Automated mounting device for performing installation operations in a lift shaft of a lift assembly

Abstract

A mounting device (1) for performing an assembly process in an elevator shaft (103) of an elevator system (101) is described. Said mounting device (1) comprises a support component (3) and a mechatronic assembly component (5). The support component (3) is designed to move within the elevator shaft (103). The assembly component (5) is retained on the support component (3) and is designed to carry out a mounting step in an at least partially automatic manner during the assembly process. In particular, the assembly component (5) can be in the form of an industrial robot (7). The mounting device (1) allows repetitive mounting jobs, for example, such as drilling holes and driving in screws, etc., to be performed in a partially or fully automated manner. The mounting effort, time and / or costs can be reduced.

Description

Automated assembly device for carrying out installations in an elevator shaft of an elevator system The present invention relates to an assembly device by means of which Installation procedures can be carried out in an elevator shaft of an elevator system. Furthermore, the invention relates to a method for carrying out a Installation process in an elevator shaft of an elevator system. The manufacture of an elevator system, and in particular the installation of elevator components within an elevator shaft in a building, can involve considerable effort and / or high costs, since a A large number of components must be mounted in different positions within the elevator shaft. Assembly steps, by means of which, for example, a component is installed within the elevator shaft as part of an installation process, have so far mostly been carried out by The work is carried out by technicians or installation personnel. Typically, a person goes to a position within the elevator shaft where the component is to be installed and installs it at the desired location, for example, by drilling holes in the shaft wall and attaching the component to the shaft wall with screws or bolts inserted into these holes. The person may use tools and / or machines for this purpose. Especially in the case of very long elevator systems, i.e., so-called high-rise elevators, which are intended to overcome large differences in height in tall buildings, the number of components to be installed in the elevator shaft can be very large, and therefore installation processes can involve considerable installation effort and high installation costs. In JP 3 214801 B2, a mounting device for aligning Guide rails for an elevator car in an elevator shaft are described. Using the mounting device, installation personnel can align pre-assembled guide rails in the elevator shaft and attach them to bracket-type mounting profiles installed by the installation personnel in the shaft. The mounting device includes a screw mechanism, which is an integral part of the device. The mounting device also features a fixing device that allows it to be laterally supported by one of the aforementioned bracket-type mounting profiles installed by the installation personnel. Therefore, there may be a need to reduce the labor and / or costs associated with installing components within an elevator shaft. Furthermore, there may be a need to reduce the risk of personal injury during installation work within an elevator shaft. Additionally, there may be a need to complete installation work in an elevator shaft more quickly. At least one of the aforementioned needs can be met by an assembly device or assembly method according to the independent claims. Advantageous embodiments are defined in the dependent claims and the following description. According to one aspect of the invention, an assembly device for carrying out an installation process in the shaft of an elevator system is proposed. The assembly device comprises a support component and a mechatronic installation component. The support component is designed to be moved relative to the elevator shaft, i.e., for example, within the elevator shaft, and to be positioned at different heights within the elevator shaft. The installation component is held by the support component and is designed to perform an assembly step within the installation process at least semi-automatically, preferably fully automatically. Possible features and advantages of embodiments of the invention can be considered to be based, among other things, on the ideas and findings described below, without this, however, limiting the scope of the invention. As mentioned in the introduction, it has been recognized that installation processes for mounting components within the shaft of an elevator system can involve a considerable amount of work, which has so far been largely carried out by human installation personnel. Depending on the size of the elevator system and thus the number of components to be installed, the assembly of all the necessary components within the elevator shaft can often take several days or even several weeks. The embodiments of the invention are based, among other things, on the idea that To be able to carry out installation processes within an elevator shaft of an elevator system at least partially automatically using a suitably designed assembly device. Full automation of the assembly steps involved would, of course, be advantageous. During installation processes, highly repetitive assembly steps, i.e., assembly steps that must be performed repeatedly during the installation of the elevator system, can be automated. For example, typically, to install a guide rail inside an elevator shaft, numerous mounting profiles must be attached to the walls of the elevator shaft. This requires drilling holes at many points along the shaft and then screwing on a mounting profile at each point. For the purpose of automation, it is proposed to provide an assembly device which has, on the one hand, a support component and, on the other hand, a mechatronic installation component held on this support component. The support component can be designed in various ways. For example, it can be a simple platform, frame, scaffold, cabin, or similar structure. The dimensions of the support component should be chosen so that it fits easily into the elevator shaft. The component can be picked up and moved within the elevator shaft. The mechanical design of the support component should be such that it can reliably support the mechatronic installation component attached to it and, if necessary, withstand the static and dynamic forces exerted by the installation component during an assembly step. The installation component should be mechatronic, meaning it should incorporate interacting mechanical, electronic, and information technology elements or modules. For example, the installation component should have suitable mechanics to handle tools during an assembly step. The tools can be positioned appropriately by the mechanics and / or guided appropriately during an assembly step. The tools can be supplied with energy, for example, in the form of electrical energy, via the installation component. It is also possible for the tools to have their own power supply, such as batteries, accumulators, or a separate power supply via cable. Alternatively, the installation component itself can also have a suitable mechanism that forms a tool. Electronic elements or modules of the mechatronic installation component can, for example, serve to control mechanical elements or modules of the Installation components suitable for controlling or monitoring. Such Electronic elements or modules can thus serve, for example, as a control system for the installation component. Furthermore, the installation component may have information technology elements or modules that can be used, for example, to determine the position to which a tool should be placed and / or how the tool should be operated and / or guided there during an assembly step. An interaction between the mechanical, electronic and The installation of information technology elements or modules should take place in such a way that at least one assembly step can be carried out semi-automatically or fully automatically by the assembly device as part of the installation process. The support component may also be equipped with guide components that allow it to be guided along one or more of the elevator shaft walls during vertical movement within the shaft. These guide components may, for example, be designed as support rollers that roll along the shaft walls. Depending on the arrangement of the support rollers on the support component, there may be one to, in particular, four guide components. Support rollers should be provided. It is also possible that guide cables are stretched within the elevator shaft to guide the support component. Additionally, guide rails can be temporarily installed to guide the support component within the elevator shaft. Furthermore, the support component may be suspended by two or more load-bearing, flexible support elements such as ropes, chains, or straps. According to one embodiment, the mechatronic installation component includes an industrial robot. An industrial robot can be understood as a universal, usually programmable machine for handling, assembling, and / or processing workpieces and components. Such robots are designed for use in an industrial environment and are currently used, for example, in the industrial production of complex goods in large quantities, such as in automotive manufacturing. An industrial robot typically consists of a manipulator, an effector, and a controller. The manipulator can be, for example, a robot arm that can pivot around one or more axes and / or move along one or more directions. The effector can be, for example, a tool, a gripper, or similar device. The controller is used to appropriately control the manipulator and / or the effector, that is, to move and / or guide them as needed. The industrial robot is specifically designed to be coupled to various assembly tools at its cantilevered end. In other words, the manipulator is designed to be coupled with different effectors. This enables particularly flexible use of the industrial robot and, consequently, the assembly device. The industrial robot's control system comprises, in particular, a power unit and a control PC. The control PC performs the actual calculations for the desired movements of the industrial robot and sends control commands for the individual electric motors of the industrial robot to the power unit, which then translates these commands into concrete motor actions. The power unit is located on the support structure, whereas the control PC is not located on the support structure, but rather in or next to the elevator shaft. If the power unit were not located on the support structure, numerous cable connections would have to be routed through the elevator shaft to the industrial robot. By arranging the power unit on the support structure, the industrial robot primarily requires only a power supply and a... Communication links, for example in the form of an Ethernet connection between the control PC and the power unit, can be provided, particularly via a so-called pendant cable. This allows for a particularly simple cable connection, which, moreover, is very robust and less susceptible to damage due to the small number of cables. This is an error. Additional functions, such as safety monitoring, may be implemented in the industrial robot's control system, which may require further cable connections between the control PC and the power unit. The industrial robot may also have a so-called passive auxiliary arm, which can only be moved together with the robot arm and, in particular, has a device for holding a component, such as a retaining bracket. For example, to attach the retaining bracket to a wall of the elevator shaft, the robot arm can be moved so that the retaining bracket is picked up by the passive auxiliary arm and, during the actual fastening, secured, for example, by a... The screw is held in the correct position on the wall. Industrial robots are often equipped with various sensors that allow them to gather information about their environment, working conditions, components being processed, and similar factors. For example, sensors can detect forces, pressures, accelerations, temperatures, positions, distances, etc., for subsequent analysis. After initial programming, an industrial robot is typically capable of performing a work process semi-automatically or fully automatically, meaning largely autonomously. The execution of the work process can be varied within certain limits, for example, depending on sensor information. Furthermore, an industrial robot's control system can potentially be self-learning. Thus, based on the way its components are mechanically and / or electrically designed, and the way these components can be controlled by the robot's control system, an industrial robot can be capable of performing various assembly steps during an installation process. to carry out the elevator shaft work or to be able to adapt to different conditions during such an assembly step. Advantageous properties in this context can already be provided in many fully developed industrial robots, such as those already in use in other technical fields, and may only need to be adapted to the specific conditions of installation processes in elevator shafts. For example, to operate the industrial robot within the To enable the elevator shaft to be moved to a desired position, it is attached to the support component, whereby the support component together with the Industrial robots and, if necessary, other installation components can be moved to a desired position within the elevator shaft. As an alternative to the design as an industrial robot, the mechatronic The installation component could also be designed in other ways. Among other possibilities, mechatronic machines specifically designed for the aforementioned application in a (semi-)automated elevator installation are conceivable, employing, for example, special drills, screwdrivers, feeding components, etc. Linearly movable drilling tools, screwdrivers, and similar tools could be used, for instance. According to one embodiment, the assembly device can also be The positioning component is designed to determine at least one position and orientation of the mounting device within the elevator shaft. In other words, the mounting device should, by means of its The positioning component must be able to determine its location or pose with respect to the current position and / or orientation within the elevator shaft. In other words, the positioning component can be designed to determine the precise position of the mounting device within the elevator shaft with a desired accuracy, for example, less than 10 cm, preferably less than 1 cm or less than 1 mm. The orientation of the mounting device can also be determined with high accuracy, i.e., for example, less than 10°, preferably less than 5° or 1°. If necessary, the positioning component can be designed to measure the elevator shaft from its current position. In this way, the positioning component can, for example, determine its current location within the elevator shaft, including distances to walls, ceiling, and / or floor of the shaft. Furthermore, the positioning component can determine its distance from a target position, allowing the mounting device to be moved as desired to reach that target position. The positioning component can determine the position of the assembly device in different ways. For example, position determination under The use of optical measurement principles is conceivable. For example, Laser distance measuring devices measure the distance between the positioning component and the walls of the elevator shaft. Other optical measuring methods, such as stereoscopic or triangulation-based methods, are also conceivable. In addition to optical measuring methods, a wide variety of other options are also available. Position determination methods are conceivable, for example based on Radar reflections or similar. According to one embodiment, the installation component is designed to perform several different assembly steps at least semi-automatically, preferably fully automatically. In particular, the installation component can be designed to use different assembly tools, such as a drill, a screwdriver, and / or a gripper, during the various assembly steps. The ability to use different assembly tools enables the mechatronic installation component to perform a variety of tasks during a The installation process involves carrying out various assembly steps simultaneously or sequentially, in order to ultimately be able to attach a component in a suitable position within the elevator shaft, for example. The installation component is specifically designed to protect the assembly tool used in the various types of assembly steps from The installation component can therefore only be connected to the assembly tool currently required for the next step. It can then deposit an assembly tool not needed for the next step and pick up the required tool, thus changing tools. The installation component can therefore only be connected to the assembly tool currently needed. This allows the installation component to require minimal installation space and perform assembly steps at numerous locations, making it highly versatile. If the installation component were always connected to all the assembly tools required for the various assembly steps, it would require significantly more installation space. Consequently, the respective assembly tools could be used in far fewer locations.According to one embodiment, the assembly device further comprises a tool magazine component designed to store assembly tools required for various assembly steps and to provide them to the installation component. This allows unused assembly tools to be safely stored and thus secured against falling during work steps and during the relocation of the assembly device in the elevator shaft. For example, according to one embodiment, the installation component is designed to drill holes in a wall of the elevator shaft, at least semi-automatically, as an assembly step. The installation component can use a suitable drilling tool for this purpose. Both the tool and the installation component itself should be designed to withstand the conditions encountered during the installation step inside the elevator shaft. For example, the walls of an elevator shaft, where components are to be mounted, are often made of concrete, especially reinforced concrete. Drilling holes in concrete can generate very strong vibrations and high forces. Both the drilling tool and the installation component itself should be designed to withstand such vibrations and forces. For example, it may be necessary to adequately protect an industrial robot used as an installation component from damage caused by strong vibrations and / or the high forces acting upon it. For instance, it may be advantageous to incorporate one or more damping elements into the installation component to dampen or absorb vibrations. It is also possible to integrate one or more damping elements at another location within the combination of... The assembly tool and installation component are arranged. A damping element can, for example, be integrated into the assembly tool or arranged in a connecting element between the installation component and the assembly tool. In this case, the assembly tool and the connecting element can be considered part of the They can be considered an installation component. A damping element, for example, is designed as one or more parallel rubber buffers, which are available in a wide variety and at low cost on the market. Even a single A rubber buffer can be considered a damping element. It is also possible for a damping element to be designed as a telescopic damper. The drill bits used are subject to wear and can also be damaged, for example, when they encounter reinforcement. To detect a worn or defective drill bit, the feed rate during drilling and / or the time required to drill a hole to a desired depth can be monitored. If a feed rate limit is undershot and / or a time limit is exceeded, the drill bit is recognized as no longer functioning correctly, and a corresponding message is generated. According to one embodiment, the installation component can be designed to at least semi-automatically insert screws into holes in a wall as an assembly step. to screw into the elevator shaft. In particular, the installation component can be designed to screw concrete screws into pre-drilled holes in the concrete wall of the elevator shaft. Using such concrete screws, highly load-bearing anchor points can be created within the elevator shaft, to which components can be attached. Concrete screws can be screwed directly into concrete, meaning without necessarily using anchors, thus enabling quick and easy installation. However, screwing in screws, especially concrete screws, can require high forces or torques, which the installation component or the assembly tool it uses should be able to provide. According to another embodiment, the installation component can be designed to attach components to the wall of the elevator shaft, at least semi-automatically, as an assembly step. In this context, components can be various shaft materials such as retaining profiles, parts of guide rails, screws, bolts, clamps, or similar items. According to one embodiment, the assembly device further comprises a Magazine component, which is designed to store components to be installed and to provide them to the installation component. For example, the magazine component can hold a large number of screws, especially concrete screws, and provide them to the installation component as needed. The magazine component can either actively feed the stored components to the installation component or passively provide them in such a way that the installation component can actively remove and then, for example, install them. The magazine component can optionally be designed to store various types of components and provide them to the installation component simultaneously or sequentially. Alternatively, the assembly device can incorporate several different magazine components. According to one embodiment, the assembly device can also be have a displacement component designed to displace the support component vertically within the elevator shaft. In other words, the mounting device itself can be designed to reposition its support component appropriately within the elevator shaft using its displacement component. The displacement component will generally have a drive mechanism by means of which the support component is moved within the The elevator shaft can be moved, i.e., it can travel between different floors of a building. Furthermore, the The displacement component shall have a control system by means of which the drive can be operated in such a way that the support component can be moved to a desired position within the elevator shaft. Alternatively, instead of the relocation component being part of the assembly device itself, a relocation component can also be provided externally. For example, a drive unit pre-installed in the elevator shaft can serve as the relocation component. This drive unit may already have a component that will later be used for the elevator shaft. The drive unit for the elevator system is intended to move an elevator car once fully installed and can be used to reposition the support component during the preceding installation process. In this case, a data communication link can be established between the mounting device and the external repositioning component, allowing the mounting device to instruct the repositioning component to move the support component to a desired position within the elevator shaft. Similar to the fully assembled elevator system, the support component can be connected to a counterweight via a tensile, flexible load-bearing element, such as a rope, chain, or belt, with the drive acting between the support component and the counterweight.Furthermore, the same drive configurations are possible for relocating the support component as for relocating elevator cars. The displacement component can be designed in different ways to be able to move the support component along with the components attached to it. To be able to move the installation component within the elevator shaft. For example, according to one embodiment, the displacement component can be fixed either to the support component of the mounting device or to a stop at the top of the elevator shaft and can include a tensile, flexible load-bearing element such as a rope, chain, or belt, one end of which is held to the displacement component and the other end of which is fixed to the respective other element, i.e., to the stop at the top of the elevator shaft or to the support component. In other words, the The displacement component can be attached to the support component of the mounting device, and a lifting element held on the displacement component can be attached at its other end to a fixing point inside the elevator shaft. Conversely, the displacement component can be fixed at the top of the fixing point in the elevator shaft, and the free end of its lifting element can then be fixed to the support component of the mounting device. The displacement component can then selectively move the support component within the elevator shaft by moving the lifting element. For example, such a displacement component can be provided as a type of winch, in which a flexible rope is attached to, for example, a The cable can be wound onto an electric motor-driven winch. The winch can be fixed either to the support component of the mounting device or, alternatively, for example, at the top of the elevator shaft, such as on the shaft ceiling. The free end of the cable can then be attached to the opposite end, either at the anchor point in the elevator shaft or at the bottom of the support component. By carefully winding and unwinding the cable onto the winch, the mounting device can then be moved within the elevator shaft. Alternatively, the displacement component can be attached to the support component and designed to exert a force on a wall of the elevator shaft by moving a motion component, thereby displacing the support component within the elevator shaft along the wall. In other words, the displacement component can be directly attached to the support component and actively move along the wall of the elevator shaft using its motion component. For example, the displacement component can have a drive that moves one or more motion components in the form of wheels or rollers, whereby the wheels or rollers are pressed against the wall of the elevator shaft so that the wheels or rollers set in rotation by the drive can roll along the wall with as little slippage as possible and thereby displace the displacement component together with the support component attached to it within the elevator shaft. Alternatively, it would be conceivable that a movement component of a The displacement component transfers forces to the wall of the elevator shaft in a different way. For example, gears could serve as the movement component and engage with a rack mounted on the wall to enable the displacement component to move vertically within the elevator shaft. According to one embodiment, the support component further has a Fixing component, which is designed to fix the support component and / or the installation component within the elevator shaft in a direction perpendicular to the vertical, i.e., for example, in a horizontal or lateral direction. Lateral fixing can be understood to mean that the support component, together with the installation component attached to it, can not only be moved vertically, for example using the displacement component, to a position at a desired height within the elevator shaft, but that the support component can also be fixed there in a horizontal direction using the fixing component. In this context, "support against a wall" refers specifically to the fact that the fixing component is supported directly and without the interposition of pre-mounted components on the wall, such as bracket elements, and can thus transfer forces into the wall. This support can be achieved in various ways. In one specific embodiment, the fixing component is designed to support at least one of the support component and the installation component within the to fix the elevator shaft in one direction along the vertical. The fixing component can, for example, be designed to brace itself laterally against the walls of the elevator shaft or to be clamped in place, so that the The supporting component can no longer move horizontally relative to the walls. For this purpose, the fixing component can, for example, be equipped with suitable supports, pins, levers, or similar devices. These supports, pins, or levers can be designed in such a way that they can be shifted outwards towards the wall of the elevator shaft and thus pressed against the wall. It is possible that supports, pins, or levers are arranged on opposite sides of the supporting component or the installation component, all of which can be shifted outwards. It is also possible that outwardly movable supports, pistons, or levers are arranged only on one side, and a fixed support element is located on the opposite side. The support element, in particular, has an elongated shape in the vertical direction and extends, in particular, at least over the entire vertical dimension of the support component. It has, for example, a predominantly beam-shaped basic form. The assembly device is, in particular, inserted into the elevator shaft in such a way that the support element is positioned on one side with Door openings are arranged in the walls of the elevator shaft. Through the The elongated shape allows the support element to provide sufficient support even when the mounting device is to be fixed in the area of ​​a door opening. The support element can be designed such that its distance to the support component is manually adjustable, particularly in different increments. The distance is adjustable only by hand and only before the mounting device is inserted into the elevator shaft. This allows the fixing device to be attached to The dimensions of the elevator shaft will be adjusted. Caulking against the walls of the elevator shaft can cause deformation of the support component. This is particularly the case if the bracing or caulking occurs in the area of ​​a doorway. Due to the Deformation can change the relative position of a position described above. Changing the magazine component to the installation component can lead to problems with the installation component's handling of tools and components. Such problems can be avoided, for example, if the support component is designed to be so rigid that it does not deform when supported or riveted, or if the magazine components are positioned relative to the installation component in such a way that their relative positions to each other do not change even if the support component deforms. It is also possible that the fixing device has suction cups, which can exert a holding force against a wall of the elevator shaft, thus fixing the support component to the shaft walls. For example, a vacuum can be actively created at the suction cups using a pump to increase the holding force. The support component is then braced against the walls of the elevator shaft by means of the suction cups. The fixing by means of suction cups also works in the vertical direction. It is also possible for the support component to be temporarily fixed to one or more walls of the elevator shaft using fasteners such as screws, bolts, or nails, thus bracing itself against the walls. This bracing also provides support in the vertical direction. This temporary fixing is released when the support component needs to be moved to a different position within the elevator shaft. Furthermore, the support component can be braced against components already installed in the elevator shaft, such as retaining profiles, and thus fixed in place. This bracing can also be provided in a vertical direction. It is also possible that, during the use of a tool within an assembly step, only the respective tool is fixed against a wall of the elevator shaft. For this purpose, a frame, against which the tool is movably guided, can be fixed to a wall of the elevator shaft, for example, using suction cups. Alternatively, the aforementioned frame can also be temporarily attached to a wall using fasteners, for example in the form of screws, bolts or nails. The elevator shaft will be fixed. By fixing the support component laterally within the elevator shaft, it is possible, for example, to prevent the... The support component can move horizontally within the elevator shaft during an assembly step in which the installation component is working and, for example, exerting lateral forces on the support component. In other words, the fixing component can essentially act as a counter-support for the installation component attached to the support component, allowing the installation component to indirectly brace itself laterally against the walls of the elevator shaft via the fixing component. Such lateral bracing can be particularly useful, for example, during a The drilling process may require measures to absorb the horizontal forces that occur during the process and to avoid or dampen vibrations. In a specific embodiment of this design, the support component can be made in two parts. The installation component is attached to the first part. The fixing component is attached to the second part. The support component can then further include an alignment component which is designed to align the first part of the support component relative to the second part of the support component, for example by rotating it about a spatial axis. In such a design, the fixing component can fix the second part of the support component within the elevator shaft, for example by bracing itself laterally against the walls of the elevator shaft. The following is particularly preferred: The fixing component is designed to support the second part of the support component against a wall on the shaft access side and a wall opposite it. The alignment component of the support component can then align the other, first part of the support component relative to the laterally fixed second part of the support component in a desired manner, for example, by rotating this first part around at least one spatial axis. This also relocates the installation component attached to the first part. In this way, the installation component can be brought into a position and / or orientation in which it can easily and precisely perform a desired assembly step. According to one embodiment, the assembly device further comprises a The system incorporates a reinforcement detection component designed to detect reinforcement within the walls of the elevator shaft. This component is capable of detecting reinforcement, such as a steel profile, that is often not visually perceptible and located deeper within the wall. Information about the presence of such reinforcement can be advantageous, for example, when drilling holes into the elevator shaft wall as part of the installation process. This prevents drilling into the reinforcement and thus avoids damage to both the reinforcement and the drill bit. Furthermore, the installation device can include a scanning component that measures the distance to an object, such as a wall. The elevator shaft can be measured. The scan component can, for example, be guided along the wall of the elevator shaft in a defined movement using the installation component, and the distance to the wall can be continuously measured. This allows conclusions to be drawn about the angle of the wall and its condition. The wall is scanned for unevenness, steps, or existing holes. The information obtained can be used, for example, to adjust the control of the installation component, such as changing a planned drilling position. Alternatively or additionally, the scan component can be guided along the wall in a zigzag pattern in an area where a bracket element is to be mounted, and a height profile of the wall can be created from the measured distances. This height profile can then be used, as described, to adjust the control of the installation component. Another aspect of the invention relates to a method for carrying out an installation process in an elevator shaft of an elevator system. The method involves inserting a mounting device according to an embodiment as described herein into an elevator shaft, and a controlled relocation of the The invention comprises an assembly device within the elevator shaft and, finally, at least semi-automatic, preferably fully automatic, execution of an assembly step within the installation process using the assembly device. In other words, the assembly device described above can be used to carry out assembly steps of an installation process in an elevator shaft partially or fully automatically, and thus partially or fully autonomously. It should be noted that some possible features and advantages of the invention are described herein with reference to different embodiments. In particular, features are partly related to an invention. The mounting device and, in part, a method according to the invention for carrying out an installation process in an elevator shaft are described. A person skilled in the art will recognize that the features can be combined, adapted, or exchanged in a suitable manner to arrive at further embodiments of the invention. In particular, a person skilled in the art will recognize that device features described with reference to the mounting device can be adapted analogously to describe an embodiment of the method according to the invention, and vice versa. Embodiments of the invention are described below with reference to the accompanying drawings, whereby neither the drawings nor the The description is to be interpreted as restricting the invention. Fig. 1 shows a perspective view of an elevator shaft of an elevator system with a mounting device included therein according to an embodiment of the present invention. Fig. 2 shows a perspective view of an assembly device according to an embodiment of the present invention. Fig. 3 shows a view from above into an elevator shaft of an elevator system with a mounting device included therein according to an alternative embodiment of the present invention. Fig. 4 shows a side view into an elevator shaft of an elevator system with a mounting device and its power supply installed therein. Communication links. Fig. 5 shows part of an installation component designed as an industrial robot with a damping element and a mounting tool in the form of a drill coupled to it. Fig. 6 shows part of an installation component designed as an industrial robot with a damping element in a connecting element to an assembly tool in the form of a drill. Figs. 7a and 7b show reinforcements in a wall of an elevator shaft in two areas where corresponding holes are to be drilled, and a Illustration of a search for possible drilling locations. Figs. 8a and 8b show reinforcements in a wall of an elevator shaft in two areas where related holes are to be drilled, and a Illustration of an alternative search for possible drilling locations. The figures are schematic only and not to scale. Identical reference symbols in the different figures denote identical or equivalent features. Fig. 1 shows an elevator shaft 103 of an elevator system 101, in which a The mounting device 1 is arranged according to an embodiment of the present invention. The mounting device 1 comprises a support component 3 and a mechatronic installation component 5. The support component 3 is designed as a frame on which the mechatronic installation component 5 is mounted. This frame has dimensions that allow the support component 3 to be moved vertically within the elevator shaft 103, i.e., along the vertical 104, meaning, for example, that it can be moved to different vertical positions on different floors within a building. In the illustrated example, the mechatronic installation component 5 is designed as an industrial robot 7, which is suspended downwards from the frame of the support component 3. An arm of the industrial robot 7 can be moved relative to the support component 3 and, for example, moved towards a wall 105 of the elevator shaft 3. The support component 3 is connected via a steel cable, serving as a load-bearing element 17, to a displacement component 15 in the form of a motor-driven winch, which is mounted at the top of the elevator shaft 103 at a stop 107 on the ceiling of the elevator shaft 103. Using the displacement component 15, the assembly device 1 can be moved vertically within the elevator shaft 103 over its entire length. The mounting device 1 further comprises a fixing component 19, by means of which the support component 3 can be fixed laterally, i.e., horizontally, within the elevator shaft 103. The fixing component 19 on the The front of the support component 3 and / or the plungers (not shown) on the back of the support component 3 can be moved forward or backward outwards, thus securing the support component 3 between the walls 105 of the elevator shaft 103. The fixing component 19 and / or the plungers can be spread outwards, for example, using hydraulics or a similar device, to fix the support component 3 horizontally within the elevator shaft 103. Alternatively, it would be conceivable to fix only parts of the installation component 5 horizontally, for example, by bracing a drill against the walls of the elevator shaft 103. Fig. 2 shows an enlarged view of an assembly device 1 according to a embodiment of the present invention. The support component 3 is designed as a cage-like frame in which several horizontally and vertically extending beams form a mechanically robust structure. The dimensions of the beams and any bracing are designed such that the support component 3 can withstand forces that may occur during various assembly steps carried out by the installation component 5 as part of an installation process in the elevator shaft 103. At the top of the cage-like support component 3, retaining cables 27 are attached, which can be connected to a lifting element 17. By repositioning the lifting element 17 within the elevator shaft 103, for example by winding or unwinding the flexible lifting element 17 onto the winch of the repositioning component 15, the support component 3 can thus be moved vertically suspended within the elevator shaft 103. In an alternative embodiment (not shown) of the assembly device 1, the relocation component 15 could also be provided directly on the support component 3 and, for example, use a winch to raise or lower the support component 3 on a support element 17 rigidly fixed at the top of the elevator shaft 3. In another possible configuration (not shown), the The displacement component 15 can also be directly and rigidly mounted to the support component 3 and, for example, drive rollers via a drive mechanism, which are pressed firmly against the walls 105 of the elevator shaft 103. In such a configuration, the mounting device 1 could move vertically within the elevator shaft 103 automatically, without the need for any prior installations within the elevator shaft 103, in particular without, for example, a support element 17 within the The elevator shaft 103 would need to be provided. Furthermore, guide components, for example in the form of support rollers 25, can be provided on the support component 3, by means of which the support component 3 can be guided along one or more of the walls 105 of the elevator shaft 103 during a vertical movement within the elevator shaft 103. The fixing component 19 is provided laterally on the support component 3. In the illustrated example, the fixing component 19 is designed with an elongated beam extending vertically, which can be displaced horizontally with respect to the frame of the support component 3. For this purpose, the beam can be attached to the support component 3, for example, via a lockable hydraulic cylinder or a self-locking motor spindle. When the beam of the When fixing component 19 is moved away from the frame of support component 3, it moves laterally towards one of the walls 105 of the elevator shaft 103. Alternatively or additionally, pins could be moved rearward on the back of support component 3 to brace the support component 3 in the elevator shaft 103. In this way, the support component 3 can be caulked within the elevator shaft 103 and thus, for example, during the execution of a In the assembly step, fix the support component 3 laterally within the elevator shaft 103. Forces applied to the support component 3 can, in this state, be transferred to the walls 105 of the elevator shaft 103, preferably without the support component 3 shifting within the shaft. The elevator shaft 103 may shift or vibrate. In a special configuration (not shown in detail), the The support component 3 can be made in two parts. The installation component 5 can be attached to the first part, and the second part... Fixing component 19 may be attached. In such a configuration, an alignment component may also be provided on the support component 3, which enables controlled alignment of the first part of the installation component 5 that supports the installation component 5. Support component 3 is enabled in relation to the second part of support component 3, which can be fixed within the elevator shaft 103. For example, the The alignment device moves the first part around at least one spatial axis relative to the second part. In the illustrated embodiment, the mechatronic installation component 5 is implemented using an industrial robot 7. It should be noted that the mechatronic installation component 5 can also be implemented in other ways, for example with differently designed actuators, manipulators, effectors, etc. In particular, the installation component could have mechatronics or robotics specifically adapted for use in an installation process within an elevator shaft 103 of an elevator system 1. In the example shown, the industrial robot 7 is equipped with several robot arms that can be pivoted about swivel axes. For example, the industrial robot can have at least six degrees of freedom, meaning that an assembly tool 9 guided by the industrial robot 7 can be moved with six degrees of freedom, i.e., for example, with three rotational degrees of freedom and three translational degrees of freedom. For example, the industrial robot can be a vertical articulated robot, a horizontal articulated robot, a SCARA robot, or a Cartesian robot. Portal robots must be used. The robot can be attached to its free-standing end with 8 different attachments. The assembly tools 9 can be coupled. The assembly tools 9 can differ in their design and intended use. Assembly tools 9 can be held on the carrier component 3 in a tool magazine component 14 such that the free-standing end of the Industrial robot 7 can be moved towards them and coupled to one of them. Industrial robot 7 can be used for this purpose, for example, via a have a tool changing system designed to allow the handling of at least several such assembly tools 9. One of the assembly tools 9 can be designed as a drilling tool, similar to a drill. By coupling the industrial robot 7 with such a The drilling tool can be configured to enable at least partially automated drilling of holes, for example, in one of the shaft walls 105 of the elevator shaft 103. The drilling tool can be moved and handled by the industrial robot 7, for example, in such a way that the drilling tool, with a drill bit, drills holes at a designated position, for example, in the concrete of the wall 105 of the elevator shaft 103, into which, for example, fastening screws can later be screwed to fix fasteners. Both the drilling tool and the industrial robot 7 can be designed to withstand, for example, the considerable forces and vibrations that occur when drilling in concrete.Another assembly tool 9 can be designed as a screwing device to screw screws, at least semi-automatically, into pre-drilled holes in a wall 105 of the elevator shaft 103. The screwing device can be designed, in particular, to allow concrete screws to be screwed into the concrete of a shaft wall 105. A magazine component 11 can also be provided on the support component 3. The magazine component 11 can serve to store components 13 to be installed and to provide them to the installation component 5. In the example shown, the magazine component 11 is arranged in a lower area of ​​the frame of the support component 3 and houses various components 13, for example, in the form of different profiles, which are to be mounted on walls 105 within the elevator shaft 103 in order, for example, to attach guide rails for the elevator system 101. Screws can also be stored and provided in the magazine component 11, which are inserted into prefabricated sections using the installation component 5. Holes in the wall 105 can be screwed in. In the illustrated example, the industrial robot 7 can, for instance, automatically grasp a fastening screw from the magazine component 11 and, for example, partially screw it into previously drilled fastening holes in the wall 105 using an assembly tool 9 designed as a screw device. Subsequently, an assembly tool 9 can be changed on the industrial robot 7, and, for example, a component 13 to be mounted can be grasped from the magazine component 11. The component 13 may have fastening slots. When the component 13 is moved into a designated position using the installation component 5, the previously partially screwed fastening screws can engage in or pass through these fastening slots. The assembly tool 9 can then be used again as the mounting component 5. The screw device, a trained assembly tool 9, is reconfigured and the fastening screws are tightened. The example shown demonstrates that, with the help of the mounting device 1, an installation process in which components 13 are mounted on a wall 105 can be carried out fully or at least partially automatically, by the installation component 5 first drilling holes in the wall 105 and then attaching components 13 to these holes using fastening screws. Such an automated installation process can be carried out relatively quickly and can be particularly helpful in the case of installation work that needs to be performed repeatedly within an elevator shaft, thus saving considerable time and effort. This reduces installation effort and therefore saves time and costs. Since the mounting device can largely automate the installation process, Interactions with human installation personnel are avoided or at least reduced to a minimum, so that otherwise, within the scope of such projects, Risks typically encountered during installation processes, especially accident risks, can be significantly reduced for installation personnel. To precisely position the mounting device 1 within the elevator shaft 103, a positioning component 21 can also be provided. Positioning component 21 can, for example, be permanently mounted on the support component 3 and thus move along with the mounting device 1 within the elevator shaft 3. Alternatively, positioning component 21 could also be arranged independently of the mounting device 1 at a different position within the elevator shaft 103 and from there transmit a current position of the Determine mounting device 1. The positioning component 21 can use different measuring principles to precisely determine the current position of the mounting device 1. Optical measurement methods, in particular, appear suitable for achieving a desired result. To enable position determination accuracy of, for example, less than 1 cm, preferably less than 1 mm, within the elevator shaft 103. A control unit of the mounting device 1 can evaluate signals from the positioning component 21 and, based on these signals, determine an actual position relative to a target position within the elevator shaft 103. Based on this, the Control then, for example, first the carrier component 3 within the The elevator shaft 103 is moved to a desired height. Subsequently, the control system can, taking into account the determined actual position, Control installation component 5 appropriately, for example to drill holes at desired locations within the elevator shaft, to screw in screws and / or ultimately to mount components 13. The mounting device 1 can also be used as a The reinforcement detection component 23 is present. In the example shown, the reinforcement detection component 23 is similar to one of the assembly tools 9 in the Magazine component 11 is picked up and can be handled by the industrial robot 7. The reinforcement detection component 23 can thus be moved by the industrial robot 7 to a desired position, for example, where a hole is subsequently to be drilled into the wall 105. Alternatively, the reinforcement detection component 23 could also be attached to the wall 105 in another way. Mounting device 1 is provided. The reinforcement detection component 23 is designed to detect reinforcement within the wall 105 of the elevator shaft 103. For this purpose, the Reinforcement detection components, for example, use physical measurement methods that utilize electrical and / or magnetic properties of the typically metallic reinforcement within a concrete wall to detect this reinforcement with positional accuracy. If reinforcement has been detected within the wall 105 using the reinforcement detection component 23, a control of the assembly device 1 can, for example, correct previously assumed positions of screw holes to be drilled in such a way that there is no overlap between the screw holes and the reinforcement. In summary, an assembly device 1 is described with which, for example, a robot-assisted installation process can be carried out partially or fully automatically within an elevator shaft 103. The assembly device 1 can thereby Installation personnel should at least assist with the installation of components of the elevator system 101 within the elevator shaft 103, for example, by carrying out preparatory work. In particular, repetitive work steps can be automated and thus carried out quickly, precisely, with minimal risk, and / or cost-effectively. The work steps performed during an assembly procedure Installation process steps may vary with regard to individual tasks to be performed. Work steps, a sequence of work steps, and / or necessary human-machine interaction can be distinguished. For example, while assembly device 1 can automate parts of the installation process, installation personnel can still interact with assembly device 1 in such a way that Assembly tools 9 can be changed manually and / or components can be manually refilled into the magazine component. Also Intermediate work steps performed by installation personnel are conceivable. The scope of functions of a mechatronic installation component 5 provided in the assembly device 1 can include all or some of the work steps listed below: Elevator shaft 103 can be surveyed. This can be used, for example, to detect door openings 106, determine the precise orientation of elevator shaft 103, and / or optimize the shaft layout. If necessary, the actual survey data obtained from the elevator shaft 103 can be compared with plan data, such as that specified in a CAD model of elevator shaft 103. An orientation and / or localization of the mounting device 1 within the elevator shaft 103 can be determined. Reinforcing steel or reinforcements in walls 105 of the elevator shaft 103 can be detected. Then preliminary work such as drilling, milling, cutting, etc. can be carried out, whereby this preliminary work can preferably be carried out semi- or fully automatically by the installation component 5 of the assembly device 1. Subsequently, components such as fasteners, interface elements, and / or bracket elements can be installed. For example, concrete screws can be screwed into pre-drilled holes, bolts can be driven in, parts can be welded, nailed, and / or glued together, or similar methods can be used. Components and / or shaft material such as brackets, rails, shaft door elements, screws and similar items can be handled with the support of the assembly device 1 or fully automatically. Required materials and / or components can be replenished automatically and / or with personnel assistance in assembly device 1. Through these and possibly further work steps, 103 work steps and a workflow can be coordinated during an installation process within an elevator shaft, and, for example, machine-human interactions can be minimized, i.e., a system that works as autonomously as possible can be created. Alternatively, a less complex and therefore more robust system can be used for a A mounting device is used, in which case automation is only established to a lesser degree, and thus typically more machine-human interactions are necessary. The displacement component for relocating the mounting device in the elevator shaft can also be arranged on the support component of the mounting device and act on the walls of the elevator shaft. Such a mounting device 1 in an elevator shaft 103 is shown in a top view in Fig. 3. The displacement component 115 has two electric motors 151, which are arranged on the support component 3 of the assembly device 1. A rotatable axle 153 is attached to each of the opposite sides of the support component 3 via two guides 152. Two wheels 154 are fixed to each axle 153 in a rotationally fixed manner. The wheels 154 can roll along the walls 105 of the elevator shaft 103 and are pressed against the respective wall 105 by means of pressure devices (not shown). The electric motors 151 are connected to the axles 153 via a drive connection 155, for example in the form of gears and a chain. drive-connected and can thus drive the wheels 154 and relocate the support component 3 within the elevator shaft 103. On the support component 3 in Fig. 3, a fixing component is also arranged on one side where there is no displacement component 115. This fixing component consists of a support element 119 and a telescopic cylinder 120. The support element The mounting device 1 is arranged such that it is located on one side with door openings 106 in the walls 105 of the elevator shaft 103 (not shown in Fig. 3) (analogous to Fig. 1). The mounting device 1 is thus inserted into the elevator shaft 103 such that the support element 119 is arranged accordingly. The elongated support element 119 has a predominantly cuboid or beam-shaped basic form and is oriented vertically. Analogous to the illustration in Figures 1 and 2, it extends over the entire vertical dimension of the support component 3 and also projects beyond it in both directions. Beyond the support component. The support element 119 is connected to the support component 3 via two cylindrical connecting elements 123. Connecting elements 123 consist of two parts (not shown separately) that can be manually pushed into and pulled apart, and can be fixed in several positions. This allows a distance 122 between the Support element 119 and the support component 3 are adjusted. On the side of the support component 3 opposite the support element 119, a telescopic cylinder 120 is arranged centrally. The telescopic cylinder 120 has an extendable piston 121, which is connected to a U-shaped extension element 124. The piston 121 can be extended towards the wall 105 of the elevator shaft 103 until the support element 119 and the extension element 124 connected to the piston 121 abut the walls 105 of the elevator shaft 103, thus securing the support component 3 to the walls 105. Support component 3 is thus fixed in the vertical and horizontal directions, i.e., perpendicular to the vertical direction. In the example shown, the telescopic cylinder The telescopic cylinder 120 is extended and retracted electrically. However, other drive types, such as pneumatic or hydraulic, are also conceivable. The telescopic cylinder 120 shown in Fig. 3 is arranged on or in the area of ​​an upper surface of the support component 3. Similarly, the support component 3 also has a telescopic cylinder on or in the area of ​​its underside. It is also possible to arrange two telescopic cylinders, or more than two (for example, three or four), at the same height. In this case, the piston of the telescopic cylinder can, for instance, reach the wall of the elevator shaft without the need for an extension element. A system consisting of a support element and telescopic cylinders The fixing component can also be combined with a mounting device, which is attached within the frame by means of a support element as shown in Figs. 1 and 2. The elevator shaft can be relocated. The assembly device must be supplied with power in the elevator shaft, and communication with the assembly device is necessary. Figure 4 shows the power and communication connections to an assembly device 1 in an elevator shaft 103. The assembly device 1 has a support component 3 and a mechatronic installation component 5 in the form of an industrial robot 7. Industrial robot 7 is controlled by a controller consisting of a unit attached to the The system consists of a carrier component 3, a power unit 156, and a control PC 157 located on a floor outside the elevator shaft 103. The control PC 157 and the power unit 156 are connected to each other via a communication line 158, for example, in the form of an Ethernet line. Communication line 158 is part of a so-called suspension cable 159, which also includes power lines 160, via which the mounting device 1 is connected to a Voltage source 161 is supplied with electrical energy. From For the sake of clarity, the lines within the mounting device 1 are not shown. The power unit 156 of the industrial robot 7 is supplied with electrical energy via the power lines 160 and communicates with the control PC 157 via the communication line 158. The control PC 157 can therefore send control signals to the power unit 156 via the communication line 158. The power unit 156 then converts these signals into specific commands for the individual electric motors of the industrial robot 7 (not shown), thus moving the industrial robot 7 as specified by the control PC 157. Figure 5 shows part of an installation component 5 designed as an industrial robot 7, including a damping element 130 and an attached mounting tool in the form of a drill 131. A drill bit 132 is inserted into the drill 131 and can be driven by the drill 131. The damping element 130 consists of several parallel rubber buffers 136, each serving as a The damping element 130 can be viewed as a damping element. The damping element 130 is installed in an arm 133 of the industrial robot 7 and divides it into a first, drill-side part 134 and a second part 135. The damping element 130 connects the two parts 134 and 135 of the arm 133 of the industrial robot 7 and transmits shocks and vibrations introduced via the drill insert 132 to the second part 135 in a damped form. According to Fig. 6, a damping element 130 can also be arranged in a connecting element 137 between an industrial robot 7 and an assembly tool in the form of a drill 131. The damping element is basically the same as the Damping element 130 is assembled in Fig. 5. The connecting element 137 is firmly connected to the drill 131, so that the industrial robot 7 can pick up the combination of connecting element 137 and drill 131 to drill a hole in a wall of the elevator shaft. It is also possible that a damping element is designed as an integral part of a drill bit. To monitor wear of the drill bit 132 of the drill 131, the feed rate during drilling and / or the time required to drill a hole to a desired depth are monitored. If a feed rate limit is undershot and / or a time limit is exceeded, the drill bit is recognized as no longer functioning correctly and a corresponding message is generated. Figures 7a and 7b describe a method for creating an image of the position of reinforcements within a wall of an elevator shaft and a method for determining a first and a corresponding second drilling position. Figure 7a shows a section 140 of a wall of an elevator shaft where a borehole is to be drilled at a first drilling position. For better The description of the procedures shows that area 140 is divided into grid squares, labeled to the right with consecutive letters A to J and downwards with ascending numbers 1 to 10. This division was carried out analogously in Fig. 7b. In the area 140 shown in Fig. 7a, first and second reinforcements 141, 142 run from top to bottom, being straight and parallel to each other at least in the depicted area 140. The first reinforcement 141 runs from Bl to BIO and the second reinforcement 142 from II to 110. Additionally, third and fourth reinforcements 143, 144 run from left to right, being straight and parallel to each other at least in the depicted area. The third reinforcement 143 runs from A4 to J4 and the fourth reinforcement 144 from A10 to J10. To create an image of the depicted position of the reinforcements 141, 142, 143, 144, the reinforcement detection component 23 is guided several times along the wall 105 of the elevator shaft by the installation component 5. The reinforcement detection component 23 is first moved several times from top to bottom (and vice versa) and then from left to right (and vice versa). During the movement, the reinforcement detection component 23 continuously provides the distance 145 to the nearest reinforcement 143 in the direction of movement, so that the depicted image of the position of the reinforcements 141, 142, 143, 144 can be created from the known position of the reinforcement detection component 23 and the aforementioned distance 145. Once the position of the reinforcements 141, 142, 143, 144 is known, a first possible area 146 for the first drilling position can be determined. In Fig. 7a, this first possible area 146 is a rectangle with corners C5, H5, C9 and H9. The area 147 of a wall of an elevator shaft shown in Fig. 7b is For example, area 147 is arranged laterally offset from area 140 in Fig. 7a. A second bore is to be drilled in this area 147, but the bore position cannot be freely chosen; it must be arranged in a predetermined manner relative to the first bore position in area 140 according to Fig. 7a. The second bore position, corresponding to the first bore position, must be laterally offset from the first bore position by a certain distance. In the illustrated example, area 147 in Fig. 7b is arranged laterally offset from area 140 in Fig. 7a by this distance. Corresponding first and second bore positions are shown in Figs. 7a and 7b in the illustrated example. arranged in matching grid squares. Therefore, if the first borehole in Since the first hole is drilled in grid square B2 in area 140 of Fig. 7a, the second hole must also be drilled in grid square B2 in area 147 of Fig. 7b. This ensures that the second hole is correctly positioned relative to the first. Because reinforcements in walls are not aligned uniformly along their entire length, the paths of reinforcements 141, 142, 143, and 144 in Fig. 7b are not identical to those in Fig. 7a. The first reinforcement 141 runs from D1 to D10 in Fig. 7b, and the second reinforcement 142 runs from J1 to J10. The third reinforcement 143 runs from A5 to J5 in Fig. 7b, and the fourth reinforcement 144 runs from A10 to J10, as in Fig. 7a. After creating a representation of the position of the reinforcements 141, 142, 143, 144 for area 147 in Fig. 7b, as described in Fig. 7a, a second possible area 148 for the second drilling position can be determined. In Fig. 7b, this second possible area 148 is a rectangle with corners E6, 16, E9, and 19. The possible areas for the first and second drilling positions result from the The overlap area of ​​the first area 146 and the second area 148 results in a rectangular area 149 for the first drilling position and a rectangular area 150 for the second drilling position, each with corners E6, H6, E9, H9. A grid square for the first and second drilling positions can be selected from these areas 149 and 150. In the example shown in Figs. 7a and 7b, the first Drilling position 170 in Fig. 7a and the second drilling position 171 in Fig. 7b are each defined in grid square E7. Figures 8a and 8b describe an alternative method for determining a first and a corresponding second drilling position. The arrangement of the Reinforcements 141, 142, 143, 144 in Fig. 8a correspond to the arrangement in Fig. 7a, and the arrangement in Fig. 8b corresponds to the arrangement in Fig. 7b. The division into grid squares is also identical. First, possible positions for the first drilling position are determined according to Fig. 8a. For this purpose, the reinforcement detection component 23 is used to check whether drilling is possible at a desired drilling position, here D5. This is the case here. Subsequently, further possible positions for the first drilling position are sought. For this purpose, starting from the desired drilling position D5, a spiral pattern is used in the Further grid squares were checked clockwise, in this case E5, E6 and D6 in succession. Once four possible locations have been found, the search for further possible locations will be stopped. If one of the locations proved unsuitable due to reinforcement, the search would continue until four possible locations had been found. Next, a possible second drilling position is sought, as shown in Fig. 8b. Due to the described assignment of the two drilling positions, the second drilling position must be located in the same grid square as the first. First, it is checked whether the desired drilling position, in this case D5, is also possible for the second drilling position. In the example shown, this is not possible due to a collision with reinforcement 141, so the search continues in a spiral pattern, analogous to the procedure for the first drilling position. The second possible position, E5, is not possible due to a collision with reinforcement 143. The third possible position, E6, is possible, so that in the example shown in Figs. 8a and 8b, the first drilling position, 172 in Fig. 8a, and the second drilling position, 173 in Fig. 8b, are each located in grid square E6. Finally, it should be noted that terms such as "comprising," "encompassing," etc., do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with other features or steps from other embodiments described above. Reference numerals in the claims are not to be considered as limitations.

Claims

Claims 1. Assembly device (1) for carrying out an installation operation in an elevator shaft (103) of an elevator system (101), wherein the assembly device comprises: a carrier component (3); a mechatronic installation component (5); wherein the support component (3) is designed to be displaced relative to the elevator shaft (103) and to be positioned at different heights within the to be positioned in the elevator shaft (103); wherein the installation component (5) is held on the support component (3) and is designed to perform at least a semi-automatic assembly step as part of the installation process.

2. Mounting device according to claim 1, further comprising a Positioning component (21) which is designed to determine at least one position and orientation of the mounting device (1) within the to determine the elevator shaft (103).

3. Assembly device according to claim 1 or 2, wherein the installation component (5) is designed to perform several different types of assembly steps at least semi-automatically.

4. Assembly device according to claim 3, wherein the installation component (5) is designed to use different assembly tools (9) for the different types of assembly steps.

5. Assembly device according to claim 4, wherein the installation component (5) is designed to accommodate the assembly tool (9) used in each of the different types of assembly steps before the assembly step is carried out.

6. Assembly device according to claim 4 or 5, further comprising a tool magazine component (14), wherein the tool magazine component (14) is designed to store various assembly tools (9) and to provide them to the installation component (5). Assembly device according to one of claims 1 to 6, wherein the Installation component (5) is designed to perform at least one of the following assembly steps: - at least semi-automatically controlled drilling of holes in a wall (105) of the elevator shaft (103); - at least semi-automatic screwing of screws into holes in a wall (105) of the elevator shaft (103); - at least semi-automatic attachment of components to the wall (105) of the elevator shaft (103). Mounting device according to one of claims 1 to 7, further comprising a displacement component (15) which is designed to displace the support component (3) vertically within the elevator shaft (103). Assembly device according to claim 8, wherein the displacement component (15) is attached to one of the support components (3) and a stop (107) at the top of the is fixed to the elevator shaft (103) and has a tensile-resistant, flexible support element (17), one end of which is held on the displacement component (15) and the other end of which is fixed to another of the support component (3) and the landing (107) at the top of the elevator shaft (103) and the Displacement component (15) by displacing the support element (17) the The support component (3) can be moved within the elevator shaft (103).

0. Mounting device according to claim 8, wherein the displacement component (15) is attached to the support component (3) and is designed to exert a force on a wall (105) of the elevator shaft (103) by moving a movement component in order to displace the support component (3) within the elevator shaft (103) by moving the movement component along the wall (105).

1. Assembly device according to one of claims 1 to 10, wherein the The support component (3) has a fixing component (19) which is designed to fix at least one of the support component (3) and the installation component (5) within the elevator shaft (103) in a direction transverse to the vertical.

12. Assembly device according to one of claims 1 to 11, wherein the Installation component (5) includes an industrial robot (7) 13. Assembly device according to claim 12, wherein the industrial robot (7) is used for this purpose is designed to be fitted at its cantilevered end (8) with various to be coupled to assembly tools (9).

14. Mounting device according to one of claims 1 to 13, further comprising an reinforcement detection component (23) which is designed to detect reinforcement within a wall (105) of the elevator shaft (103).

15. Method for carrying out an installation operation in an elevator shaft (103) of an elevator system (101), comprising: Insertion of a mounting device (1) according to one of claims 1 to 13 into the elevator shaft (103); controlled relocation of the mounting device (1) within the elevator shaft (103); at least semi-automatic execution of the assembly step as part of the installation process using the assembly device (1).