ELEVATOR INSTALLATION SHAFT ROBOT

Abstract

The invention relates to an autonomous elevator assembly shaft robot that performs drilling, epoxy application, dowel placement, anchor preparation, and cantilever and rail alignment operations autonomously in elevator assembly shafts. It consists of components such as a vertical carrier motor (1), ceiling connection console, side pressure wheels (2), robotic arm (3), guide rails, drilling unit (5), epoxy injection unit (6), dowel feed magazine (7), parachute brake system (8), positioning sensors and laser verification module. It detects the shaft geometry, calculates target drilling points, is fixed stably to the surface, automates the drilling-epoxy-dowel cycle, and increases assembly accuracy and work safety.

Description

1 TARIFF ELEVATOR INSTALLATION SHAFT ROBOT Technical Area 5 The invention relates to drilling holes, applying epoxy, and using dowels within elevator installation shafts. High precision in placement, anchor fixing and rail-cantilever alignment. operations requiring sensor-assisted robotic arms, multi-axis motion mechanisms and downhole 10 which performs automatically via autonomous positioning units Level 4 autonomous robotic assembly to improve safety and assembly processes. a mechanical engineering, automation and mechatronics application to systems This relates to the elevator shaft installation robot that performs the task. Invention Foundation 15 The elevator installation industry, especially for elevators used in high-rise buildings. Multi-stage, precision testing is required to ensure the systems are installed safely and correctly. It consists of interdependent processes. The majority of these processes Since it has been carried out based on human labor for many years, the assembly quality is 20 the operator's experience, physical conditions, well geometry and working environment It varies depending on the safety situation. Inside the elevator shaft. The work performed included drilling holes, applying epoxy, placing dowels, and anchoring. Processes such as fastening, rail bracket assembly and rail alignment are important both mechanically and otherwise. It requires high precision and directly affects the entire working life of the elevator. It affects [the process]. Therefore, each of these processes must be repeated without exceeding the tolerance limits. It needs to be done with achievable accuracy. However, current manual methods do not allow this. The requirements are often not fully met. In the manual assembly methods commonly used today, there are 30 elevator shafts inside the elevator shaft. The work typically involves scaffolding setup, platform decks, and rope-assisted personnel. Transportation methods are used. In the first method, the elevator shaft reaches the floors. Temporary scaffolding platforms are erected to allow operators access to the well walls. This is provided. This method is a structural method that takes time to both install and dismantle. 2 It requires preparation. Faulty scaffolding installation or connection points... If it loosens, there is also a serious risk of falling and tipping over. From a mechanical point of view, scaffolding systems can withstand external loads, operator weight, The tools can lose stability under vibration and horizontal forces, and this can This negatively affects drilling accuracy. Especially during dowel drilling operations, drill bit 5 The reaction forces that the tip applies into the material, the working platform This can cause wobble and prevent the operator from maintaining the drilling angle. This also requires the dowel holes to be drilled along the axes where they should be. This creates a problem that could prevent it. In the second method, rope-assisted personnel lifting systems, the operator is lowered into the well. It operates on a system of suspended ropes. This method involves contact with the well wall. Because it does not provide a stable platform, drilling operations become even more difficult. This is due to the airflow inside the well, the oscillating motion of the rope, and the operator's weight. The constant change of the center, especially for holes requiring a diameter between 12 mm and 18 mm, is the reason for this. Angular shifts and positional errors can occur in dowel applications. This is possible. From a mechanical forces perspective, the drill bit's impact on the concrete... Since the reaction moment created on the surface is transmitted back to the operator, the operator The wrist and arm get tired while balancing these loads, and this affects positioning. Errors increase. 20 The drilling process itself involves determining the locations where the elevator rails will be positioned. Because it directly determines its accuracy, it is one of the most critical process steps in the industry. It is considered to be a system where a rail is mounted on a vertical line 20-30 meters long. Considering this, even the smallest angular displacement causes vibration during cabin movement. 25 This can lead to serious problems such as friction, rail wear, and long-term failure. It can open holes. Therefore, the axial accuracy of the holes has an error margin of ±1 mm. It should be limited. However, in manual methods, a laser meter, spirit level, or measuring tape can be used. Because traditional measuring tools such as these are used, the reference points are inaccurate. Determining this is a common problem. Also, in reinforced concrete walls, the equivalent of reinforcing steel is 30. If this happens, the operator cannot detect it beforehand because manual systems cannot detect it. The drill bit is subjected to stress, tip breakage occurs, and sometimes drilling fails. A deflection can occur in the angle after the fracture. 3 Epoxy application is another important factor determining the load-bearing capacity of the anchor. This is the stage where the two-component (A+B) structure of the epoxy is homogeneously distributed throughout the material. The hole diameter must be completely filled, and there should be no gap between the dowel and the epoxy. However, in manual methods, epoxy cartridges are squeezed out with guns, Because the operator's application force is not constant and hole cleaning is completely 5 Since it depends on the operator's initiative, the homogeneity of the epoxy is not guaranteed. It cannot be done. Mechanically, the epoxy is porous or uneven. When applied, the anchor can loosen under load, leading to microcracks or rail breakage. Torque losses can occur in the console over time. When the console is mounted manually, the parallelism and verticality of the console to the wall must be ensured. The accuracy along the axis is checked visually. This process uses... Incorrect torque application of the bolts can cause the console to seize up over time under load. This can cause it to change. Also, the rails can be slid on the consoles. During the alignment process, operators must simultaneously hold the rail and perform the alignment. 15 Because it needs to be checked, the work becomes more difficult and human-caused errors occur. is increasing. During rail installation, the perfect vertical alignment of the rails ensures that the cabin is aligned with the rails. to ensure frictionless movement and safe use of the elevator In manual methods, this process requires a great deal of experience, and human error is a risk factor. Therefore, deviations from tolerance are frequently observed. 20 As a result of all these technical shortcomings and safety risks, the elevator installation industry... new technologies that minimize the human factor, increase precision, and automate processes There was a need for next-generation robotic systems, and these were developed in response to that need. The elevator shaft robot invention mechanically stabilizes the entire assembly process. 25 sensor-controlled, highly accurate, and produces repeatable results. It provides an autonomous assembly platform for production. The elevator shaft robot invention uses a double-sided robot to ensure safe descent into the shaft. It uses a cable parachute braking system and mechanical guide rails. Spring piston 30 The mechanically operated side-pressure wheels allow the robot to simultaneously engage the well walls from four directions. It creates a stable working surface by enabling pressure application. This mechanical The fixing system provides a vibration-free working environment that cannot be achieved with manual methods. The steel structure forming the chassis of the invention is designed to provide high rigidity. 4 It has been improved and dampens the drilling reaction forces of the robot arm. It increases its sensitivity. The elevator shaft robot invention incorporates LIDAR, ultrasonic, and IR imaging. The sensors determine the robot's reference coordinates by detecting the well geometry. These 5 Through sensors, the robot automatically identifies the axes on which it will perform rail assembly. It calculates and marks the points where holes need to be drilled with millimeter accuracy. The invention, It has a multi-axis motion mechanism controlled by servo motors. Therefore, the drilling operation is performed at a specified angle and with constant force control. It can be accomplished. This depends on variables such as the hardness of the concrete surface or the presence of reinforcement. Thanks to its instantaneous feedback system, the invention can adjust drilling depth, speed, It continuously optimizes torque and feed force. When reinforcement is detected, it... The system shifts the drilling point by the safe offset distance and repeats the process. Epoxy application, on the other hand, is possible with the integrated mixing and injection mechanism of the invention. It is performed completely automatically. The epoxy mixture is inside the hole. It is distributed homogeneously and the dowel is taken from the robot magazine and placed into the hole. This During the process, the anchor's axis alignment, depth, and tightness level are servo-controlled. It is checked with verification mechanisms. In this way, the anchor connection is manually verified. It achieves a level of standardized quality that cannot be obtained through other methods. 20 The elevator shaft robot invention also automates rail bracket assembly. It is possible to achieve this, and laser plane verifiers determine the axes of the console. The bolt connections are tightened by the robot in a torque-controlled manner, and the rails are mounted. The surfaces to be fitted are brought into ideal alignment. During rail assembly, the transport capability of the invention is 25. Thanks to its capacity and positioning capability, the rails are transported safely. The insertion points are aligned with millimeter precision and torque-controlled fastening is used. is carried out. When all these technical innovations are considered, the elevator shaft installation robot invention offers speed, 30 security, precision, reduced labor costs, operational efficiency and Significant advantages and innovations compared to existing technologies in terms of standardization. It offers solutions to all mechanical and operational problems encountered in manual systems. Human error in assembly processes has been eliminated by robotic automation. The risks have been eliminated. The increasing number of high-rise building constructions in the sector... When considered in this context, the elevator shaft installation robot invention improves both safety and quality. It creates a new engineering standard that enhances [the previous one]. The structural and characteristic features and all the advantages of the invention are given in Figure 5 below. And thanks to the detailed explanation provided, it will be understood more clearly, and therefore... This assessment is also made taking these figures and detailed explanations into consideration. It needs to be done. Figures to Aid in Explaining the Invention 10 The invention will be described by referring to the attached figures, so that the features of the invention can be explained. This will be understood more clearly. However, the purpose of this is to explain the invention with these specific arrangements. It is not about limiting. On the contrary, the invention is defined by the accompanying claims. 15 That is also intended. The details shown are only the preferred aspect of the present invention. It is shown both for the purpose of explaining the regulations and the rules of the invention. to provide the most useful and easily understandable definition of its conceptual characteristics It should be understood that they are presented for that purpose. Figure 1: Perspective view of the elevator shaft robot. Reference Numbers that Aid in Disclosure of the Invention 1. Vertical conveyor motor 2. Side pressure wheels 3. Robotic arm 4. Horizontal sliding carrier platform 5. Drilling unit (drill module) 30 6. Epoxy injection unit 7. Dowel feed magazine / magazine 8. Parachute braking system 9. Downhole connection console 6 10. Vertical conveyor rope 11. Sensor box Disclosure of the Invention This detailed explanation pertains to elevator shaft installation robots and only covers the subject matter. for the purpose of better understanding and without creating any limiting effects It is explained. The invention in question; 10 • Enables controlled movement of the robot along the vertical axis inside the well. enabling up-down positioning, vertically transferring loads. safely transmitting the robot's working position along the guide line. Determining, working in conjunction with the drive system, vertical carrier motor (1), • Enables the robot to be fixed to the top of the well, the robot has a total of 15 a robot that safely carries its weight and undertakes the load transfer task a ceiling that ensures it remains balanced and securely suspended on the vertical axis connection console, • the robot must create stable lateral pressure on the well walls. The robot's 20, which provides vibration reduction during drilling and anchoring operations. a side that maintains its central position and operates in constant contact with the surface. pressure wheels (2), • all processes such as drilling, epoxy application, dowel placement and anchor preparation. Performing precise mechanical operations, controlled by servo motors, 25 with multi-axis movement capability and high-accuracy positioning. robotic arm (3), • Completing the robot's suspension system, ensuring the rope load is evenly distributed across the body. ensuring that the robot's weight is securely distributed to the base section. base hanger connection that enables transfer, • The robot is fixed in a linear line along the well, moving up and down 30 degrees. position reference that ensures safe and smooth movement along the axis forming the downhole vertical guide rails, 7 • the main structural body that carries all the mechanical units of the robot. the reaction forces that form its frame and are generated during drilling a carrier base that offers a rigid construction that dampens and reduces vibration. chassis, • the robotic arm (3) and the drilling unit (5) are in the ideal position towards the surface 5 a process that enables approach, provides linear movement in the left-right axis, horizontal sliding carrier platform (4) which increases its sensitivity, • Torque, speed, and depth required for drilling holes in concrete surfaces. Drilling unit (5) that performs the control and can detect the reinforcing steel. • A two-component 10-core adhesive that ensures the anchor holds firmly in the concrete with high strength. mixing the epoxy homogeneously and pouring it into the hole in a controlled manner. Epoxy, which applies the material with ideal distribution before curing. injection unit (6), • The dowels to be picked up by the robotic arm (3) in an orderly and sequential manner feeding, providing the appropriate dowel according to the processing sequence, dowel transfer 15 Automating dowel feeding magazine (7), • Enables the robot to safely ascend and descend on the vertical axis, possible mechanically locking free falls, providing bidirectional safety. parachute brake system (8), • The sling rope is attached to this device, playing a critical role in load carrying and providing emergency support (20). safety rope attachment point that performs safety interlocking, • scanning the well geometry, mapping the robot's surroundings in three dimensions, the robot performs position verification and collision avoidance function LIDAR sensor (Light Detection and Ranging) Distance Measurement Sensors), 25 • Measures the distance between the robot and the well wall, the approach distance. controlling, ensuring that the drilling unit (5) approaches the surface safely. ultrasonic distance sensor, • obstacle detection and object detection within the range of motion of the robotic arm (3) IR sensor (Infrared Sensors – 30) that can work even in dark environments. Infrared Sensors) • LIDAR sensors (light detection and ranging) measurement sensors), ultrasonic sensors (ultrasonic distance sensors – 8 ultrasonic distance sensors) and infrared sensors (IR sensors) housing sensor box (11), • Vibration that enables the robot to apply equal force to the well walls. spring-loaded, reduces, stabilizes the center position, and operates with a spring mechanism. Piston-type side locking mechanism, 5 • A vertical mechanism that allows the robot to establish a reference point at the bottom of the well. position verification, supporting the robot in maintaining a stable position. downhole connection console (9), • Horizontal / vertical accuracy during cantilever and rail alignment processes Laser 10 that determines, improves assembly quality, and minimizes plane errors. plane verification module, • Manages all electronic units of the robot, including motor drivers and sensors. electronics that process signals and implement motion control algorithms control unit, • Power to the robot's servo motors, sensors, and control modules 15 power supply, regulates power distribution, and has overcurrent protection. power supply module, • Speed, position and torque control of all joints of the robotic arm (3) servo motor drivers that enable precise servo movement, • Measures the vertical position of the robot with micrometric precision, movement return 20 encoder that provides the notification and manages the reference reset function system, • Prevents cable pinching and breakage in moving components, cable cable carrier chain that provides the arrangement • The drive system stops all systems when the robot receives an emergency stop command. emergency systems that cut off their power and provide mechanical lockups for security reasons. stop safety circuit, • Dampens mechanical vibrations generated during drilling, located in the robot body. Vibration damping pads that reduce resonance and increase sensitivity, • illuminating the area where the robot is working inside the well and sensor reading 30 downhole lighting module that increases accuracy, • Quickly enabling the attachment of different work bits by the drilling unit (5) Tip changing mechanism with detachable / attachable feature, 9 • the robot's safe up-and-down movement inside the well enabling the robot to transfer its total weight to the ceiling mounting console, landing and a parachute that enables the even distribution of the load during ascent. working together with the braking system (8) ensures safety in case of free fall. 5 that ensures the robot remains suspended in a stable position throughout the downhole movement. vertical conveyor rope (10) which contributes to holding it in place. • Performs drilling operations on concrete surfaces that require high torque, High-torque drilling motor with speed control performance under load. It includes its parts. How the elevator installation shaft robot works; • lowering the robot into the well,  Connecting the robot to the safety rope via the ceiling mounting bracket,  With the parachute brake system (8) engaged, the robot will be placed inside the well. lowered slowly, 15  The robot's vertical reference is established by aligning it with the vertical guide rails inside the well. creation,  by the lower part of the robot making contact with the well bottom connection console (9) Location verification is required. • Securing the robot to the well walls, 20  the first contact of the robot's side pressure wheels (2) with the well walls ensuring,  evenly attached to walls via spring-loaded piston side fixing mechanism application of force,  Bringing the robot to a vibration-free working position, 25  Drilling operation controlled by clamping force via sensors creating a stable platform for, • Performing the well geometry detection process,  Three-dimensional scanning of well walls using LIDAR sensors,  Verification of robot-wall distances using ultrasonic sensors, 30  Detection of obstacles in the working area of ​​the robotic arm (3) with IR sensors being done,  Horizontal / vertical reference planes with laser plane verification module determination, • Calculating drilling positions,  Establishing a position reference on the robot's carrier base chassis,  By moving the horizontal sliding carrier platform (4) linearly to the right / left 5 bringing to the target location,  Precise approach to the drilling point with the servo axes of the robotic arm (3). to be done,  Verification of calculated drilling coordinates with sensor data, • drilling operation performed, 10  Detection of the contact point of the drilling unit (5) tip with the surface,  Automatically assigns appropriate torque and speed values ​​according to the hardness of the concrete. adjustment,  When reinforcing steel is detected, a safe offset must be applied.  Reaching the target value by measuring the hole depth with sensors, 15 • hole cleaning process,  Cleaning dust and particles remaining inside the hole with compressed air,  The fine particles remaining on the surface are removed by the movement of the robotic arm (3). discarded,  Obtaining a clean surface suitable for epoxy application, 20 • Performing the epoxy application process,  Automatic injection of two-component epoxy by epoxy injection unit (6) mixing,  The mixture must be injected homogeneously into the hole.  Automatic adjustment of epoxy quantity according to hole volume, 25  Monitoring the occupancy rate after application using sensors, • performing the dowel insertion process,  The appropriate dowel is fed from the dowel feed magazine (7) by the robotic arm (3) taking,  Align the dowel with the hole axis and hold it perpendicular to the surface, 30  Insert the dowel into its socket in the epoxy with controlled force.  the position stability of the dowel is determined by the feedback of the robotic arm (3) verification, 11 • performing the anchor fixing process,  Checking that the epoxy is evenly distributed around the dowel,  Waiting a certain amount of time for the dowel to reach its final fixation value,  The locking process is necessary for the robot to move to the next drilling point. completion, 5 • Console assembly process,  Alignment of the console to the surface using the laser plane verification module,  Transition of the cantilever to the transport position by the robotic arm (3),  Tightening the bolts with controlled torque,  Verification of the cantilever axis's compliance with horizontal / vertical tolerances, 10 • Performing the rail installation process,  The rails are transported by robots and brought to the consoles,  Alignment of rail-cantilever connection surfaces,  Ensuring that the rail splice points are joined evenly along the vertical axis,  Tighten the rail mounting bolts to the standard torque value, 15 • Performing a floor-based cyclical work process,  The robot performs all drilling and doweling operations at the first floor level. completion,  Automatically rises to the next floor along vertical guide rails,  Repeating the processes with the same precision on each floor, 20  The cycle must be continued until the assembly process is completed on all floors. • Performing safety and emergency procedures,  Parachute braking system prevents the robot from locking at unexpected landing speeds.  Ensuring safety at the safety rope attachment point under load,  The robot automatically stops if the sensors detect an obstacle, 25  All movements are locked when the emergency stop command is given, • Enabling the system to operate autonomously,  Automatic execution of all mechanical steps through sensor feedback,  Each drilling-epoxy-dowel cycle is controlled by software. done, 30  Service intervention of all coordinate movements of the robotic arm (3) completion without 12  The system can be remotely managed by a single operator in the field. It includes the steps involved in the process. All technical and other specifications mentioned in each request are followed by a reference number. ...and this reference number is only for the purpose of making it easier to understand the requests. They have been used, therefore this reference number is for illustrative purposes only. It should not be assumed that the scope of the element indicated is limited. A technical expert can assess the novelty of the invention and similar structures. by using and / or this structure in the relevant technique used in 10 It is clear that this can be applied to other fields with similar purposes. Therefore, such a It is also obvious that these structures will lack the criterion of surpassing innovation. 20 30

Claims

13 REQUESTS 1. The invention relates to an elevator shaft installation robot, the feature of which is; • Enables controlled movement of the robot along the vertical axis inside the well. enabling up-down positioning, vertically 5 load bearings safely transmitting the robot's working position along the guide line. Determining, working in conjunction with the drive system, vertical carrier motor (1), • The robot's total capacity, which enables it to be fixed to the top of the well. a robot that safely carries its weight and undertakes the load transfer task Ceiling 10 that ensures it remains balanced and securely suspended on the vertical axis. connection console, • the robot must create stable lateral pressure on the well walls. This provides vibration reduction during drilling and anchoring operations for the robot. a side that maintains its central position and operates in constant contact with the surface. pressure wheels (2), 15 • all processes such as drilling, epoxy application, dowel placement and anchor preparation. Performing precise mechanical operations, controlled by servo motors, Highly accurate positioning with multi-axis movement capability. robotic arm (3), • Completing the robot's suspension system, ensuring the rope load is evenly distributed across the body. ensuring that the robot's weight is securely distributed to the base section. base hanger connection that enables transfer, • The robot is fixed in a linear line along the well, up-down. position reference that ensures safe and smooth movement along the axis forming the downhole vertical guide rails, 25 • the main structural body that carries all the mechanical units of the robot. the reaction forces that form its frame and are generated during drilling a carrier base that offers a rigid construction that dampens and reduces vibration. chassis, • the robotic arm (3) and the drilling unit (5) are in the ideal position towards the surface 30 a process that enables approach, provides linear movement in the left-right axis, horizontal sliding carrier platform (4) which increases its sensitivity, 14 • Torque, speed, and depth required for drilling holes in concrete surfaces. Drilling unit (5) that performs the control and can detect the reinforcing steel. • Two-component system that ensures the anchor holds firmly in the concrete with high strength. mixing the epoxy homogeneously and pouring it into the hole in a controlled manner. Epoxy 5, which applies the material and ensures ideal distribution before curing. injection unit (6), • The dowels to be picked up by the robotic arm (3) in an orderly and sequential manner feeding, supplying the appropriate dowel according to the processing sequence, dowel transfer Automating dowel feeding magazine (7), • Enables the robot to safely ascend and descend on the vertical axis, with 10 possible features. mechanically locking free falls, providing bidirectional safety. parachute brake system (8), • The part to which the suspension cable is attached, playing a critical role in load carrying, in case of emergency safety rope attachment point that performs safety interlocking, • scanning the well geometry, mapping the robot's surroundings in three dimensions, 15 the robot performs position verification and collision avoidance function LIDAR sensor (Light Detection and Ranging) Distance Measurement Sensors) • Measures the distance between the robot and the well wall, the approach distance. 20 controlling, ensuring the drilling unit (5) approaches the surface safely. ultrasonic distance sensor, • obstacle detection and object detection within the range of motion of the robotic arm (3) an IR sensor (Infrared Sensors) that can work even in dark environments. Infrared Sensors) • LIDAR sensors (light detection and ranging) 25 measurement sensors), ultrasonic sensors (ultrasonic distance sensors – ultrasonic distance sensors) and infrared sensors (IR sensors) housing sensor box (11), • Vibration that enables the robot to apply equal force to the well walls. 30 spring-loaded, which reduces and fixes the center position, and operates with a spring mechanism. Piston-type side fixing mechanism, • A vertical mechanism that allows the robot to establish a reference point at the bottom of the well. position verification, supporting the robot in maintaining a stable position. downhole connection console (9), • Horizontal / vertical accuracy during cantilever and rail alignment processes Laser 5, which determines, improves assembly quality, and minimizes plane errors. plane verification module, • Manages all electronic units of the robot, including motor drivers and sensors. electronics that process signals and implement motion control algorithms control unit, • Power to the robot's servo motors, sensors, and control modules 10 power supply, regulates power distribution, and has overcurrent protection. power supply module, • Speed, position and torque control of all joints of the robotic arm (3) servo motor drivers that enable precise servo movement, • Measures the vertical position of the robot with micrometric precision, movement return 15 encoder that provides the notification and manages the reference reset function system, • Prevents cable pinching and breakage in moving components, cable cable carrier chain that provides the arrangement • The drive system stops all systems when the robot receives an emergency stop command. emergency systems that cut off their power and provide mechanical lockups for security reasons. stop safety circuit, • Dampens mechanical vibrations generated during drilling, located in the robot body. Vibration damping pads that reduce resonance and increase sensitivity, • illuminating the area where the robot is working inside the well and sensor reading 25 downhole lighting module that increases accuracy, • Quickly enabling the attachment of different work bits by the drilling unit (5) Tip changing mechanism with detachable / attachable feature, • the robot's safe up-and-down movement inside the well enabling the robot to transfer its total weight to the ceiling mounting console, landing 30 and a parachute that enables the even distribution of the load during ascent. working together with the braking system (8) ensures safety in case of free fall. 16 ensuring the robot remains suspended in a stable position throughout its downhole movement. vertical conveyor rope (10) which contributes to holding it in place. • Performs drilling operations on concrete surfaces that require high torque, High-torque drilling motor with speed control performance under load. It includes engine parts. 5 2. The invention relates to the operating method of an elevator shaft installation robot, and its feature is; • lowering the robot into the well,  Connecting the robot to the safety rope via the ceiling mounting bracket,  With the parachute brake system (8) engaged, the robot will be placed inside the well 10 lowered slowly,  The robot's vertical reference is established by aligning it with the vertical guide rails inside the well. creation,  by the lower part of the robot making contact with the well bottom connection console (9) Location verification is required, 15 • securing the robot to the well walls,  the first contact of the robot's side pressure wheels (2) with the well walls ensuring,  evenly attached to walls via spring-loaded piston side fixing mechanism application of force, 20  Bringing the robot to a vibration-free working position,  Drilling operation controlled by clamping force via sensors creating a stable platform for, • Performing the well geometry detection process,  Three-dimensional scanning of well walls with LIDAR sensors, 25  Verification of robot-wall distances using ultrasonic sensors,  Detection of obstacles in the working area of ​​the robotic arm (3) with IR sensors being done,  Horizontal / vertical reference planes with laser plane verification module determination, 30 • Calculating drilling positions,  Establishing a position reference on the robot's carrier base chassis, 17  by moving the horizontal sliding carrier platform (4) linearly to the right / left bringing to the target location,  Precise approach to the drilling point with the servo axes of the robotic arm (3). to be done,  Verification of calculated drilling coordinates with sensor data, 5 • drilling operations,  Detection of the contact point of the drilling unit (5) tip with the surface,  Automatically assigns appropriate torque and speed values ​​according to the hardness of the concrete. adjustment,  When reinforcing steel is detected, a safe offset must be applied. 10  Reaching the target value by measuring the hole depth with sensors, • hole cleaning process,  Cleaning dust and particles remaining inside the hole with compressed air,  The fine particles remaining on the surface are removed by the movement of the robotic arm (3). discarded, 15  Obtaining a clean surface suitable for epoxy application, • Performing the epoxy application process,  Automatic injection of two-component epoxy by epoxy injection unit (6) mixing,  The mixture must be injected homogeneously into the hole, 20  Automatic adjustment of epoxy quantity according to hole volume,  Monitoring the occupancy rate after application using sensors, • performing the dowel insertion process,  The appropriate dowel is fed from the dowel feed magazine (7) by the robotic arm (3) 25  Align the dowel with the hole axis and hold it perpendicular to the surface.  Insert the dowel into its socket in the epoxy with controlled force.  the position stability of the dowel is determined by the feedback of the robotic arm (3) verification, • Anchor fixing procedure, 30  Checking that the epoxy is evenly distributed around the dowel,  Waiting a certain amount of time for the dowel to reach its final fixation value, 18  The locking process is necessary for the robot to move to the next drilling point. completion, • Console assembly process,  Alignment of the console to the surface using the laser plane verification module,  Transition of the cantilever to the transport position by the robotic arm (3), 5  Tightening the bolts with controlled torque,  Verification of the cantilever axis's compliance with horizontal / vertical tolerances, • Performing the rail installation process,  The rails are transported by robots and brought to the consoles,  Alignment of rail-cantilever connection surfaces, 10  Ensuring that the rail splice points are joined evenly along the vertical axis,  Rail connection bolts must be tightened to the standard torque value. • Performing a floor-based cyclical work process,  The robot performs all drilling and doweling operations at the first floor level. completion, 15  Automatically rises to the next floor along vertical guide rails,  Repeating the processes with the same precision on each floor,  The cycle must be continued until the assembly process is completed on all floors. • Performing safety and emergency procedures,  Parachute braking system prevents the robot from locking at unexpected landing speeds, 20  Ensuring safety at the safety rope attachment point under load,  The robot automatically stops if the sensors detect an obstacle.  All movements are locked when the emergency stop command is given, • Enabling the system to operate autonomously,  Automatic execution of all mechanical steps with sensor feedback, 25  Each drilling-epoxy-dowel cycle is controlled by software. being done,  Service intervention of all coordinate movements of the robotic arm (3) completion without  The system can be remotely managed by a single operator in the field. 30 It includes the steps of the process.

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