shaft 103, for example, by minimizing human interaction, i.e., by implementing a system that operates as automatically as possible. Alternatively, a less complex and therefore more robust system can be used for the assembly plant, wherein in this case automation is only implemented to a minimal extent, and thus typically requires greater human interaction.

The displacement component for moving the assembly device in the elevator shaft can also be arranged on the assembly device's carrier part and act on the elevator shaft wall. FIG. 3 shows such an assembly device 1 in the elevator shaft 103 in a view from above. The displacement component 115 includes two electric motors 151, which are arranged on the carrier part 3 of the assembly device 1. A rotatable shaft 153 is secured to each of two guides 152 on opposite sides of the carrier part 3. Two wheels 154 are fixed to the shafts 153 in a rotationally fixed manner relative to the shafts 153. The wheels 154 can roll on the walls 105 of the elevator shaft 103 and are pressed against the respective walls 105 by means of a clamping device (not shown). The electric motors 151 are drive-connected to the shafts 153 via a drive connection 155 (e.g., in the form of a gear and chain) and can drive the wheels 154 and move the carrier part 3 within the elevator shaft 103.

On the carrier part 3 in FIG3 , on the side where the displacement part 115 is not present, a fixing element is also 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 located in the wall 105 of the elevator shaft 103 (similar to FIG1 ) on the side with the door opening 106 (not shown in FIG3 ). The assembly device 1 is thus installed in the elevator shaft 103 in such a way that the support element 119 is arranged accordingly.

The elongated support element 119 has a basic shape with a square or beam-like main body and is oriented vertically. Similar to the illustrations in Figures 1 and 2 , the support element extends over the entire vertical extent of the carrier part 3 and also protrudes beyond the carrier part in two directions. The support element 119 is connected to the carrier part 3 via two cylindrical connecting elements 123. The connecting elements 123 consist of two components (not shown separately) that can be manually pushed into and pulled apart from one another, and can be fixed in a variety of positions. This allows the spacing 122 between the support element 119 and the carrier part 3 to be adjusted.

A telescopic cylinder 120 is centrally arranged on the side of the carrier part 3 opposite the support element 119. The telescopic cylinder 120 has an extendable plunger 121 connected to a U-shaped extension element 124. The plunger 121 can be extended toward the wall 105 of the elevator shaft 103 to such an extent that the support element 119 and the extension element 124 connected to the plunger 121 come into contact with the wall 105 of the elevator shaft 103, thereby securing the carrier part 3 to the wall 105. This secures the carrier part 3 both vertically and horizontally, that is, transversely to the vertical direction. In the example shown, the telescopic cylinder 120 is extended and retracted electrically. However, other types of drives, such as pneumatic or hydraulic drives, are also conceivable.

3 is arranged on or in the region of the upper side of the carrier part 3. Similarly, the carrier part 3 also has a telescopic cylinder on or in the region of its lower side.

It is equally feasible that two telescopic cylinders or more than two, for example three or four telescopic cylinders are arranged on a height respectively. Here, for example the punch of the telescopic cylinder can be abutted against the wall of the elevator shaft without the need for an intermediate extension element.

The fixing element consisting of the supporting element and the telescopic cylinder can also be combined with an assembly device which can be moved within the elevator shaft by means of a support mechanism, as shown in FIG. 1 and FIG. 2 .

The assembly equipment must be powered in the elevator shaft and requires communication with the assembly equipment. Figure 4 shows the energy and communication connections to the assembly equipment 1 in the elevator shaft 103. The assembly equipment 1 comprises a carrier part 3 and a mechatronic mounting part 5 in the form of an industrial robot 7. The industrial robot 7 is controlled by a control system consisting of a power unit 156 arranged on the carrier part 3 and a control computer 157 located on a floor outside the elevator shaft 103. The control computer 157 and the power unit 156 are connected to each other via a communication line 158, for example, in the form of an Ethernet line. The communication line 158 is part of a so-called pendant cable 159, which also includes a power supply line 160, via which the assembly equipment 1 is supplied with power from a power source 161. For reasons of clarity, the internal wiring of the assembly equipment 1 is not shown.

The power unit 156 of the industrial robot 7 is powered via a power supply line 160 and is communicatively connected to a control computer 157 via a communication line 158. The control computer 157 can send control signals to the power unit 156 via the communication line 158. The power unit converts the control signals into specific control schemes for the individual electric motors (not shown) of the industrial robot 7 and then drives the industrial robot 7, for example, as specified by the control computer 157.

FIG5 shows a portion of a mounting component 5 embodied as an industrial robot, with a damping element 130 and a connected assembly tool in the form of a drill 131. A drilling insert 132 is inserted into the drill 131 and can be driven by the drill 131. The damping element 130 consists of a plurality of parallel rubber buffers 136, each of which can be considered a damping element. The damping element 130 is installed in an arm 133 of the industrial robot 7 and divides it into a first part 134 and a second part 135 on the drill side. The damping element 130 connects the two parts 134, 135 of the arm 133 of the industrial robot 7 and dampens shocks and vibrations introduced via the drilling insert to the second part 135.

According to FIG6 , the damping element 130 can also be arranged in a connecting element 137 from the industrial robot 7 to an assembly tool in the form of a drill 131. The damping element is essentially designed identically to the damping element 130 in FIG5 . The connecting element 137 is fixedly connected to the drill 131, so that the industrial robot 7 receives the combination of the connecting element 137 and the drill 131 for drilling a hole in the wall of the elevator shaft.

It is also possible to design the damping element as an integrated component of the drilling rig.

To monitor the wear of the drilling insert 132 of the drill 131, the feed rate during drilling and/or the time required to drill the hole to the desired depth are monitored. If a feed rate limit is exceeded and/or a time limit is exceeded, the drill is detected as abnormal and a corresponding notification is generated.

7 a and 7 b , a method for generating a position image of a reinforcement within a wall of an elevator shaft and a method for determining a first and a corresponding second drilling position are described.

FIG7 a shows an area 140 of the elevator shaft wall where drilling is to be performed at a first drilling location. To better illustrate the method, area 140 is divided into planning squares labeled with successive letters A to J to the right and ascending numbers 1 to 10 to the bottom. This division is performed similarly to FIG7 b .

In the region 140 shown in FIG. 7 a , first and second reinforcement bars 141 and 142 extend from top to bottom, wherein the first and second reinforcement bars extend in a straight line and parallel to each other, at least in the illustrated region 140. Here, the first reinforcement bar 141 extends from B1 to B10, and the second reinforcement bar 142 extends from I1 to I10. Additionally, third and fourth reinforcement bars 143 and 144 extend from left to right, wherein the third and fourth reinforcement bars extend in a straight line and parallel to each other, at least in the illustrated region. Here, the third reinforcement bar 143 extends from A4 to J4, and the fourth reinforcement bar 144 extends from A10 to J10.

To generate the image of the illustrated positions of the reinforcing bars 141, 142, 143, and 144, the reinforcing bar detection component 23 is guided by the mounting element 5 multiple times along the wall 105 of the elevator shaft. The reinforcing bar detection component 23 is first guided multiple times from top to bottom (and vice versa) and then from left to right (and vice versa). During its movement, the reinforcing bar detection component 23 continuously provides the distance 145 from the next reinforcing bar 143 in the direction of movement, so that based on the known position of the reinforcing bar detection component 23 and the mentioned distances 145, the illustrated image of the positions of the reinforcing bars 141, 142, 143, and 144 can be generated.

Once the positions of the rebars 141, 142, 143, 144 are known, a feasible first area 146 for the first drilling position can be determined. In Figure 7a, such a feasible first area 146 is a rectangle with corners C5, H5, C9 and H9.

For example, area 147 of the elevator shaft wall, shown in FIG. 7b , is laterally offset relative to area 140 in FIG. 7a . A second drilling process is to be performed in area 147 , but the drilling positions cannot be freely selected; rather, they must be arranged in a defined manner relative to the first drilling positions in area 140 according to FIG. 7a . The second drilling position, corresponding to the first drilling position, must, for example, be laterally offset relative to the first drilling position at a specific spacing. In the example shown, area 147 in FIG. 7b is laterally offset relative to area 140 in FIG. 7a at this spacing. In the examples shown in FIG. 7a and FIG. 7b , the corresponding first and second drilling positions are arranged in a consistent planning square. If the first drilling is performed in planning square B2 in area 140 in FIG. 7a , the second drilling must also be performed in planning square B2 in area 147 in FIG. 7b . This ensures that the second drilling is correctly positioned relative to the first drilling.

Because the reinforcement in the wall is not uniformly oriented throughout its entire length, the extension of the reinforcements 141, 142, 143, 144 in FIG7b is not the same as in FIG7a. The first reinforcement 141 extends from D1 to D10 in FIG7b, and the second reinforcement 142 extends from J1 to J10. The third reinforcement extends from A5 to J5 in FIG7b, and the fourth reinforcement 144 extends from A10 to J10 as in FIG7a.

After generating an image of the positions of rebars 141, 142, 143, and 144 for area 147 in Figure 7b, as described in Figure 7a, a feasible second area 148 for the second drilling location can be determined. In Figure 7b, feasible second area 148 is a rectangle with corners E6, I6, E9, and I9. The feasible areas for the first and second drilling locations can be derived based on the overlap of first area 146 and second area 148. This yields a first rectangular area 149 for the first drilling location and a rectangular area 150 for the second drilling location, each with corners E6, H6, E9, and H9, respectively. From these areas 149 and 150, the planned squares for the first and second drilling locations can be selected. In the example shown in Figures 7a and 7b, the first drilling location 170 in Figure 7a and the second drilling location 171 in Figure 7b are each defined within planned square E7.

An alternative method for determining the first drilling location and the corresponding second drilling location is described with reference to Figures 8a and 8b. The arrangement of the reinforcement bars 141, 142, 143, and 144 in Figure 8a is identical to that in Figure 7a, and the arrangement in Figure 8b is identical to that in Figure 7b. The division within the planning square is also identical.

First, feasible positions for the first drilling location are determined based on Figure 8a. To do this, the reinforcement detection component 23 is used to check whether drilling is possible at the desired drilling location (here, D5). This is the case here. Next, other feasible positions for the first drilling location are searched. To do this, starting from the desired drilling location D5, the remaining planned squares are examined in a spiral clockwise direction, here, E5, E6, and D6, which are located one after the other. Once four feasible positions have been found, the search for further feasible positions is discontinued. If one of the positions is known to be unfeasible due to the reinforcement, the search continues until four feasible positions have been found.

Next, a search is performed for a feasible second drilling position, as shown in FIG8 b . Based on the described correspondence between the two drilling positions, the second drilling position must be located in the same planning square as the first drilling position. First, a check is performed to see whether the desired drilling position, here D5, can also be used for the second drilling position. In the example shown, this is not possible due to a collision with the reinforcement 1417, so the search is continued in a spiral similar to the procedure for the first drilling position. The feasible second position E5 is not feasible due to a collision with the reinforcement 143. A feasible third position E6 is feasible, so that in the examples shown in FIG8 a and FIG8 b , the first drilling position 172 in FIG8 a and the second drilling position 173 in FIG8 b are each determined in planning square E6.

Finally, it should be noted that expressions such as "having" or "including" do not exclude other elements or steps, and expressions such as "a" or "an" do not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to the above embodiments can also be applied in combination with other features or steps of other embodiments described above. Reference numerals in the claims are not to be construed as limiting.

Claims (13)

1. An assembly apparatus (1) for performing an installation process in an elevator shaft (103) of an elevator device (101), wherein the assembly apparatus comprises: Carrier component (3); Mechatronic mounting components (5); Among them, the carrier component (3) is designed to move relative to the elevator shaft (103) and is positioned at different heights inside the elevator shaft (103); The mounting component (5) is held on the carrier component (3) and is designed to perform assembly steps at least partially automatically within the scope of the installation process. The carrier component (3) has fixing components (19, 119; 120) designed to fix at least one of the carrier component (3) and the mounting component (5) inside the elevator shaft (103) in a direction transverse to vertical (104). The fixing components (19, 119; 120) are designed to be laterally supported on the wall (105) of the elevator shaft (103). The fixing component (19, 119; 120) is characterized by having a fixedly arranged support element (119) that extends vertically in an elongated manner. 2. The assembly equipment according to claim 1, wherein the fixing components (19, 119; 120) are designed to fix at least one of the carrier component (3) and the mounting component (5) vertically (104) inside the elevator shaft (103). 3. The assembly equipment according to claim 1 or 2, wherein the fixing components (19, 119; 120) are designed to be fixed to the wall (105) of the elevator shaft (103) on their sides. 4. The assembly equipment according to claim 3, wherein the fixing component (120) has at least one ejectible punch (121). 5. The assembly equipment according to claim 1 or 2, wherein the distance between the support element (119) and the carrier component (3) can be manually adjusted. 6. The assembly equipment according to claim 1 or 2, further comprising a positioning component (21) designed to determine at least one of the position and orientation of the assembly equipment (1) inside the elevator shaft (103). 7. The assembly equipment according to claim 1 or 2, wherein the mounting component (5) is designed to perform at least partially automated multiple different types of assembly steps. 8. The assembly equipment according to claim 7, wherein the mounting component (5) is designed to use different assembly tools (9) in different types of assembly steps. 9. The assembly equipment according to claim 1 or 2, wherein the mounting component (5) is designed to perform at least one of the following assembly steps: The hole is drilled into the wall (105) of the elevator shaft (103) in a controlled manner, at least partially automatically; The bolts are screwed into the holes in the wall (105) of the elevator shaft (103) at least partially automatically; The components are installed onto the wall (105) of the elevator shaft (103) at least partially automatically. 10. The assembly equipment according to claim 1 or 2 further comprises a storage component (11), wherein the storage component (11) is designed to store the component (13) to be installed and to provide the component to be installed to the installation component (5). 11. The assembly equipment according to claim 1 or 2 further comprises a displacement component (15) designed to move the carrier component (3) vertically inside the elevator shaft (103). 12. The assembly equipment according to claim 1 or 2, wherein the mounting component (5) has an industrial robot (7). 13. A method for performing an installation process in an elevator shaft (103) of an elevator device (101), comprising the following steps: The assembly equipment (1) according to any one of claims 1 to 12 is introduced into the elevator shaft (103); The assembly equipment (1) is moved in a controlled manner inside the elevator shaft (103); At least one of the carrier component (3) and the mounting component (5) is fixed inside the elevator shaft (103) in a direction transverse to the vertical (104) by being supported on the wall (105) of the elevator shaft (103) from the side; Within the scope of the installation process, the assembly steps are performed at least partially automatically using assembly equipment (1). The feature is that the assembly equipment (1) is introduced into the elevator shaft (103) in such a way that the vertically elongated support element (119) is arranged opposite to the wall (105) of the elevator shaft (103) having a door opening (106).