Automated mounting device for performing assembly jobs in an elevator shaft of an elevator system

Patent metadata

Field	Value
Publication number	US-10843902-B2
Application number	US-201615746161-A
Country	US
Kind code	B2
Filing date	Jun 30, 2016
Priority date	Jul 24, 2015
Publication date	Nov 24, 2020
Grant date	Nov 24, 2020

Abstract

A mounting device for performing an assembly job in an elevator shaft of an elevator system has a support component and a mechatronic assembly component. The support component is configured to be moved within the elevator shaft. The assembly component is held at the support component and configured to perform a mounting step as part of the assembly job in at least a partially automatic manner. The assembly component can be an industrial robot. The mounting device allows repetitive mounting jobs, such as drilling holes and driving in screws, etc., to be performed in a partially or fully automated manner. The mounting effort, time, and/or costs thereby can be reduced.

First claim

The invention claimed is:

1. A mounting device for performing an assembly job in an elevator shaft of an elevator system, the mounting device comprising:
a support component;
a mechatronic assembly component including an industrial robot being adapted to be coupled with various mounting tools at a cantilever end of the industrial robot;
a scanning component guided by the mechatronic assembly to positions along a wall of the elevator shaft and continuously measuring a distance from the positions to the wall of the elevator shaft thereby allowing determination of angular position and a condition of the wall, including irregularities, ledges, or existing holes in the wall
wherein the support component is adapted to be moved relative to the elevator shaft and to be positioned at different heights within the elevator shaft;
wherein the mechatronic assembly component is held at the support component and adapted to perform a mounting step as part of the assembly job in at least a partially automatic manner; and
wherein the mounting device uses the measured distance from the scanning component to adjust a control of the mechatronic assembly component in performing the mounting step of the assembly job.

2. The mounting device according to claim 1 including a positioning component being at the support component and adapted to determine at least one of a position and an orientation of the mounting device within the elevator shaft.

3. The mounting device according to claim 1 wherein the mechatronic assembly component is adapted to carry out several different types of mounting steps in at least a partially automatic manner.

4. The mounting device according to claim 3 wherein the mechatronic assembly component is adapted to use the various mounting tools for the different types of the mounting steps.

5. The mounting device according to claim 4 wherein the mechatronic assembly component is adapted to pick up each of the various mounting tools prior to a performance of an associated one of the mounting steps.

6. The mounting device according to claim 4 including a tool magazine component at the support component adapted to store the various mounting tools and to provide the various mounting tools to the mechatronic assembly component.

7. The mounting device according to claim 1 wherein the mechatronic assembly component is adapted to perform at least one of the following mounting steps:
at least a partially automatically controlled drilling of holes in a wall of the elevator shaft;
at least a partially automated driving of screws into holes in a wall of the elevator shaft; and
at least a partially automatic mounting of components on the wall of the elevator shaft.

8. The mounting device according to claim 1 including a displacement component adapted to move the support component vertically within the elevator shaft.

9. The mounting device according to claim 8 wherein the displacement component is fixed on one of the support component and a stop on top of the elevator shaft, the displacement component including a carrier means being flexible under tension, a one end of the carrier means being held at the displacement component and another end of the carrier means being fixed at the support component or the stop on top of the elevator shaft, wherein the displacement component moves the support component within the elevator shaft by moving the carrier means.

10. The mounting device according to claim 8 wherein the displacement component is attached to the support component and is adapted to exert a force on a wall of the elevator shaft to move the support component within the elevator shaft by moving the displacement component along the wall.

11. The mounting device according to claim 1 wherein the support component includes a fixing component adapted to fix at least one of the support component and the mechatronic assembly component within the elevator shaft in a direction transverse to a vertical direction of the elevator shaft.

12. The mounting device according to claim 1 including a reinforcement detection component at the support component adapted to detect a reinforcement within a wall of the elevator shaft.

13. A method for performing an assembly job in an elevator shaft of an elevator system comprising the steps of:
introducing a mounting device in the elevator shaft, the mounting device including a support component and a mechatronic assembly component, the support component being adapted to be moved relative to the elevator shaft and to be positioned at different heights within the elevator shaft, where the mechatronic assembly component is held at the support component and includes an industrial robot adapted to be coupled with various mounting tools at a cantilever end of the industrial robot;
guiding a scanning component to positions along a wall of the elevator shaft by the mechatronic assembly component and continuously measuring a distance from the positions to the wall of the elevator shaft thereby allowing determination of angular position and a condition of the wall, including irregularities, ledges, or existing holes in the wall;
controlling displacement of the mounting device within the elevator shaft; and
performing at least partially automatically a mounting step of the assembly job with the mechatronic assembly component of the mounting device,
wherein the mounting device uses the measured distance from the scanning component to adjust a control of the mechatronic assembly component in performing the mounting step of the assembly job.

Assignees

• Inventio Ag

Inventors

• Studer Christian
• Bitzi Raphael
• Butler Erich
• Cambruzzi Andrea
• Zimmerli Philipp

Classifications

• B66B19/002 Primary

  installing or exchanging guide rails (details of rails B66B7/02) · CPC title

• B66B19/00 Primary

  Mining-hoist operation · CPC title

• B66B11/0005

  Constructional features of hoistways · CPC title

• B66B7/024

  Lateral supports · CPC title

• B66B7/02

  Guideways; Guides (arrangements in mine shafts E21D7/02) · CPC title