Fitting device for performing fitting steps on a wall and method for replacing a fitting device

Abstract

The invention relates to a mounting device for carrying out mounting steps on a wall and to a method for exchanging a tool accommodated by the mounting device. The mounting device has a mounting device (10) which has a drive unit (12) and a tool holder (16). The tool holder (16) is connected to the drive unit (12) and is provided for accommodating a tool (22) which extends away from the tool holder (16) in a tool direction (14) and can be driven by the drive unit (12). The tool holder can assume a locked state and an unlocked state, in which the tool (22) accommodated by the tool holder (16) can be removed from the tool holder (16) in the unlocked state and is fixed in the tool holder (16) and thus cannot be removed in the locked state. The mounting device (10) has an unlocking device (28). The unlocking device has an actuator (30, 32) which can be actuated, which is designed and arranged in such a way that, by means of the actuator (30, 32), the tool holder (16) can be brought from the locked state into the unlocked state, in which the tool (22) can be released.

Description

TECHNICAL FIELD

[0001] The invention relates to a mounting device having the features of claim 1 for carrying out mounting steps on a wall and a method for exchanging a tool accommodated by a mounting apparatus of a mounting device for carrying out mounting steps on a wall according to claim 8. BACKGROUND

[0002] US 4,819,320 describes a mounting device having a mounting apparatus in the form of a drill. The drill has a drive unit and a tool holder which can accommodate and secure a tool in the form of a drill. The tool holder can assume a locked state and an unlocked state, in which the tool accommodated by the tool holder can be removed from the tool holder in the unlocked state and is secured in the tool holder in the locked state. The mounting device has an electromechanical installation component in the form of a robot, which can pick up and move the drill and can drill a hole with the drill. The mounting device also has an exchange apparatus for automatically exchanging the drill bit of the drill. In order to remove the drill bit from the drill, the drill has to be pressed into a recess of the exchange apparatus which matches the tool holder, so that the tool holder enters the unlocked state. In this state, the drill bit can be removed and a new drill bit can be inserted.

[0003] In order to remove the drill bit, the drill has to be forced into a predetermined position relative to the exchange apparatus. If the drill bit gets stuck in the drilled hole while drilling and can no longer be removed from the drilled hole, the drill can no longer be displaced by the robot to the exchange apparatus. In this case, the automatic exchange of the drill is no longer possible, so that the mounting personnel has to intervene manually. SUMMARY

[0004] In contrast, it is in particular an object of the invention to propose a mounting device for carrying out mounting steps on a wall and a method for exchanging a tool accommodated by a mounting apparatus of a mounting device for carrying out mounting steps on a wall, which achieve an automatic exchange of the tool in as many cases as possible, so that manual intervention by mounting personnel is required as little as possible. According to the invention, this object is achieved by a mounting device having the features of claim 1 and by a method having the features of claim 12.

[0005] The assembly device for carrying out assembly steps on a wall according to the application has an assembly apparatus for carrying out assembly steps on a wall. The assembly apparatus has a drive unit and a tool holder. The tool holder is coupled with the drive unit and is provided for accommodating a tool, which extends away from the tool holder in a tool direction and can be driven by the drive unit. The tool holder can assume a locked state and an unlocked state, in which the tool accommodated by the tool holder is removable from the tool holder in the unlocked state and is fixed in the tool holder in the locked state and thus is not removable. According to the application, the assembly apparatus has an unlocking apparatus with a manipulable actuator, which is designed and arranged in such a way that the tool holder can be brought from the locked state into the unlocked state by means of the actuator, and thus the tool can be released.

[0006] The assembly device further has a mobile assembly frame, an electromechanical installation component and a manipulable clamp for securing the tool. Here, the electromechanical installation component and the clamp are arranged on the assembly frame. The assembly apparatus can be accommodated and moved by the electromechanical installation component. The assembly apparatus can be provided, in particular, for carrying out assembly steps in a shaft, in particular an elevator shaft.

[0007] The provision of the unlocking apparatus on the assembly apparatus makes it possible to adjust the unlocked state of the tool holder by a corresponding manipulation of the actuator of the unlocking apparatus, and thus to remove the tool from the tool holder independently of the position of the assembly apparatus. That is, the assembly apparatus does not have to be brought to a predetermined position in order to be able to remove the tool from the tool holder and thus from the assembly apparatus. If a tool in the form of a drill bit, for example, is stuck in a borehole, the tool holder can be brought into the unlocked state and thus the drill bit can be released by a corresponding manipulation of the actuator of the unlocking apparatus. After the release of the drill bit, the drill bit can be removed from the tool holder and thus from the assembly apparatus by moving the assembly apparatus away from the drill bit accordingly. In this case, the drill bit remains inserted in the hole. The displacement can also be carried out automatically, for example by the electromechanical installation component in the form of an industrial robot. After the removal of the drill bit from the assembly apparatus, a new drill bit can be picked up automatically and further assembly steps can be carried out automatically. The tool can also be designed as a setting tool for knocking an anchor rod into a borehole by means of an impact. In this case, the setting tool can be inclined with respect to the anchor rod and, after the anchor rod has been knocked in, the setting tool does not detach from the anchor rod any more. Then, the setting tool can be removed from the assembly apparatus and thus manual intervention by an assembly worker can be avoided in a similar manner to the removal of the drill bit described. In this case, the setting tool remains on the anchor rod knocked into the wall.

[0008] The assembly apparatus is designed, in particular, as a mobile assembly apparatus. This is to be understood in such a way that the assembly device can be easily transported and used at different locations. The assembly apparatus is not part of a machine tool which is fixedly arranged within a workshop.

[0009] The assembly device is designed in particular as a drilling device, for example in the form of a percussion drill, or as a setting device for driving an anchor rod into a borehole by means of percussion. The assembly device is therefore used in particular for drilling a borehole in a wall or for driving an anchor rod into a borehole in a wall by means of percussion. The assembly device can be used in particular to carry out assembly steps in an automated manner. For example, automated assembly steps for the assembly of an elevator device in an elevator shaft can be carried out by means of the assembly device. However, assembly steps can also be used for other purposes, for example when laying cables or assembling ventilation ducts.

[0010] The wall is designed in particular as a wall in a building, wherein a floor or a ceiling in a building can also be regarded as a wall. However, the wall can also be arranged on or in, for example, a bridge, a column or a ship. The wall is in particular composed of concrete reinforced with steel.

[0011] The drive unit of the assembly device has a drive machine, in particular an electric motor, which is actuated by a control device of the assembly device. The individual components of the drive unit are arranged in one housing.

[0012] The tool holder is coupled to the drive unit in particular by means of a form-fitting connection. The tool holder of the drilling device is also referred to as a so-called drill chuck.

[0013] The tool which is fixed or held by the tool holder and which is in turn accommodated has a shape which is longitudinally elongated in the tool direction. The tool is in particular rotatable about an axis which extends in the tool direction, so that the tool direction can also be referred to as the tool axis. The tool can be designed, for example, as a drill bit. The tool can also be designed as a setting tool for driving an anchor rod into a borehole by means of percussion. Such a setting tool also has a shape which is longitudinally elongated in the tool direction. The setting tool can be designed, for example, in accordance with the setting tool introduced in EP 3 546 127 A1. The tool holder accommodates one end of the tool, so that the remainder of the tool extends away from the tool holder and in turn also away from the drive unit in the tool direction.

[0014] The connection between the tool holder and the tool is achieved by means of a friction-locked connection or a form-fitting connection. The form-fitting connection can be achieved, for example, by one or more balls sinking into a corresponding groove. The tool can therefore be driven by the drive unit via the tool holder, that is to say in particular the tool can be rotated about the tool axis. In addition or alternatively, the drive can also be achieved by transmitting a percussion in the tool direction to the tool.

[0015] The tool holder can assume a locked state and an unlocked state. In the locked state, a tool accommodated by the tool holder is fixed in the tool holder and thus cannot be removed from the tool holder. The tool holder is in the locked state when a fitting step is carried out, i.e. for example when a hole is drilled. In order to remove the tool from the tool holder, for example because the tool has worn out and needs to be replaced or because the next fitting step requires a different tool, the tool holder is switched to the unlocked state. In the unlocked state, the tool can be removed from the tool holder, that is to say pulled out of the tool holder, in particular in the tool direction.

[0016] It is also possible for a tool to be inserted or plugged into the tool holder and thus into the fitting device, in particular when the tool holder is in the locked state. To this end, the tool must in particular have a suitable rotational position relative to the tool holder. For example, insertion is possible in two defined twisted positions. In order to insert the tool, it can for example be pressed into the tool holder and then rotated about the tool axis until one of the defined rotational positions is reached and the tool can be fully inserted into the tool holder.

[0017] The unlocking device is part of the fitting device, by means of which the tool holder can be brought from the locked state into the unlocked state. The unlocking device is therefore displaced when the fitting device is displaced. The unlocking device is in particular arranged on the drive unit. The actuator of the unlocking device can for example be designed as an electric motor, an electromagnet or a pneumatic or hydraulic piston-cylinder unit. The actuator is actuated by a control device. The control device can also actuate the drive unit of the fitting device. The control device can also be designed as a separate control device.

[0018] In one design of the application, the tool holder has a base body and a locking sleeve. The locking sleeve can be displaced relative to the base body in the tool direction, whereby the tool holder can be brought from the locked state into the unlocked state or vice versa. The locking sleeve can be displaced by means of the actuator of the unlocking device in such a way that the tool holder can be brought from the locked state into the unlocked state. The tool holder can thus be brought into the unlocked state in a particularly simple manner.

[0019] It is also possible for the tool holder to be brought into the locked state by rotating the locking sleeve about the tool axis or by pressing a release button.

[0020] Here, the tool holder is coupled to the drive unit by means of the base body. In order to bring the tool holder from the locked state into the unlocked state, the locking sleeve must in particular be pushed in the direction of the drive unit. Here, in particular the force of a spring which presses the locking sleeve away from the drive unit, i.e. which brings the tool holder into the locked state, must be overcome. In this case, the actuator of the unlocking device only has to exert a force on the locking sleeve in the direction of the drive unit, and the locking sleeve can only be displaced in the direction of the drive unit. The force required to push the locking sleeve away from the drive unit is exerted by the spring mentioned above, and the actuator only has to release or allow the displacement.

[0021] The base body and the locking sleeve have an essentially rotationally symmetrical outer contour, wherein the axis of symmetry extends in the tool direction. The base body is slightly sunk into the locking sleeve. The tool holder can be designed, for example, according to the tool holder from DE 10 2012 223 094 A1.

[0022] In one design of the application, the unlocking device has a non-movable part and a movable part which can be moved in the tool direction. The unlocking device is arranged on the drive unit by means of the non-movable part. The coupling element is arranged on the movable part, which coupling element is designed and configured in such a way that the locking sleeve can be pushed in the tool direction. This enables a particularly simple construction of the unlocking device.

[0023] Here, the actuator is designed, in particular, as a pneumatically operated piston-cylinder unit, the cylinder being formed by the non-movable part and the piston being formed by the movable part. The coupling element has, in particular, two arms which are spaced perpendicularly to the tool direction and which act on opposite sides of the surrounding collar of the locking sleeve and can thus exert a force in the tool direction on the locking sleeve. In particular, the arms bear against the collar of the locking sleeve, so that a force is exerted only in the direction of the drive unit and the locking sleeve can thus only be pushed in the direction of the drive unit by the unlocking device. The force for moving the locking sleeve away from the drive unit is exerted by a correspondingly arranged spring of the tool holder. When the locking device exerts insufficient counterforce on the locking sleeve via the coupling element and thus releases or allows a push, the spring can push the locking sleeve.

[0024] Here, the actuator of the unlocking device in the form of a piston-cylinder unit is operated by the application of compressed air. In order to apply compressed air to the piston-cylinder unit, a control device correspondingly operates at least one valve connected in front. When compressed air is applied, the movable part and, in the case via the coupling element, also the locking sleeve are pushed in the tool direction in the direction of the drive unit. As a result, the tool holder is brought from the locked state into the unlocked state. In this state of the tool holder, the tool can be removed from the tool holder and thus from the assembly device, i.e. pulled out of the tool holder and thus from the assembly device in the tool direction. In order to limit the movement of the movable part of the unlocking device, the movable part has, in particular, a stop which, for example, hits against the non-movable part of the unlocking device or the drive unit of the assembly device when the maximum movement is reached.

[0025] After the tool has been removed, the loading of the piston-cylinder unit ends and the cylinder is vented. The locking sleeve is pushed away from the drive unit in the tool direction by means of the spring and the tool holder is thus brought back into the locked state. As a result, the movable part of the unlocking device is also pushed away from the drive unit in the tool direction again by means of the coupling element.

[0026] The piston-cylinder unit can also have two compressed-air connections. Thus, by applying pressure to one of the two compressed-air connections, the piston, i.e. the movable part of the unlocking device, can be moved with the coupling element in the desired direction.

[0027] In one design of the application, the drive unit has an interface via which control signals can be transmitted to the drive unit. The assembly device can thus be used particularly easily by electromechanical installation components, in particular industrial robots.

[0028] The control signals transmitted via the interface can be designed, for example, as instructions for starting or stopping the drive motor of the drive unit, or also as a desired rotational speed of the drive motor. Energy, in particular electrical energy for operating the drive unit, can also be transmitted via the interface. The interface can also be used to establish a mechanical connection to the drive unit and thus to the assembly device, or to supply the assembly device with compressed air. The interface can be designed, for example, as part of a quick-change system for industrial robots. The drive unit can also have a plurality of different interfaces.

[0029] The assembly frame of the assembly apparatus can be designed, for example, as a simple platform, rack, stand, carriage, etc. with optional add-ons. In particular, the assembly frame is mainly made of metal, for example from metal profiles. The assembly frame can be designed, for example, according to the carrier component introduced in WO 2017 / 016780 A1.

[0030] The electromechanical installation component of the assembly apparatus is designed, in particular, as an industrial robot. It can be designed, for example, according to the electromechanical installation component introduced in WO 2017 / 016780 A1. However, other designs of the electromechanical installation component are also possible. For example, the electromechanical installation component can only have one arm which can be moved in and out in one direction by means of an actuator.

[0031] The gripper of the assembly apparatus has at least one, in particular two, clamping arms which can be moved towards and away from each other by means of at least one actuator. Thus, a tool arranged between the clamping arms can be clamped and thus fixed or released. To this end, the clamping arms have a shape which corresponds to the outer contour of the tool. The gripper can be operated, for example, electrically, pneumatically or hydraulically.

[0032] The gripper and thus also the clamping arms are mainly made of metal, for example in the form of stainless steel. One or both clamping arms can have a resilient pad or layer, for example in the form of a rubber pad, on their respective inner side, i.e. the side pointing towards the tool. In this way, tolerances between the desired positioning and the actual positioning of the gripper relative to the tool can be advantageously compensated. This enables particularly stable automated tool change.

[0033] The assembly device is configured in such a way that the electromechanical mounting part can position the assembly means such that the clamp can grip and secure the tool held in the tool holder of the assembly means. Here, the clamp or the actuator of the clamp is controlled, inter alia, by the same control device that also controls the drive machine that also operates the assembly means. However, a separate control device can also be provided for this control.

[0034] In one design of the application, the clamp is arranged displaceably on the assembly frame in the tool direction from the inactive position by a holder arranged immovably on the assembly frame. Here, the clamp is pressed into the inactive position by means of a spring. As a result, the tool is advantageously able to be inserted or plugged in as described above by being pressed into the tool holder and at the same time being rotated. When the tool reaches one of the above-mentioned defined twisted positions, the clamp and thus also the tool are pushed in the tool direction by the spring in the direction of the tool holder and the tool is thus fully inserted into the tool holder.

[0035] The clamp can be displaced, for example, 10 to 30 mm in the tool direction relative to the clamp from the inactive position. The connection between the holder and the clamp is achieved, for example, by one or, in particular, two sliding guides.

[0036] In one design of the application, the assembly device has a first sensor unit by means of which the position of the clamp in the tool direction relative to the mentioned holder can be detected. As a result, the process of the insertion or plugging of the tool into the tool holder can be monitored. The assembly method using the assembly device or the corresponding assembly process can thus be carried out in a particularly process-reliable manner.

[0037] The first sensor unit can be designed in such a way that it can continuously detect a defined position of the clamp, i.e. it can have, for example, a distance sensor. It can also only detect individual discrete positions of the clamp, i.e. for example, the inactive position, the end position at maximum displacement and the position when the tool is correctly accommodated in the tool holder. To this end, the first sensor position can have one or more position switches.

[0038] By monitoring the position of the clamp, it can be identified, inter alia, whether the tool has been correctly inserted into the tool holder, i.e. whether it has been correctly accommodated by the tool holder. In the case of a correctly inserted tool, the position of the clamp must be changed from the inactive position directly or via the position of the maximum displacement to the position when the tool is correctly accommodated in the tool holder.

[0039] In one design of the application, the clamp is designed in such a way that it can secure at least two different tools. As a result, the assembly device can use different tools and thus carry out different assembly steps. The assembly device can thus be used very flexibly.

[0040] The clamp is designed in particular such that it can secure, for example,

[0041] drills having different diameters;

[0042] a drill and a setting tool; or

[0043] a drill having different diameters and a setting tool. It is also possible for the clamp to secure other types of tools as well.

[0044] To this end, the clamp arms of the clamp in particular have recesses which are adapted to the outer contour of the tool to be secured.

[0045] In one design of the application, the clamp can assume an open state and a closed state. A second sensor unit is arranged on the clamp, by means of which the state of the clamp can be detected. Thereby, the securing of the tool by the clamp can be monitored. The assembly method using the assembly apparatus or the corresponding assembly process can thus be carried out in a particularly process-reliable manner.

[0046] It is also possible for the clamp to assume a securing state which is located between the open and the closed state. The clamp assumes the securing state when it is guided in the direction from the open state towards the closed state and the tool is arranged between its clamp arms such that the clamp clamps or secures the tool. The tool thus prevents the closed state from being assumed. It is thus possible to identify whether the clamp is securing the tool.

[0047] The second sensor device can be designed in such a way that it can continuously detect the state of the clamp, that is to say, for example, it can have a distance sensor which detects the distance between the clamp arms. It is also possible for only individual discrete positions of the clamp arms to be detected, for example, in the open / secured and / or closed state. To this end, the second sensor unit can have one or more position switches.

[0048] In one design of the application, a light barrier is arranged on the clamp, which is designed and arranged in such a way that the tool can be displaced through the light barrier perpendicular to the tool direction. Thereby, the assembly method using the assembly apparatus or the corresponding assembly process can be carried out in a particularly process-reliable manner.

[0049] For example, it can be monitored by means of the light barrier whether a tool for securing is fed to the clamp. The light barrier must then be arranged in such a way that the tool fed to the clamp is guided through the light barrier, that is to say, interrupts the light beam from the light barrier.

[0050] Additionally or alternatively, the diameter of the tool can be determined by means of a light barrier. Since the position and orientation of the electromechanical mounting part and thus also the position and orientation of the assembly device and the tool are known, the diameter of the tool can be determined when the tool moves through the light barrier perpendicularly to the tool direction. By means of the diameter determined in this way, it can be checked whether the diameter still corresponds to the nominal specification and, if necessary, the replacement of the tool can be initiated.

[0051] Additionally or alternatively, the extension of the tool in the tool direction can be determined by means of a light barrier. To this end, the tool can be moved in the tool direction towards the light beam of the light barrier to such an extent that the light beam is interrupted. Based on the position and orientation of the assembly device, the extension of the tool in the tool direction can be inferred. In this way, for example, a breakage of a part of a drill bit, in particular a so-called crown, can be detected. By means of the extension of the tool determined in this way, it can be checked whether the extension still corresponds to the nominal specification and, if necessary, the replacement of the tool can be initiated.

[0052] The assembly device described above can be part of an assembly system for carrying out assembly steps on a wall in a shaft in a particularly advantageous manner. The assembly system then additionally has a displacement part for moving the assembly device in the shaft.

[0053] A shaft is to be understood here as a longitudinally extending space bounded by a wall in the form of a shaft wall. In particular, the shaft has a mainly rectangular cross section, other cross sections can also be envisaged. In particular, the shaft runs mainly in the vertical direction, so that the displacement in the shaft mainly takes place in the vertical direction. The shaft is used in particular as an elevator shaft of an elevator installation, in which, during operation of the elevator installation, a car for transporting persons and / or objects is displaced in the displacement direction. The shaft can also be used for other purposes, for example the shaft can be used as a ventilation shaft or for accommodating pipes, cables, etc.

[0054] The assembly device can be displaced within the shaft and thus positioned at different points, in particular at different heights within the shaft. To this end, the assembly device is suspended on the displacement part, in particular in the form of a winch, in particular by means of a sling in the form of a rope, chain or belt. The sling can be wound up or unwound by the winch, so that the assembly device can be moved in the shaft.

[0055] The above object is also achieved by a method for replacing a tool accommodated by one of the above-mentioned assembly devices for carrying out assembly steps on a wall, the method having the following steps:

[0056] Displacing the assembly device together with the old tool accommodated in the tool holder by means of the electromechanical mounting part in order to bring the old tool into a holding position in which the old tool can be fixed by the clamp,

[0057] Fixing the old tool by means of the clamp,

[0058] - bringing the tool holder into an unlocked state by means of the unlocking device, and

[0059] - moving the assembly device away from the old tool in the tool direction at least until the old tool is no longer sunk into the tool holder.

[0060] The method according to the application has the same advantages as the assembly device described.

[0061] In one design variant of the application, the method also has the following steps:

[0062] - removing the assembly device,

[0063] - picking up the clamping tool by means of the electromechanical installation component,

[0064] - grabbing the new tool from the magazine by means of the clamping tool,

[0065] - displacing the clamping tool with the new tool to a holding position in which the clamping tool can secure the new tool using the electromechanical installation component,

[0066] - securing the new tool by means of the clamping tool,

[0067] - removing the clamping tool,

[0068] - picking up the assembly device by means of the electromechanical installation component,

[0069] - displacing the assembly device to the ready position by means of the electromechanical installation component,

[0070] - displacing the assembly device in the tool direction in the direction of the new tool until the new tool is inserted into the tool holder.

[0071] As a result, it is advantageously possible not only to remove the old tool from the tool holder of the assembly device, but also to insert the new tool. This makes it possible for the assembly steps to be carried out as automatically as possible without manual intervention by an assembly person.

[0072] Removing the assembly device or the clamping tool is understood here to mean that the assembly device or the clamping tool is arranged in a holding element provided for this purpose by means of the electromechanical installation component and then decoupled or disconnected from the electromechanical installation component.

[0073] Picking up the clamping tool or the assembly device is understood here to mean picking up by means of the electromechanical installation component or by means of a coupling to the electromechanical installation component. The clamping tool is designed to grab and hold tools. The tools can therefore be moved or displaced by means of the electromechanical installation component. To this end, the clamping tool has, in particular, two gripping arms which can clamp a tool between the gripping arms and thus hold the tool. The clamping tool can be operated, for example, electrically, pneumatically or hydraulically.

[0074] The ready position is characterized in that, starting from the ready position, the assembly device has to move only in the tool direction in order to insert a new tool into the tool holder.

[0075] In one design of the application, the tool holder is rotated about an axis in the tool direction when the assembly device is moved in the tool direction towards the direction of the new tool. As mentioned above, the tool can thus be inserted into the tool holder.

[0076] By rotating the entire assembly unit using electromechanical mounting components, the tool holder can be rotated. It is also possible to rotate the tool holder by means of the drive motor of the drive unit alone. In particular, the tool holder is rotated by at least 180°. It is also possible for the successful insertion of the new tool to be detected by one of the sensor devices, so that the rotation is terminated.

[0077] In one design of the application, the method also has the following steps:

[0078] By means of the clamping tool, the old tool is clamped in the clamp,

[0079] By means of the clamp, the old tool is released, and

[0080] The old tool is deposited in a magazine.

[0081] The old tool is thus advantageously collected in the magazine and can, for example, be refurbished and reused at a later time.

[0082] The old tool can be deposited in the same magazine in which the new tools are also stored. However, it is also possible to provide a separate magazine, for example in the form of a container, for storage.

[0083] As mentioned above, the successful implementation of the individual method steps can be checked by means of the detection of the above-mentioned sensor devices.

[0084] In particular, the following checks can be made, but not necessarily all of them:

[0085] When the assembly device is displaced so that the old tool occupies the holding position, a light barrier can be used to check whether the old tool is actually in the holding position. In this case, the light beam has been interrupted by the old tool.

[0086] A second sensor unit can be used to check the correct fastening of the new and old tools.

[0087] After the assembly device has been moved away from the clamp in order to remove the old tool, the second sensor unit can be used to check whether the old tool is still fastened in the clamp and whether the old tool has been successfully removed from the assembly device.

[0088] The correct insertion of the new tool into the tool holder can be checked by means of the first sensor unit as described above.

[0089] It is to be noted that some possible features and advantages of the present application are described herein with reference to different embodiments of the assembly device according to the present application on the one hand and the method according to the present application on the other hand. The person skilled in the art realizes that these features can be combined, adapted, transposed or replaced in a suitable manner to realize other embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0090] Further advantages, features and details of the present application are obtained from the following description of exemplary embodiments and with reference to the drawings, wherein identical or identically acting elements have identical reference symbols. The drawings are diagrammatic only and not to scale.

[0091] In the drawings, the assembly device is designed as a percussion drill, and the tool is designed as a drill bit. The assembly device can also be designed as another device, for example an assembly device for knocking an anchor bolt into a borehole, and the tool can be designed as another tool, for example as a setting tool for driving an anchor bolt into a borehole.

[0092] Herein:

[0093] Figure 1 a clamp of the assembly device and the assembly apparatus with the unlocking device is shown in a side view,

[0094] Figure 2 a coupling element of the unlocking device in Figure 1 is shown in a top view,

[0095] Figure 3 a clamp of Figure 1 is shown in a top view,

[0096] Figure 4 an assembly system with an assembly apparatus and a displacement component in an elevator shaft is shown. DETAILED DESCRIPTION

[0097] According to Figure 1 , the assembly device 10 in the form of a percussion drill has a drive unit 12 which has a substantially cylindrical basic shape. The drive unit 12 has a not shown drive machine in the form of an electric motor. The drive unit is controlled by a not shown control device of the drive unit 12. In a tool direction 14 which extends in a vertical direction in Figure 1 and in which the drive unit 12 is oriented, a tool holder 16 in the form of a so-called drill chuck is coupled to the drive unit 12 in an upward direction.

[0098] The tool holder 16 has a mainly rotationally symmetrical outer contour, wherein the axis of symmetry extends in the tool direction 14. The tool holder 16 has a base body 18 which is coupled to the drive unit 12 by a form-fitting connection, not shown, such that the base body 18 and the tool holder 16 can be driven in rotation about the above-mentioned axis of symmetry of the tool holder 16 by the drive unit 12. The base body 18 of the tool holder 16 is torsionally connected to a locking sleeve 20, said tool holder being partially sunk into the locking sleeve 20. A tool 22 in the form of a drill bit which extends away from the tool holder 16 in the tool direction 14 is accommodated in the tool holder 16. The tool 22 is torsionally coupled to the tool holder 16, so that the tool 22 can also be driven, i.e. also rotated, by the drive unit 12. By means of the assembly device 10 and the tool 22 accommodated by the tool holder 16, a hole can be drilled in a wall.

[0099] The tool holder 16 can assume a locked state and an unlocked state, wherein the tool 22 accommodated by the tool holder 16 is removable from the tool holder 16 in the unlocked state and is fixed in the tool holder 16 in the locked state, so that it cannot be removed. In order to bring the tool holder 16 into the unlocked state, the unlocking sleeve 20 has to be moved in the tool direction 14 against the force of a spring, not shown, of the tool holder 16, towards the drive unit 12. The unlocking sleeve 20 has a surrounding collar 24 on its outer contour, which forms an annular operating face 26 which extends perpendicularly to the tool direction 14. A force for moving the unlocking sleeve 20 in the direction of the drive unit 12 and thus for adjusting the unlocked state of the tool holder 16 can be applied to the unlocking sleeve 20 via this operating face 26.

[0100] The assembly device 10 has an unlocking device 28 which has a non-movable part 30 and a movable part 32 which is movable in the tool direction 14. The unlocking device 28 is firmly connected to the drive unit 12 by means of the non-movable part 30 and a holder 34 which encloses the drive unit 12. The non-movable part 30 and the movable part 32 of the unlocking device form a pneumatic actuator in the form of a piston-cylinder unit. Here, the cylinder is formed by the non-movable part 30 and the piston is formed by the movable part 32. Two compressed air connections 36 are arranged on the non-movable part 30 via which compressed air can be fed and thus the piston-cylinder unit can be actuated. By feeding compressed air to the respective compressed air connections 36, the movable part 32 can be moved in the tool direction 14 away from or towards the non-movable part 30.

[0101] A coupling element 38 which extends perpendicularly to the tool direction 14 is arranged on the movable part 32 of the unlocking device 28. The coupling element 38 has a U-shaped basic shape with two arms 40 and is arranged such that the arms 40 lie against the operating face 26 of the surrounding collar 24 of the unlocking sleeve 20. The coupling element 38 and the unlocking sleeve 20 are torsionally connected to one another in the region of the arms 40 of the coupling element 38 and the operating face 26 of the unlocking sleeve 20. Figure 2The diagram is shown in top view. By moving the movable portion 32 of the unlocking device 28 toward the immovable portion 30, the connecting element 38, and consequently the locking sleeve 20, is pushed toward the drive unit 12 in the tool direction 14, and the tool holder 16 is thus brought into the unlocked state. When the movable portion 32 of the unlocking device 28 is pushed away from the immovable portion 30 by correspondingly loading compressed air, the drive unit 12 pushes the connecting element 38 away from the immovable portion 30 along the tool direction 14. Therefore, the spring of the tool holder 16 (not shown) can press the locking sleeve 20 away from the drive unit 12 along the tool direction 14, thereby putting the tool holder 16 into the locked state.

[0102] The drive unit 12 also has an interface 42, assembly system ( Figure 4 of 74) Figure 1 Control device not shown in the figure Figure 4 The control signal (94) can be transmitted to the control device of the drive unit 12 through this interface. The control signal can, for example, start the electric motor of the drive unit 12 and, for example, preset the rated speed of the electric motor. Interface 42 is arranged on the drive unit 12 opposite to the tool holder 16. Interface 42 is also used to mechanically connect the assembly device 10 to the assembly system (…). Figure 4 of 74) Figure 1 Electromechanical mounting components (not shown) and components for supplying electrical energy and compressed air to the assembly device 10, the electromechanical mounting components being in the form of an industrial robot. Figure 4 In the form of 88).

[0103] The tool 22 of the assembly device 10 can be replaced by means of the clamp 44 and the corresponding displacement of the assembly device 10 relative to the clamp 44; that is, the old tool can be removed from the tool holder 16 and the new tool can be inserted into the tool holder 16. For this purpose, the clamp 44 is arranged for use on the wall ( Figure 4 Assembly equipment that performs assembly steps on (76) Figure 4 The mobile assembly frame (of which 86) Figure 4 On the longitudinal beam 46 extending along the tool direction 14 in 84).

[0104] The clamp 44 has a base body 48 which is displaceably connected to a holder 52 which is immovably arranged on the longitudinal beam 46 in the tool direction 14 by means of two rods 50. Between the two rods 50, a coil spring 54 is arranged which extends between the holder 52 and the base body 48 in the tool direction 14, such that it pushes the base body 48 and thus the clamp 44 away from the holder 52. The rods 50 are guided through the holder 52 in the tool direction 14 and can be displaced relative to the holder 52 in the tool direction 14, whereby the described displaceable connection between the holder 52 and the clamp 44 is achieved. The rods 50 and the associated through-penetrations through the base body 48 thus form two sliding guides. The rods 50 have a surrounding collar 56 which is arranged on the side of the holder 52 which is opposite the clamp 44 and which delimits the downward displacement of the clamp 44 relative to the holder 52. Figure 1 A deactivation position of the clamp 44 is shown in which the clamp is at the greatest distance from the holder 52, that is to say the collar 56 of the rod 50 rests on the holder 52. In order to be able to detect the position of the clamp 44 relative to the holder 52, a first sensor 58 is arranged on the side of the holder 52 which is opposite the clamp 44. The first sensor 58 detects that the collar 56 of the rod 50 rests on the holder 52, that is to say that the clamp 44 is in the deactivation position. A second sensor 60 is arranged on the side of the holder 52 which is directed towards the clamp 44, which second sensor detects that the clamp 44 has been displaced at least a predetermined distance in the direction of the holder 52. In particular, the second sensor 60 detects a displacement of the clamp 44 which is slightly less than the maximum displacement. Here, the first and second sensors 58 and 60 are designed as proximity sensors and form a first sensor unit.

[0105] The clamp jaw 44 has two clamping arms 62 which are arranged on opposite sides of the base body 48. The clamping arms 62 can be moved away from or towards one another by means of a not further shown, pneumatically operated actuator which is arranged in the base body. The clamping arms 62 extend in the direction of the tool 22 and each have two corresponding recesses 64, 66 (see Figure 3 ) respectively. The clamp 44 and the clamping arms 62 are made of stainless steel, in particular. The clamping arms can have not shown rubber pads on their respective inner sides, that is to say on the side which is directed towards the tool.

[0106] The tool 22 is positioned in Figure 1 and Figure 3 in such a way that it projects through the clamping arms 62 in the region of the recess 64. The tool 22 is then in a so-called holding position relative to the clamp 44. Here, the contour of the recess 64 matches the outer contour of the tool 22. Tools with a smaller diameter are positioned in matching manner in the recess 66. If the tool 22 is removed from Figure 1 and Figure 3From the illustrated situation, the clamping arms 62 are moved towards each other, the clamping arms then clamp the tool 22 between the clamping arms and thus fix the tool 22.

[0107] The gripper 44 can assume three different states by corresponding movements of the clamping arms 62. If the clamping arms 62 are arranged relative to each other such that the tools arranged in the region of the recesses 64, 66 are not clamped or fixed, the gripper 44 is in the open state. This state is shown in Figure 3 If the clamping arms 62 are arranged relative to each other such that the clamping arms clamp or fix the tools arranged in the region of the recesses 64, 66, the gripper 44 is in the fixed state. The gripper is in the closed state when the clamping arms 62 come into contact, which state can only be achieved when no tools project from the clamping arms 62. In order to be able to identify the three states mentioned, a second sensor unit 68 is arranged on the base body 48, which has three not shown position switches, each of which can detect one of the three states of the gripper 44.

[0108] The gripper 44 also has a light barrier 70, which is arranged on the base body 48 by means of a holding plate 72. The light beam 71 of the light barrier 70 extends in the region of the end of the clamping arms 62 facing away from the base body 48 perpendicular to the tool direction 14. The light barrier is thus arranged in such a way that a tool 22 fed to the gripper 44 in the direction of the base body 48 perpendicular to the tool direction 14 is guided through the light barrier 70, i.e. the light beam 71 of the light barrier 70 is interrupted. This makes it possible to check whether a tool 22 has actually been brought into the holding position for fixing in the gripper 44. In addition, the diameter of the tool 22 can be determined when passing through the light barrier 70. In Figure 1 and Figure 3 the tool axis 14 extends vertically and the light beam 71 of the light barrier 70 extends horizontally. The tool 22 is moved horizontally and perpendicular to the light beam 71 by the light beam 71 in order to determine its diameter. On the basis of the information relating to the position of the mechatronic installation component (industrial robot 88 in Figure 4 ) of the holding assembly 10 and the situation in which the tool 22 begins to interrupt the light barrier 70, the distance between the light beam 71 and the tool axis of the tool 22 and thus also the radius or diameter of the tool 22 is determined. In addition, the end of the interruption of the light barrier 70 can also be taken into account and thus the diameter of the tool 22 can be determined directly.

[0109] In Figure 4An assembly system 74 is shown for performing assembly steps on a wall 76 in a vertically extending shaft 78 in the form of an elevator shaft. A displacement member in the form of a winch 80 is arranged in the shaft 78 above. The winch 80 is connected with an assembly frame 84 of an assembly device 86 by means of a hoist in the form of a rope 82 for performing assembly steps on the wall 76. By means of the winch 80 and the rope 82, the assembly frame 84 and the assembly device 86 can be moved in the vertical direction in the shaft 78. The assembly frame 84 can be fixed in the shaft 78 so that the assembly frame can occupy a fixed position in the shaft 78. Arranged above on the assembly frame 84 is an electromechanical installation member in the form of a downwardly hanging industrial robot 88. As shown in Figure 4 the industrial robot 88 can accommodate a gripping tool 90 or accommodate the above-mentioned assembly device 10 in Figure 4 the device magazine 91. The industrial robot 88 can use the gripping tool 90 to grip and move the above-mentioned tool 22. In a lower region of the base frame 84 is arranged a magazine 92 in which the tool 22 is supported. Here, it can be a question of a new or available tool or an old or worn tool.

[0110] Also arranged above on the assembly frame 84 is a control device 94 which operates the winch 80, the industrial robot 88, the gripping tool 90 and the assembly device 10. To this end, the assembly system 74 has not shown communication lines, compressed air lines and power lines.

[0111] If the industrial robot 88 has accommodated the assembly device 10 in the form of a drill, by suitably operating the industrial robot 88 and the assembly device 10, a hole is automatically drilled in the wall 76 of the shaft 78, whereby the assembly step is automatically performed in the shaft 78.

[0112] The tool 22 can wear in use, in particular when the drill encounters a reinforcement in the wall 76. The assembly device 86 can automatically replace the tool 22 of the assembly device 10, i.e. remove the old tool 22 from the assembly device 10 and fit a new tool 22. In order to replace the tool 22 of the assembly device, the following steps are performed:

[0113] the assembly device 10 together with the old tool 22 held in the tool holder 16 is picked up by the industrial robot 88,

[0114] the assembly device 10 is displaced by the industrial robot 88 until the old tool 22 occupies Figure 1 and Figure 3 the holding position shown in Figs. 4 and 5, in which the clamp 44 can secure the old tool 22,

[0115] the old tool 22 is secured by the clamp 44,

[0116] Bringing the tool holder 16 into the unlocked state by means of the unlocking device 28,

[0117] Displacing the assembly device 10 by means of the industrial robot 88 away from the old tool 22 in the tool direction 14 until the old tool 22 is no longer sunk into the tool holder 16,

[0118] Putting the assembly device 10 into the device magazine 91 by means of the industrial robot 88,

[0119] Picking up the clamping tool 90 from the equipment magazine 91 by means of the industrial robot 88,

[0120] Grasping the old tool 22 fixed in the clamp 44 by means of the clamping tool 90,

[0121] Releasing the old tool 22 by means of the clamp 44,

[0122] Putting the old tool 22 into the magazine 92,

[0123] Picking up the new tool 22 from the magazine 92 by means of the clamping tool 90,

[0124] Displacing the clamping tool 90 with the new tool 22 by means of the industrial robot 88 until the new tool 22 occupies the holding position shown in Figure 1 and Figure 3 in which the clamp 44 can fix the new tool 22,

[0125] Fixing the new tool 22 by means of the clamp 44,

[0126] Putting the clamping tool 90 together with the industrial robot 88 into the device magazine 91,

[0127] Picking up the assembly device 10 from the device magazine 91 by means of the industrial robot 88,

[0128] Displacing the assembly device 10 by means of the industrial robot 88 into the ready position,

[0129] Moving the assembly device 10 in the tool direction 14 in the direction of the new tool 22 until the new tool 22 is inserted into the tool holder 16 of the assembly device 10, wherein the assembly device 10 in turn also the tool holder 16 is rotated about an axis in the tool direction 14, and

[0130] Releasing the new tool 22 by means of the clamp 44.

[0131] Additionally, the individual steps of the method described can be checked as described above by means of the two sensor units 58, 60 and 68 and the grating 70 described above.

[0132] Finally, it needs to be stated that the terms "having", "comprising" and the like do not exclude other elements or steps, and the terms "a" or "an" do not exclude a plurality. Also, it should be stated that features or steps which have been described with reference to one or more of the above embodiments can also be used in combination with other features or steps of other embodiments. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. An assembly apparatus for performing assembly steps on a wall, The assembly equipment has an assembly device (10). The assembly device includes a drive unit (12), a tool holder (16), and a control device for operating the drive unit (12). in, The tool rack (16) is connected to the drive unit (12). The tool holder is configured to accommodate a tool (22) that extends away from the tool holder (16) in the tool direction (14) and is driveable by the drive unit (12). The tool rack can occupy a locked state and an unlocked state. In the unlocked state, the tool (22) contained in the tool rack (16) can be removed from the tool rack (16), and in the locked state, it is fixed in the tool rack (16). The tool rack has an unlocking device (28) with actuators (30, 32) operable by a control device for controlling the drive unit (12). These actuators are designed and arranged such that the tool rack (16) can be moved from a locked state to an unlocked state by means of the actuators (30, 32), thereby adjusting the unlocked state of the tool rack (16) through the control of the actuators (30, 32) of the unlocking device, allowing tools to be removed from the tool rack (16) independently of the position of the assembly device. The drive unit (12) and the actuators (30, 32) are controlled by the same control device. The assembly equipment also includes a movable assembly frame (84), electromechanical mounting components (88), and a maneuverable clamp (44) for securing the tool (22). Among them, the electromechanical mounting components (88) and the fixtures (44) are arranged on the assembly frame (84), and the assembly device (10) can be accommodated and moved by the electromechanical mounting components (88).

2. The assembly equipment according to claim 1, characterized in that, The clamp (44) is arranged on the assembly frame (84) in such a way that it can be pushed from the deactivated position along the tool direction (14) by means of a retainer (52) that is immovably arranged on the assembly frame (84), wherein the clamp (44) is pressed into the deactivated position by means of a spring (54).

3. The assembly equipment according to claim 2, characterized in that, The assembly equipment (86) has a first sensor unit (58, 60) which can detect the position of the fixture (44) relative to the retainer (52) in the tool direction (14).

4. The assembly equipment according to claim 1, 2, or 3, characterized in that, The clamp (44) is designed to hold at least two different tools (22).

5. The assembly equipment according to any one of the preceding claims, characterized in that, The clamp (44) can occupy an open state and a closed state, and a second sensor unit (68) is arranged on the clamp (44) so ​​that the state of the clamp (44) can be detected by means of the second sensor unit (68).

6. The assembly equipment according to any one of the preceding claims, characterized in that, A grating (70) is arranged on the fixture (44) in such a way that the tool (22) can be moved through the grating (70) perpendicular to the tool direction (14).

7. An assembly system for performing assembly steps on a wall in a shaft, the assembly system comprising: The assembly equipment (86) according to any one of claims 1 to 6, and Displacement component (80) for moving assembly equipment (86) in a shaft (78).

8. A method for changing a tool, the tool being housed by an assembly device of any one of claims 1 to 6 for performing assembly steps on a wall, the method comprising the steps of: The assembly device (10) is moved together with the old tool (22) housed in the tool holder (16) by means of the electromechanical mounting component (88), so that the old tool (22) occupies a holding position in which the clamp (44) can fix the old tool (22). The old tool (22) is secured by a clamp (44). The tool rack (16) is unlocked by means of the unlocking device (28), and Move the assembly device (10) away from the old tool (22) along the tool direction (14) to at least the extent that the old tool (22) no longer sinks into the tool rack (16).

9. The method according to claim 8, further comprising the following steps: Remove the assembly device (10). The clamping tool (90) is picked up via the electromechanical mounting component (88). A new tool (22) is picked up from the stock (92) using a clamping tool (90). The clamping tool (90) with the new tool (22) is moved by means of the electromechanical mounting component (88) until the new tool (22) occupies the holding position, in which the clamp (44) is able to fix the new tool (22). Use clamps (44) to secure the new tool (22). Remove the clamping tool (90). The assembly device (10) is picked up by the electromechanical mounting component (88). The assembly unit (10) is moved to the ready position by means of the electromechanical mounting components (88). The assembly device (10) is moved along the tool direction (14) toward the new tool (22) until the new tool (22) is inserted into the tool holder (16).

10. The method according to claim 9, characterized in that, When the assembly device (10) moves toward the new tool (22) along the tool direction (14), the tool holder (16) rotates about the axis along the tool direction (14).

11. The method according to claim 8, 9 or 10, further comprising the following steps: The old tool (22) fixed in the clamp (44) is picked up by the clamping tool (90). The old tool (22) is released by the clamp (44), and Place the old tool (22) into the material storage (92).

Images