HK1261262B - Method and assembly device for carrying out an installation process in an elevator shaft of an elevator system - Google Patents

Description

Method and assembly device for carrying out an installation operation in an elevator shaft of an elevator installation

Technical Field

The invention relates to a method for carrying out an installation operation in an elevator shaft of an elevator installation and to a fitting apparatus for carrying out an installation operation in an elevator shaft of an elevator installation.

Background

In WO2017/016780a 1a rigging apparatus and method for carrying out an installation process at least partially automatically in an elevator shaft of an elevator installation is described. The mounting device has a carrier component and an electromechanical mounting component held by the carrier component. Before the assembly step is carried out, the carrier part is brought in the elevator shaft into a fixed position in which the carrier part can absorb the forces occurring in the assembly step without being deflected. When the carrier part is brought into a fixed position, this can be achieved, for example, by a locking with respect to the wall of the elevator shaft, which may result in a deformation of the carrier part. This is the case in particular when the carrier part is in the region of a door section cut-out corresponding to a shaft door, since the carrier part lacks a support for the support in the region of the door section. Deformation of the carrier element may also occur in uneven walls of the elevator shaft. Such deformations can cause problems if the mounting part should receive a mounting means, such as a bolt, arranged on the carrier part.

JPH05105362A likewise describes an assembly apparatus and a method for at least partially automatically carrying out an installation process in an elevator shaft of an elevator installation. Before the rigging step is performed, the rigging equipment is locked in relation to the wall of the elevator shaft.

Disclosure of Invention

The object of the invention is, on the contrary, in particular to provide a method and an assembly machine for carrying out an installation process in an elevator shaft of an elevator installation, in which the implementation of the installation process is ensured. According to the invention, this object is achieved by a method for carrying out an installation process in an elevator shaft of an elevator installation and by an assembly machine for carrying out an installation process in an elevator shaft of an elevator installation.

In the method according to the invention for carrying out an installation process in an elevator shaft of an elevator installation, a rigging equipment is installed in the elevator shaft. The mounting device has a carrier part and an electromechanical mounting part with a control device, which is held by the carrier part. At least one mounting means is arranged on the carrier part. The carrier member is fixed in a fixed position in the elevator shaft. After the carrier part is fixed, the actual position of the mounting means arranged on the carrier part relative to the mounting part is determined. In the case of the application of the determined actual position of the mounting means relative to the mounting component, the mounting means together with the mounting component is received by the carrier component, and the mounting step is carried out with the received mounting means.

By determining the actual position of the mounting means arranged on the carrier part relative to the mounting part after fixing the carrier part in a fixed position, it is ensured that the mounting part can in any case receive the mounting means from the carrier part and can thus be used for performing the mounting step. This ensures that the planned assembly steps can also be carried out. The actual position of the mounting mechanism relative to the mounting component may be offset from the initial position before fixing and without deformation of the carrier component to such an extent that the mounting component cannot "find" the mounting mechanism without determining the actual position of the mounting mechanism. Therefore, the mounting member cannot receive the fitting mechanism, and thus cannot perform the set fitting step. Therefore, the mounting process cannot be performed. The determination of the assembly means with respect to the mounting part according to the invention ensures that: the mounting component is always able to receive the fitting mechanism even after the carrier component is fixed and thus may be deformed, and thus is able to perform the intended fitting step.

The steps are in particular carried out in the order described, but different orders are also conceivable. In addition, other steps not mentioned may also be performed multiple times or between the mentioned steps.

The installation process is to be understood here as e.g. installing or aligning a component, e.g. a so-called track bow lower component, in the elevator shaft.

The carrier part of the mounting device can be designed in different ways. For example, the carrier member may be designed as a simple platform, rack, scaffold, cabin, or the like. The carrier part has, in particular, an upper part, a lower part and side parts. The dimensions of the carrier part are selected here in particular in such a way that the carrier part can be easily received in the elevator shaft and moved in the elevator shaft in its main direction of extension. The main direction of extension of the elevator shaft is to be understood as: the elevator car of the completed elevator system travels in this direction. The main extension direction therefore extends in particular vertically, but may also be inclined with respect to the vertical or horizontal. The upper and lower parts are here oriented predominantly transversely to the main direction of extension, and the side parts are predominantly oriented in the main direction of extension. The mechanical design of the carrier part is selected in particular in such a way that the carrier part can reliably carry the electromechanical mounting part held thereon and, if necessary, can support the force exerted by the mounting part when performing the assembly step.

The mounting part of the mounting device should be mechatronic, i.e. it should have cooperating, mechanical, electronic and information-technology elements or modules.

For example, the mounting part may have a suitable mechanism to enable, for example, an assembly tool to be operated during the assembly step. The assembly tool can be brought by the mechanism to the assembly position, for example, and/or guided appropriately during the assembly step. Alternatively, the mounting part itself also has suitable means constituting the assembly tool. The mentioned assembly tool can be designed, for example, as a drill or a screwdriver.

The electronic elements or modules of the electromechanical mounting component can be used, for example, to appropriately control or control the mechanical elements or modules of the mounting component. Therefore, such electronic components or modules are used as control means for mounting components. The control device of the mounting part can be arranged on the carrier part or at another location inside or outside the elevator shaft. The control device of the mounting part can also assume its role independently of the mounting part. Further control devices may also be provided, which exchange information with each other, share control tasks and/or monitor each other. When reference is made below to control devices, reference is made here to one or more of these control devices.

Furthermore, the mounting component can have an information technology element or module, by means of which it can be inferred, for example, at which location the assembly tool is installed and/or in what manner the assembly tool is operated and/or guided there during the assembly step.

In this case, the interaction between the mechanical, electronic and information technology components or modules takes place in particular in such a way that, within the scope of the installation process, at least one assembly step can be carried out partially or completely automatically by the assembly device.

The rigging equipment is fixed in a fixed position relative to the elevator shaft, in particular in such a way that: the carrier part of the assembly device is moved in the elevator shaft in a direction transverse to the main direction of extension during an assembly step in which the mounting part is operated and, for example, a transverse force is applied to the carrier part. For this purpose, the mounting device can have in particular a fixing element, which can be designed, for example, to be supported or latched laterally on a wall of the elevator shaft in such a way that the carrier element can no longer be moved in the horizontal direction relative to the wall. For this purpose, the fastening element can, for example, have a suitable strut, stud, rod or the like.

The assembly means should here be regarded as an assembly tool which is required to perform the assembly step, as well as the consumed material consumed in the assembly step, e.g. mounted to a wall of the elevator shaft. The assembly tool may for example be a gripper, a drill, a screwdriver or a sensor that can be received by the mounting part. The consumable material can be, for example, a bolt, a stud, a washer or a so-called lower rail-arch part, which can be received by the mounting part, in particular by means of a previously received assembly tool, and is fixed, for example, on a wall. The mounting part can in particular also receive a plurality of identical or different mounting means one after the other or simultaneously.

The actual position of the fitting means relative to the mounting part can be determined in very different ways. This may be determined, for example, by "searching" the mounting mechanism from the mounting member using a probe or scanner. It is also possible to detect an image of the carrier part after fixing by means of a camera and then to determine the mounting means and its position by means of image processing. In addition, other solutions for determining the actual position of the mounting means are also possible.

The mounting means need not be arranged directly on the carrier part, but can also be arranged, for example, in a magazine arranged on the carrier part. The mounting means are thereby arranged indirectly on the carrier part. In this case, the mounting means together with the mounting part are received by the carrier part, which is to be understood to mean that the mounting part receives the mounting means arranged directly or indirectly on the carrier part. When the assembly means is embodied as an assembly tool, the mounting component uses the assembly means to perform the mounting step, i.e. for example a drill bit for drilling a hole in a wall of the elevator shaft. If the assembly means are designed in the form of a consumable material, for example a bolt, the mounting part screws the bolt into a hole provided for this purpose in the wall of the elevator shaft.

In particular, a plurality of mounting means are arranged on the carrier part. In this case, it is particularly sufficient to acquire the actual position of only one mounting device and to push out the actual position of the other mounting device by means of one of the actual positions. In this process, it is assumed that the relative position of the individual mounting means with respect to one another is not changed or is changed only slightly by the fastening of the carrier part.

The actual position of the mounting means can also be determined, for example, by: the actual position of the reference point is determined, and based thereon the actual position of the mounting mechanism is determined. For example, a plurality of assembly means, such as bolts, may be arranged in a magazine on the carrier member. In this case, the actual position of the bin may be determined, for example, by determining the actual position of one or two reference points of the bin. The datum point may be, for example, a corner of the cartridge or may also be an assembly mechanism, such as a bolt in the cartridge. The actual position of the bolt can then be deduced from the actual position of the bin. In this method, the starting point is that the magazine is not deformed or only very slightly deformed, and the relative position of the individual screws with respect to the magazine is not changed or is changed only very slightly by the fixing of the carrier part.

The actual position of the mounting means can be determined directly as described and stored in particular for later use in the control device. However, it is also possible that in the control device, the initial position of the fitting mechanism with respect to the initial coordinate system is set before fixing, and the change in the actual coordinate system is acquired. Based on this change, the actual position of the mounting mechanism can be determined from the initial position by a so-called coordinate transformation.

In order to displace the rigging equipment in the elevator shaft in the main direction of extension of the elevator shaft, in particular a displacement element is provided. For example, a drive preassembled in the elevator shaft can be provided as a displacement element. The drive can be provided only for moving the mounting part or can also be embodied as a drive machine for the elevator installation later, by means of which drive machine the elevator car can be moved in the mounted state and the drive machine can be used for moving the mounting device during the previous mounting process.

The displacement member can be designed in different ways in order to be able to move the assembly device within the elevator shaft.

For example, the displacement element can be fastened to a carrier element of the assembly device or to a holding location above the interior of the elevator shaft and have a bendable support means, such as a rope, chain or belt, which can be subjected to tensile loads and which is held at one end on the displacement element and at the other end on the respective other element, i.e. on the holding location above the elevator shaft or on the assembly device.

In one embodiment of the invention, the mounting component is held by a holding device of the carrier component, and the actual position of the mounting means relative to the holding device is determined. The holding device thus serves as a basis for the mounting component, and the holding device in particular forms the origin of the coordinate system of the mounting component. By determining the actual position relative to the holding device, the actual position relative to the origin of the coordinate system of the mounting part is determined. Thus, the possibly necessary transformations between the different coordinate systems can be realized particularly easily.

In one embodiment of the invention, at least two magazines for mounting means are arranged on the carrier part and the actual position of the mounting means in each magazine is determined. In this way, a particularly high degree of accuracy for determining the actual position of the mounting means in each magazine can be achieved, in particular when the magazines are coupled with the carrier part at different distances from the mounting part, in particular the holding part, in the main direction of extension of the mounting part. For example, a first cartridge on the lower component and a second cartridge on the side can be coupled to the carrier component between the lower component and the upper component. Thereby ensuring that: all mounting means arranged on the carrier part can be received by the mounting part. In particular, the magazine is to be regarded as a device for accommodating a plurality of mounting means, such as screws or mounting tools, which are not deformed when the carrier part is fixed, whereby the relative position of the mounting means in the magazine is not changed by the fixing. For example, a magazine for consumable materials and a magazine for assembly tools may be arranged on the carrier part. The actual position of the mounting means can be determined directly or by determining the actual position of one or more reference points, as described above.

In one embodiment of the invention, the actual position of the mounting means relative to the mounting component is determined as a function of an initial position of the mounting means stored in the control device of the mounting component and a deformation of the carrier component caused by the fastening. Thus, the actual positions of a plurality of different assembly means can be determined very easily and efficiently.

The initial position of the mounting means is stored relative to the mounting part, in particular relative to a holding device in the control device. The initial position for the mounting mechanism is considered to be the position of the mounting mechanism prior to fixing with respect to the mounting component, i.e. without deformation of the mounting component. In this case, it is not necessary to determine the exact deformation of the carrier part due to the fixing. In order to carry out the process according to the embodiment of the process of the invention, it is sufficient that: the "effect" of the deformation, e.g., a change in the position of the mounting mechanism relative to the mounting component or a change in the coordinate system of the mounting component, is determined.

The different assembly means, for example bolts or assembly tools, have a fixedly predetermined position on the carrier part, so that the initial position of the different assembly means does not change, and can therefore be stored in the control device of the mounting part, in particular as coordinates relative to the initial coordinate system of the mounting part. In this method, it is particularly advantageous if the carrier part is only elastically deformed by the fastening, i.e. if the carrier part after the fastening returns again to its initial state before the fastening. For example, the deformation occurring during the fixing of the mounting component can be expressed by changing the initial coordinate system of the mounting component to the actual coordinate system. For example, the actual position of the mounting device can be determined by a coordinate transformation from a starting coordinate system to an actual coordinate system starting from an initial position. In order to determine the actual position, the necessary coordinate transformation has to be determined.

In particular, the necessary coordinate transformation may be determined by measuring the actual position of at least one reference point of the carrier member. In a configuration of the invention, the deformation of the carrier part is therefore determined from the actual position measured by means of the sensor and the initial position of the at least one reference point of the carrier part, which is stored in the control device of the mounting part.

If the elevator shaft is regarded as square, the deformation of the carrier part can be regarded as a simplified displacement of the upper part of the carrier part relative to the lower part only in a fixed direction. In addition, for simplicity, it may be assumed that the distance between the upper and lower parts is constant. If the initial coordinate system of the mounting component is selected in such a way that the axis extends in the fixed direction, the actual coordinate system is obtained from a displacement of the initial coordinate system in the fixed direction. I.e. only the coordinates in the direction of the shift change. The amount of shift can be determined by determining the actual position of the reference point by means of a sensor. The reference points may not be arranged on the same part of the carrier part if the mounting part is held by it on the upper part or the lower part of the carrier part. For example, if the mounting component is held on an upper part of the carrier component, i.e. the holding means are arranged on the upper part, the reference points are arranged in particular on a lower part of the carrier component. In general, the reference point should be selected in such a way that its actual position differs as much as possible from its starting position, in particular as different as possible with respect to the holding device with respect to the main direction of extension. With all the fitting mechanisms which have the same distance from the coupling portion of the support member to the coupling portion of the reference point in the main extension direction, the coordinates change by the same amount in the displacement direction as the coordinates at the reference point. The distance from the holding device in the main direction of extension is understood here to be the distance from the coupling to the carrier part. If the reference point is thus coupled to the carrier part via the lower part as described above, this applies to all assembly mechanisms which are also coupled to the carrier part via the lower part. The assembly means may be coupled to the carrier part, for example, by a magazine arranged on the underside.

On the above-mentioned premise, with an assembly mechanism which has a different distance from the coupling portion of the reference point in the main direction of extension from the holding means with the coupling portion of the carrier component, the amount of change in the coordinate in the direction of displacement is proportional to the change in the mentioned distance.

The described process can also be repeated with a second reference point which is coupled to the carrier element at different distances from the holding device in the main direction of extension. In particular, a second reference point can be selected which is coupled with the carrier component at the same distance from the holding device in the main direction of extension, such as a second magazine for the assembly means. The actual position of the second cartridge and thus also of the assembly means arranged therein can thus be determined very precisely.

The fixing direction is understood here to be the direction in which the carrier part is locked relative to the wall of the elevator shaft. Since it may happen that a plurality of elevator shafts are arranged next to one another, the elevator shafts always have a front wall with a door section and an opposite rear wall, which may also have a door section, but need not necessarily have side walls. Thus, the fixation is typically performed with respect to the front wall and the rear wall such that the fixation direction extends between the front wall and the rear wall.

If it is desired or necessary to determine the actual position of the assembly means more accurately, the actual positions of the other reference points can be determined and thereby the actual coordinate system of the mounting part and the required coordinate transformation can be determined. If it is assumed that no twisting of the carrier element occurs, it is sufficient to determine the actual position from the reference points. If rotations about different axes are also to be considered, the actual positions of the three reference points need to be determined. It is also possible to determine the actual position of more than one reference point for each degree of freedom and to average the results.

In addition, it is possible to use one or more actual positions of the reference points and their associated initial positions as scaling factors for a so-called finite element calculation and thereby calculate the total deformation of the carrier component.

The mentioned sensors can in particular determine the position of a reference point without contact, for example the distance of the sensor from the reference point. The sensor can be embodied, for example, as a laser scanner, a laser or ultrasonic distance meter or a 3D digital camera with an associated evaluation unit. In order to be able to determine the actual position of the reference point particularly accurately and simply, the reference point can be designed, for example, as a defined corner of a magazine for the assembly means, from which the distance to the sensor is measured. Since the control device manipulates the mounting part, the position of the sensor is known, so that the actual position of the reference point can be determined on the basis of the position of the sensor and the measured distance.

The sensor is arranged in particular on the mounting part and in particular already in a fixed position on the mounting part before the carrier part is fixed. The sensor is therefore also a mounting means in the sense of the present invention. The sensor may for example be arranged in a magazine on the carrier member. In order to be able to reliably receive the sensor by the mounting part, the sensor should be received before the fastening and thus before a possible deformation of the carrier part.

In one embodiment of the invention, the sensor is arranged fixedly on the mounting part. In particular, the sensor is arranged on a part of the mounting part which is movable relative to the carrier part, and in particular as close as possible to the outer end of the mounting part, for example on the boom end of an industrial robot. Thus, the mounting component does not have to pick up the sensor before each use, thus allowing a particularly time-saving mounting process.

It is also conceivable that the sensor is designed as a gauge (master) arranged on the mounting part, i.e. that the measurement of the actual position of the reference point is achieved by contact with the reference point.

In one embodiment of the invention, at least one deformation sensor is arranged on the carrier part, by means of which the degree of deformation of the carrier part is measured. In order to determine the deformation of the carrier part particularly accurately, it is possible. In particular, the deformation sensor may be embodied as one or more strain measuring strips, by means of which the stress in the carrier component can be measured. Based on the measured stresses, the deformation of the carrier component may be determined, for example, by finite element calculations. The strain measurement band or bands are especially arranged at locations with high stress, i.e. e.g. on corners of the carrier part.

The deformation sensor can also be embodied, for example, as an angle sensor, which measures the angle or the change in angle between parts of the carrier part, for example the upper part, and the connecting element with the lower part of the carrier part. From this change of angle, a deformation of the carrier element can also be deduced.

The above object is also achieved by a rigging installation for carrying out an installation process in an elevator shaft of an elevator installation having a carrier part and an electromechanical mounting part held by the carrier part and a control device. The control device is provided to determine an actual position of the mounting means relative to the mounting means, which is arranged on the carrier part, and to actuate the mounting means, using the actual position of the mounting means, in such a way that the mounting means receives the mounting means from the carrier part and performs the mounting step, using the received mounting means. The rigging equipment is designed in particular for movement in the main direction of extension of the elevator shaft. The main direction of extension of the elevator shaft is to be understood here as the direction in which the elevator car of the completed elevator installation travels. The main extension direction extends in particular vertically, but the main extension direction can also extend obliquely or horizontally with respect to the vertical.

In one embodiment of the invention, the control device is provided for determining the actual position of the mounting means relative to the mounting part as a function of an initial position of the mounting means stored in the control device and a deformation of the carrier part caused by the fixing.

In one embodiment of the invention, a sensor for measuring the actual position of the reference point is arranged fixedly on the mounting part.

In one embodiment of the invention, at least one deformation sensor is arranged on the carrier part, by means of which the amount of deformation of the carrier part can be measured.

In one embodiment of the invention, the deformation sensor is embodied in such a way that the stress in the carrier part can be determined. The control device is provided for determining the deformation of the carrier part on the basis of the measured stress.

The assembly device according to the invention has the same advantages as the method according to the invention described above. The control device can be provided in particular for carrying out the method steps of the above-described embodiment of the method according to the invention.

Drawings

Further advantages, features and details of the invention are obtained by the following description of embodiments and by the drawing in which identical or functionally identical elements are provided with the same reference numerals.

Figure 1 shows a perspective view of an elevator shaft of an elevator installation with a rigging equipment received therein,

figure 2 shows a perspective view of the mounting device,

fig. 3 shows a simplified view of the side of the rigging equipment in the elevator shaft before fixing the carrier part, an

Fig. 4 shows a simplified view of the side corresponding to fig. 3 after the fixing of the carrier part.

Detailed Description

Fig. 1 shows an elevator shaft 103 of an elevator installation 101, in which an installation device 1 according to an embodiment of the invention is arranged. The mounting device 1 has a carrier part 3 and an electromechanical mounting part 5. The carrier part 3 is designed as a frame with an upper part 30 and a lower part 31 (see fig. 2), wherein the electromechanical mounting part 5 is mounted on the upper part 30 by means of a holding device 109. The dimensioning of the frame achieves that the carrier element 3 is displaced in the elevator shaft 103 in the main direction of extension 108 of the elevator shaft 103 and thus in this case vertically, that is to say for example to different vertical positions on different floors in the building. In the example shown, the electromechanical mounting component 5 is embodied as an industrial robot 7 which is mounted on the upper part 30 of the carrier component 3 in a downwardly suspended manner by a holding device 109. In this case, an arm of the industrial robot 7 can be moved relative to the moving part 3, the carrier part 3 and, for example, to a wall 105 of the elevator shaft 103.

The carrier element 3 is connected via a wire rope serving as a support means 17 to a displacement element 15 in the form of a motor-driven winch, which is mounted above in the elevator shaft 103 at a holding point 107 on the ceiling of the elevator shaft 103. By means of the displacement elements 15, the rigging equipment 1 can be moved vertically within the elevator shaft 103 in the main direction of extension 108, i.e. over the entire length of the elevator shaft 103.

The mounting device 1 also comprises fixing elements 19, by means of which the carrier element 3 can be fixed laterally, i.e. horizontally, in the elevator shaft 103. The carrier part 3 is thus brought into the fixing position, the carrier part 3 being shown in the fixing position in fig. 1. The studs 25 (see fig. 2) arranged on the rear side of the carrier part 3 are four in total, two above and two below, which studs can be displaced outwards in the rear direction to fix the carrier part 3 and in this way the carrier part 3 is secured between the walls 105 of the elevator shaft 103 by means of the fixing elements 19 and the studs 25. The stud 25 can be expanded outwards here, for example by means of hydraulics or the like, in order to fix the carrier element 3 in the elevator shaft 103 in the horizontal direction. It is also possible that the fixing part 19 can alternatively or additionally be displaced outwards.

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

The carrier part 3 is designed as a cage-like frame, wherein a plurality of horizontally and vertically extending spars form a structure that can carry mechanical loads, in particular an upper part 30 and a lower part 31.

On the upper part 30 of the cage-like carrier part 3, a holding cable 27 is attached, which can be connected to the support means 17. By moving the support means 17 in the elevator shaft 103, that is to say, for example, by winding up or unwinding the flexible support means 17 on a winch of the displacement element 15, the carrier element 3 can thus be displaced in a suspended manner in the main direction of extension 108 and thus vertically in the elevator shaft 103.

The carrier part 3 is laterally provided with a fastening part 19. In the example shown, the fixing part 19 is configured with an elongated spar extending vertically. On the rear side of the carrier part 3 opposite the fixing part 19, a total of four studs 25 are arranged, of which, however, only one stud can be seen below and above. The stud 25 can be displaced in the horizontal direction with reference to the frame of the carrier member 3. For this purpose, the column head 25 can be mounted on the carrier part 3, for example, by means of lockable hydraulic cylinders or self-locking motor spindles. When the stud 25 is moved away from the frame of the carrier member 3, the stud is moved laterally towards one of the walls 105 of the elevator shaft 103. In this way the carrier element 3 can be locked firmly in the elevator shaft 103 between the fixing element 19 and the stud 25, so that the carrier element 3 is fixed laterally and thus in a fixed position in the elevator shaft 103, for example during the execution of the assembly step. The forces introduced into the carrier element 3 can in this state be transmitted to the wall 105 of the elevator shaft 103, preferably without the carrier element 3 moving or vibrating within the elevator shaft 103. The carrier element 3 may be deformed, in particular if the fixing element 19 does not bear against the wall 105 of the elevator shaft 103 over its entire length. This is the case in particular when the fixing element 19 projects into the door cross-section of the elevator shaft 103.

In the embodiment shown, the electromechanical mounting component 5 is implemented by means of an industrial robot 7. It should be noted, however, that the electromechanical mounting part 5 can also be realized in other ways, for example with differently designed actuators, manipulators, actuators, etc. In particular, the installation components can have electromechanical devices or robots specifically adapted for the use of the installation process in the elevator shaft 103 of the elevator installation 1.

In the example shown, the industrial robot 7 is equipped with a plurality of robot arms pivotable about a pivot axis. For example, the industrial robot may have at least six degrees of freedom, i.e. the assembly tool 9 guided by the industrial robot 7 may be movable in six degrees of freedom, i.e. for example have three degrees of rotational freedom and three degrees of translational freedom of movement. For example, the industrial robot can be designed as a vertical articulated arm robot, a horizontal articulated arm robot or a SCARA robot (selective compliance assembly robot) or as a cartesian robot or as a gantry crane robot.

The robot can be coupled at its cantilever end with different assembly tools or sensors 9, which are held in a first magazine 32 arranged on the carrier part 3. The assembly tool or sensor 9 may differ in its design and its use. The assembly tool or sensor 9 can be held on the carrier part 3 in such a way that the cantilever end 122 of the industrial robot 7 can approach the assembly tool or sensor and be coupled with one of them. By means of the assembly tool 9, the industrial robot can receive the component 13 to be mounted or fastening bolts, not shown in detail. The assembly tool and the sensor 9 as well as the consumable materials in the form of the component to be mounted 13 and the fixing bolt are referred to herein as an assembly mechanism.

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 mounting part 5 can be configured to achieve at least partially automatically controlled drilling, for example into one of the walls 105 of the elevator shaft 103. The drilling tool can be moved and operated, for example, by the industrial robot 7 in such a way that the drilling tool drills a hole in a defined position, for example in the concrete of the wall 105 of the elevator shaft 103, for example, and then can screw a bolt for fastening a fastener into the drilled hole.

Another setting tool 9 can be configured as a screwing device for screwing a fixing bolt at least partially into a previously drilled hole in the wall 105 of the elevator shaft 103.

A second magazine 11 can also be provided on the carrier element 3. The magazine 11 can be used for storing components 13 to be mounted and for providing mounting means 5.

In the example shown, the industrial robot 7 can, for example, automatically pick up a fixing bolt from the magazine 11 and screw it into a previously drilled mounting hole in the wall 105, for example, using an assembly tool 9 designed as a screw device.

In the example shown, it can be seen that, by means of the fitting apparatus 1, the mounting step of the mounting process (in which the component 13 is fitted on the wall 105) can be carried out completely or at least partially automatically, in such a way that: the mounting member is first drilled into the wall 105 and fixing bolts are screwed into these holes.

For controlling the mounting component 5 and in particular the industrial robot 7, the assembly plant 1 has a control device 21 which is arranged on the upper component 30 of the carrier component 3. The control device 21 is in signal communication with a sensor 121 arranged on the boom end of the industrial robot 7. The sensor 121 may be used as an alternative to the sensor 9 from the bin 32. The sensor 121 is designed, for example, as a laser scanner, with the aid of which the distance to any object can be determined. The control device 21 can thus in particular determine the distance of the sensor 121 to the reference point 23 arranged on the lower part 31 of the carrier part 3, and thus the control device 21 knows the position of the industrial robot 7 and thus also the position of the sensor 121 relative to the holding device 109 and thus relative to the carrier part 3, from which the control device can determine the position of the reference point 23 relative to the mounting part 5, in particular relative to the holding device 109. The control device 21 can determine the so-called actual position of the reference point 23 in the fixed position, that is to say after the carrier part 3 has been fixed. By comparing the actual position with the initial position of the reference point 23 stored in the control device 21 before the fixing of the carrier part 3, the deformation of the carrier part 3 by the fixing can be derived. Based on the stored initial positions of the assembly tool 9 and the assembly means in the form of the component 13 to be mounted and the deformation information about the carrier part 3, the actual position of the carrier part can be determined. It is also possible to determine the actual position of the two magazines 11, 32 and, in contrast thereto, the actual position of the respective assembly means 9, 13.

The manner for determining the actual position of the fitting means 9, 13 is explained in more detail with reference to fig. 3 and 4. Fig. 3 is a simplified view of the side of the mounting device 1 in the elevator shaft 103 before the fixing of the carrier part 3, i.e. in the initial state, and fig. 4 shows it in the state after the fixing. For the sake of clarity, the illustration of the mounting part 5 is omitted, and only the retaining means 109, which are arranged on the upper part 30 of the carrier part 3, are shown. The mounting device 1 is located in the region of the door cross-section 123 of the wall 105 of the elevator shaft 103 in the form of a front wall 124. The mounting device 1 is positioned in such a way that the upper part 30 of the carrier part 3 is in the region of the door section 123 and the lower part 31 is below the door section 123. The fastening part 19 of the carrier part 3 can thus be supported on the front wall 124 in the region of the lower part 31, whereas in the region of the upper part 30 there is no support for the support. When the carrier element 3 is locked by moving the stud 25 in the direction of the wall 105 in the form of the rear wall 125 of the elevator shaft 103, the carrier element 3 is pressed into the door section 123 in the region of the upper element 30 and, in the region of the lower element 31, rests against the front wall 124 by means of the fixing element 19. This results in a deformation of the carrier member 3. This state is shown in fig. 4.

In the initial state in fig. 3, an initial coordinate system is assigned to the mounting component, the origin 126 of which is located centrally on the upper side of the holding device 109. The x-axis extends in a direction horizontally toward the rear wall 125. The z-axis extends vertically downwards, i.e. in the main extension direction of the elevator shaft 103, and the y-axis, not shown, extends into the drawing sheet. The first reference point 23 is arranged directly on the lower part 31 with the carrier part 3 and has an x-coordinate x1A and a z-coordinate z 1A. The second reference points 24 are arranged on a side part 33 of the carrier part 3 opposite the fixed part 19 and have an x-coordinate x2A and a z-coordinate z 2A. The y coordinate is not relevant in this regard. Here, the x-coordinate x1A of the first reference point 23 is smaller than the x-coordinate x2A of the second reference point 24. Here, the z-coordinate z1A of the first reference point 23 is greater than the z-coordinate z2A of the second reference point. The above coordinates characterize the initial position of the two reference points 23, 24 and are stored in the control means 21 of the mounting part 5. Thereby, the coupling portion of the first reference point 23 is at a distance from the holding arrangement 109 in the main direction of extension equal to the z-coordinate z1A and the coupling portion of the second reference point is at a distance from the holding arrangement 109 in the main direction of extension equal to the z-coordinate z 2A.

By fixing the carrier part 3 by means of the studs 25 and the fixing part 19, the carrier part 3 is deformed in such a way that the upper part 30 is displaced relative to the lower part 31 counter to the x-direction, i.e. in the fixing direction. Thereby, the origin of the coordinate system of the mounting member 5 is also moved. The origin of the shift is indicated with reference numeral 126'. Thereby, the x 'axis and the z' axis of the coordinate system are obtained. For simplicity, it is assumed that the distance between the upper part 30 and the lower part 31 remains the same, with no displacement along the y-axis and no twisting about one of the axes. Thus, the y-and z-coordinates of the reference points 23, 24 and all other elements of the mounting part 3 remain unchanged, and only the x-coordinate changes in the x' -coordinate.

In order to determine the x ' coordinate after fixing relative to the shifted origin 126 ', the control device 21 brings the sensor 121 in the vicinity of the first reference point 23 and determines the distance between the sensor 121 and the first reference point 23 in the x ' direction by means of the sensor 121. Since the position of the sensor 121 and thus also the x 'coordinate of the sensor 121 is known to the control device 21, the control device can determine the x' coordinate x1I of the first reference point 23 in the fixed position by means of the distance measured by the sensor 121. The coordinates described above represent the characteristics of the actual position of the first reference point 23. By comparing the x-coordinate x1A in the initial position and the x '-coordinate x11 in the fixed position, the control device 21 can calculate the shift amount dx of the origin 126' from the original origin 126. The z-coordinate of reference point 23 remains the same (z1A ═ z 1I).

For all the assembly means which are also coupled to the carrier part 3 via the bottom surface 31, the x' coordinate varies by the same amount as for the first reference point 23. For assembly means whose coupling to the carrier component has a small distance in the main direction of extension from the holding device 109, the amount of change in the x' coordinate decreases in proportion to the decrease in said distance.

In the case of using the calculated actual position of the fitting tool 9, the fitting tool can be received and an installation step can be performed, for example drilling a hole in the wall of the elevator shaft.

The process is similar if not the upper part 30 but the lower part 31 is pushed into the door opening 123 when fixing the carrier part 3. The only difference is that the origin 126 of the coordinate system remains unchanged and the first reference point 23 is displaced with respect to the origin 126.

In order to determine the degree of change in the x' coordinate very precisely also for mounting mechanisms whose coupling to the mounting part is at a small distance from the holding device, in particular at the same distance as the second reference point 24, the described method can be repeated with the second reference point 24 and the actual coordinate x2I of the second reference point 24 determined. The z coordinate also remains unchanged for the second reference point 24 (z2I ═ z 2A). For this purpose, the actual position of the second reference point 24 can be determined, similar to the solution of determining the actual position of the first reference point 23. By comparing the coordinates in the starting position x2A with the actual coordinates x2I of the second reference points 24, the amount of change in the x' coordinate of the reference points 24 in the x direction can be determined. For all assembly mechanisms whose coupling to the carrier component has the same distance in the main direction of extension from the holding device 109 as the second reference point 24, the x' coordinate changes by the same amount as in the case of the second reference point 24.

The reference points 23, 24 in particular each indicate the position of a magazine for receiving a mounting device.

In addition, the actual positions of other not shown reference points may be determined and evaluated and utilized as described.

Additionally or alternatively, deformation sensors 127 in the form of strain gauge strips may be arranged on the corners of the carrier part 3, by means of which the stress in the carrier part 3 in the fixed position is measured. On the basis of the measured stress, the deformation of the carrier component 3 is determined by means of finite element calculations of the control device 21.

Alternatively, the control device 21 may also search for the actual position of the relevant assembly means directly via the sensor 121, store it and then use it for the planned assembly step. In this case, the sensor 121 may be embodied in particular as a 3D camera, the image of which is evaluated by image processing.

Claims (15)

1. A method for carrying out an installation process in an elevator shaft (103) of an elevator installation (101), having at least the following steps:

the assembly device (1) is inserted into an elevator shaft (103) and comprises a carrier part (3) and an electromechanical mounting part (7) which is held by the carrier part (3) and has a control device (21), wherein at least one assembly means (9, 13) is arranged on the carrier part (3),

fixing the carrier element (3) in a fixed position in the elevator shaft (103),

the method is characterized by comprising the following steps:

determining the actual position of the assembly means (9, 13) relative to the mounting part (7),

in the case of the application of the actual position of the assembly means (9, 13), the assembly means (9, 13) and its mounting component (7) are received, and

the assembly step is carried out using the received assembly means (9, 13).

2. A method as claimed in claim 1, characterized in that the mounting component (7) is held by the carrier component (3) by means of a holding device (109) and the actual position of the assembly means (9, 13) relative to the holding device (109) is determined.

3. A method according to claim 1 or 2, characterized in that at least two magazines (11, 32) for the assembly means (9, 13) are arranged on the carrier part (3) and that the actual position of the assembly means (9, 13) in each magazine (11, 32) is determined.

4. Method according to claim 1 or 2, characterized in that the actual position of the assembly means (9, 13) relative to the mounting part (7) is determined on the basis of an initial position of the assembly means (9, 13) stored in a control device (21) of the mounting part (7) and a deformation of the carrier part (3) due to the fixation.

5. Method according to claim 4, characterized in that the deformation of the carrier part (3) is acquired on the basis of the actual position of at least one reference point (23, 24) of the carrier part (3) measured by means of the sensor (121) and the initial position stored in the control device (21) of the mounting part (7).

6. Method according to claim 5, characterized in that the measurement of the actual position of the reference point (23, 24) is effected contactless.

7. Method according to claim 5, characterized in that the sensor (121) is arranged in a fixed position on the mounting part (7) before the carrier part (3) is fixed in order to measure the actual position of the reference points (23, 24).

8. Method according to claim 7, characterized in that the mentioned sensor (121) is fixedly arranged on the mounting part (7).

9. The method according to claim 4, characterized in that at least one deformation sensor (127) is arranged on the carrier part (3), by means of which the amount of deformation of the carrier part (3) is measured.

10. The method of claim 9,

the stress in the carrier part (3) is determined by means of a deformation sensor (127), and the deformation of the carrier part (3) is determined on the basis of the measured stress.

11. A rigging installation for carrying out an installation process in an elevator shaft (103) of an elevator installation (101) having a carrier component (3) and an electromechanical mounting component (7) held by the carrier component (3), characterized in that:

a control device (21) which is provided for determining the actual position of the mounting means (9, 13) arranged on the carrier part (3) relative to the mounting part (7), and

in the case of the application of the actual position of the assembly means (9, 13), the mounting part (7) is actuated in the following manner: so that the mounting part receives the fitting mechanism (9, 13) and performs the fitting step with the received fitting mechanism (9, 13) applied.

12. The fitting apparatus according to claim 11,

the control device (21) is provided for determining the actual position of the mounting means (9, 13) relative to the mounting part (7) as a function of the initial position of the mounting means (9, 13) stored in the control device (21) and the deformation of the carrier part (3) caused by the fixing.

13. The mounting arrangement according to claim 11 or 12, characterized by a sensor fixedly arranged on the mounting part (7) for measuring the actual position of the reference point (23, 24).

14. The mounting device according to claim 11 or 12, characterized in that at least one deformation sensor (127) is arranged on the carrier part (3), by means of which the amount of deformation of the carrier part (3) can be measured.

15. The assembling apparatus according to claim 14, characterized in that the deformation sensor (127) is implemented in the following way: so that the stress in the carrier part (3) can be determined, and the control device is provided for determining the deformation of the carrier part (3) on the basis of the measured stress.