INSTALLATION DEVICE FOR CARRYING OUT INSTALLATION STEPS ON A WALL AND METHOD FOR EXCHANGING A TOOL OF AN INSTALLATION APPARATUS

Abstract

An installation device for carrying out installation steps on a wall, and a method for exchanging a tool received by the installation apparatus, include an installation apparatus having a drive unit coupled to a tool holder. The tool holder receives a tool that extends away from the tool holder in a tool direction and which tool is driven by the drive unit. The tool holder can assume a locked state and an unlocked state, wherein a tool received by the tool holder can be removed from the tool holder in the unlocked state and is fixed in the tool holder, and therefore cannot be removed, in the locked state. The installation apparatus has an unlocking device controllable by an actuator and the tool holder can be brought from the locked state into the unlocked state by the actuator to release the tool.

Claims

1-11. (canceled)

12. An installation device for carrying out installation steps on a wall, the installation device comprising: an installation apparatus having a drive unit and a tool holder, the tool holder being coupled to the drive unit; wherein the tool holder is adapted to receive a tool, the tool extending away from the tool holder in a tool direction and being driven by the drive unit; wherein the tool holder can assume a locked state and an unlocked state, wherein a tool received by the tool holder can be removed from the tool holder in the unlocked state and is fixed in the tool holder in the locked state; an unlocking device having a controllable actuator that brings the tool holder from the locked state into the unlocked state; a mobile installation frame; a mechatronic installation component; a controllable gripper adapted to fix the tool; and wherein the mechatronic installation component and the gripper are arranged on the installation frame and the installation apparatus is received and moved by the mechatronic installation component to exchange the tool with the gripper.

13. The installation device according to claim 12 wherein the gripper is arranged on the installation frame by a holder that is arranged in a stationary manner on the installation frame, the gripper being movable from a rest position in the tool direction and being pressed into the rest position by a spring.

14. The installation device according to claim 13 wherein the installation device has a sensor unit adapted to detect a position of the gripper relative to the tool holder in the tool direction.

15. The installation device according to claim 12 wherein the gripper is adapted to fix at least the tool and a different tool.

16. The installation device according to claim 12 wherein the gripper is movable between an open state and a closed state, and including a sensor unit arranged on the gripper and adapted to detect the open state and the closed state.

17. The installation device according to claim 12 including a light barrier arranged on the gripper wherein the tool can be moved perpendicularly to the tool direction through the light barrier.

18. An installation system for performing installation steps on a wall in a shaft, the installation system comprising: the installation device according to claim 12; and a movement component adapted to move the installation device in the shaft.

19. A method for exchanging a tool received by an installation apparatus of an installation device according to claim 12, the method comprising the steps of: moving the installation apparatus with an old tool held in the tool holder by the mechatronic installation component wherein the old tool assumes a holding position in which the gripper can fix the old tool; fixing the old tool using the gripper; bringing the tool holder into the unlocked state by the unlocking device; and moving the installation apparatus away from the old tool in the tool direction at least until the old tool is no longer inside the tool holder.

20. The method according to claim 19 comprising the further steps of: setting down the installation apparatus by the mechatronic installation component; receiving a gripping tool by the mechatronic installation component; receiving a new tool from a magazine by the gripping tool; moving the gripping tool with the new tool by the mechatronic installation component until the new tool assumes a holding position in which the gripper can fix the new tool; fixing the new tool by the gripper setting down the gripping tool by the mechatronic installation component; receiving the installation apparatus by the mechatronic installation component; moving the installation apparatus into a preparation position using the mechatronic installation component; and moving the installation apparatus in the tool direction until the new tool is inserted in the tool holder.

21. The method according to claim 20 wherein, when the installation apparatus with new tool is moved in the tool direction, rotating the tool holder about an axis extending in the tool direction.

22. The method according to claim 19 comprising the further steps of: receiving the old tool fixed in the gripper by the gripping tool using the mechatronic installation component; releasing the old tool by the gripper; and setting down the old tool in a magazine using the gripping tool.

Description

DESCRIPTION OF THE DRAWINGS

[0092] In the drawings:

[0093] FIG. 1 is a side view of an installation apparatus having an unlocking device and a gripper of an installation device,

[0094] FIG. 2 is a view of a coupling element of the unlocking device from FIG. 1 from above,

[0095] FIG. 3 is a view of the gripper from FIG. 1 from above, and

[0096] FIG. 4 shows an installation system having an installation device and a movement component in an elevator shaft.

DETAILED DESCRIPTION

[0097] According to FIG. 1, an installation apparatus 10 in the form of an impact drilling machine has a drive unit 12 which has a mainly cylindrical basic shape. The drive unit 12 has a drive machine (not shown) in the form of an electric motor. The drive unit is controlled by a control device (not shown) of the drive unit 12. In a tool direction 14, which extends in the vertical direction in FIG. 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 at the top.

[0098] The tool holder 16 has a mainly rotationally symmetrical outer contour, the axis of symmetry extending in the tool direction 14. The tool holder 16 has a main body 18, which is coupled to the drive unit 12 via a form-fitting connection (not shown) such that the main body 18 and thus the tool holder 16 can be rotated by the drive unit 12 about the aforementioned axis of symmetry of the tool holder 16. The main body 18 of the tool holder 16 is non-rotatably connected to a locking sleeve 20 which it partially enters. A tool 22 in the form of a drill bit that extends away from the tool holder 16 in the tool direction 14 is received in the tool holder 16. The tool 22 is coupled to the tool holder 16 in a rotationally fixed manner, such that the tool 22 can also be driven by the drive unit 12, i.e. it can also be rotated. Holes can be drilled into a wall by the installation apparatus 10 and the tool 22 received by the tool holder 16.

[0099] The tool holder 16 can assume a locked state and an unlocked state, a tool 22 received by the tool holder 16 being removable from the tool holder 16 in the unlocked state and fixed in the tool holder 16 in the locked state such 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 toward the drive unit 12, counter to the force of a spring (not shown) of the tool holder 16. The unlocking sleeve 20 has a circumferential collar 24 on the outer contour thereof that forms an annular actuating surface 26 extending 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 setting the unlocked state of the tool holder 16 can be applied to the unlocking sleeve 20 via this actuating surface 26.

[0100] The installation apparatus 10 has an unlocking device 28 which has a stationary part 30 and a part 32 which can be moved in the tool direction 14. The unlocking device 28 is fixedly connected to the drive unit 12 via the stationary part 30 and a holder 34 surrounding the drive unit 12. The stationary part 30 and the movable part 32 of the unlocking device form a pneumatic actuator in the form of a piston-cylinder unit. In this case, the cylinder is formed by the stationary part 30 and the piston is formed by the movable part 32. Two compressed air connections 36 are arranged on the stationary part 30, via which compressed air can be supplied and the piston-cylinder unit can thus be controlled. By supplying compressed air to the corresponding compressed air connection 36, the movable part 32 can be moved in the tool direction 14 away from or towards the stationary part 30.

[0101] A coupling element 38 extending 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 bear against the actuating surface 26 of the circumferential collar 24 of the unlocking sleeve 20. The coupling element 38 and the unlocking sleeve 20 are shown in FIG. 2 in a view from above. By moving the movable part 32 in the direction of the stationary part 30 of the unlocking device 28, the coupling element 38 and thus the locking sleeve 20 are moved in the tool direction 14 toward the drive unit 12 and the tool holder 16 is thus brought into the unlocked state. When the movable part 32 is pushed away from the stationary part 30 of the unlocking device 28 by a corresponding application of compressed air, the coupling element 38 is pushed away from the stationary part 30 in the tool direction 14 by the drive unit 12. The spring (not shown) of the tool holder 16 can thus push the locking sleeve 20 away from the drive unit 12 in the tool direction 14, as a result of which the tool holder 16 is brought into the locked state.

[0102] The drive unit 12 also has an interface 42 via which control signals of a control device (not shown in FIG. 1; 94 in FIG. 4) of an installation system (74 in FIG. 4) can be transmitted to the control device of the drive unit 12. By means of the control signals, for example, the electric motor of the drive unit 12 can be started and a setpoint speed can also be specified for the motor, for example. The interface 42 is arranged opposite the tool holder 16 on the drive unit 12. The interface 42 is also used to mechanically couple the installation apparatus 10 to a mechatronic installation component (not shown in FIG. 1) in the form of an industrial robot (88 in FIG. 4) of an installation system (74 in FIG. 4), and to supply electrical energy and compressed air to the installation apparatus 10.

[0103] By means of a gripper 44 and a corresponding movement of the installation apparatus 10 relative to the gripper 44, the tool 22 of the installation apparatus 10 can be exchanged, i.e. an old tool can be removed from the tool holder 16 and a new tool can be inserted into the tool holder 16. For this purpose, the gripper 44 is arranged on a longitudinal beam 46, extending in the tool direction 14, of a mobile installation frame (84 in FIG. 4) of an installation device (86 in FIG. 4) for carrying out installation steps on a wall (76 in FIG. 4).

[0104] The gripper 44 has a main body 48 which is connected via two rods 50 to a holder 52 arranged in a stationary manner on the longitudinal beam 46 so as to be movable in the tool direction 14. A helical spring 54 extending in the tool direction 14 between the holder 52 and the main body 48 is arranged between the two rods 50 such that it pushes the main body 48 and thus the gripper 44 away from the holder 52. The rods 50 are guided through the holder 52 in the tool direction 14 and can be moved in the tool direction 14 relative to the holder 52, as a result of which the aforementioned moveable connection between the holder 52 and the gripper 44 is provided. The rods 50 and the associated feedthroughs through the main body 48 thus form two sliding guides. The rods 50 have a circumferential collar 56 which is arranged on the side of the holder 52 opposite the gripper 44 and limits the downward movement of the gripper 44 relative to the holder 52. FIG. 1 shows a rest position of the gripper 44 in which it is at a maximum distance from the holder 52 and the collar 56 of the rods 50 therefore abuts the holder 52. In order to be able to detect the position of the gripper 44 relative to the holder 52, a first sensor 58 is arranged on the side of the holder 52 opposite the gripper 44. The first sensor 58 detects when the collar 56 of the rods 50 abuts the holder 52, i.e. when the gripper 44 is in the rest position. A second sensor 60 is arranged on the side of the holder 52 directed toward the gripper 44, which sensor detects when the gripper 44 has been moved at least by a predetermined amount in the direction of the holder 52. In particular, the second sensor 60 detects a movement of the gripper 44 that is slightly less than the maximum movement. The first and the second sensor 58 and 60 are in this case designed as proximity sensors and form a first sensor unit.

[0105] The gripper 44 has two gripping arms 62 which are arranged on two opposite sides of the main body 48. The gripping arms 62 can be moved away from one another or toward one another via a pneumatically actuated actuator (not shown) arranged in the main body. The gripping arms 62 extend in the tool direction 14 and each have two corresponding recesses 64, 66 (see FIG. 3). The gripper 44 and the gripping arms 62 are in particular made of stainless steel. The gripping arms can have a rubber insert (not shown) on their relevant inner side, i.e. on the side facing the tool.

[0106] The tool 22 is positioned in FIGS. 1 and 3 such that it protrudes through the gripping arms 62 in the region of the recesses 64. The tool 22 is then in a so-called holding position relative to the gripper 44. The contour of the recesses 64 is adapted to the outer contour of the tool 22. A tool having smaller diameter would be positioned to match the recesses 66. If, starting from the situation shown in FIGS. 1 and 3, the gripping arms 62 are moved toward one another, they clamp the tool 22 therebetween and thus fix the tool 22.

[0107] The gripper 44 can assume three different states by means of a corresponding movement of the gripping arms 62. When the gripping arms 62 are arranged relative to one another such that a tool arranged in the region of the recesses 64, 66 is not clamped or fixed, then the gripper 44 is in the open state. This state is shown in FIG. 3. When the gripping arms 62 are arranged relative to one another such that they clamp or fix a tool arranged in the region of the recesses 64, 66, then the gripper 44 is in the fixing state. When the gripping arms 62 touch, then the gripper is in the closed state; this state can only be reached if no tool protrudes through the gripping arms 62. In order to be able to detect the three states mentioned, a second sensor unit 68 is arranged on the main body 48 and has three position switches (not shown in detail), each position switch being able to 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 main body 48 via a holding plate 72. A light beam 71 of the light barrier 70 extends perpendicularly to the tool direction 14 in the region of the ends of the gripping arms 62 that face away from the main body 48. The light beam thus arranged such that a tool 22 supplied to the gripper 44 perpendicularly to the tool direction 14 in the direction of the main body 48 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 is actually 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 FIGS. 1 and 3, the tool axis 14 extends vertically and the light beam 71 of the light barrier 70 extends horizontally. The tool 22 is moved through the light beam 71 horizontally and perpendicularly to the light beam 71 in order to determine the diameter of the tool. Based on the information regarding the position of a mechatronic installation component (industrial robot 88 in FIG. 4) holding the installation apparatus 10 and the start of the interruption of the light barrier 70 by the tool 22, it is possible for the distance between the light beam 71 and the tool axis of the tool 22 and thus the radius or the diameter of the tool 22 to be determined. In addition, the end of the interruption of the light barrier 70 can also be taken into account and the diameter of the tool 22 can thus be determined directly.

[0109] FIG. 4 shows an installation system 74 for carrying out installation steps on a wall 76 in a vertical shaft 78 in the form of an elevator shaft. A movement component in the form of a winch 80 is arranged at the top of the shaft 78. The winch 80 is connected to an installation frame 84 of an installation device 86 for carrying out installation steps on the wall 76 via a suspension means in the form of a cable 82. The installation frame 84 and thus the installation device 86 can be moved in the vertical direction in the shaft 78 by means of the winch 80 and the cable 82. The installation frame 84 can be fixed in the shaft 78 such that it can assume a fixed position in the shaft 78. A mechatronic installation component in the form of an industrial robot 88 hanging downward is arranged at the top of the installation frame 84. As shown in FIG. 4, the industrial robot 88 can receive a gripping tool 90 or receive an installation apparatus 10 which is described above and is provided in an apparatus magazine 91 in FIG. 4. The industrial robot 88 can use the gripping tool 90 to grip and move the tools 22 described above. A magazine 92 in which tools 22 are stored is arranged in the lower region of the base frame 84. These tools can be new or usable or also old or worn.

[0110] A control device 94 which controls the winch 80, the industrial robot 88, the gripping tool 90 and the installation apparatus 10 is also arranged at the top of the installation frame 84. For this purpose, the installation system 74 has communication lines, compressed air lines and power lines (not shown).

[0111] If the industrial robot 88 has received an installation apparatus 10 in the form of a drilling machine, holes can be drilled in the walls 76 of the shaft 78 in an automated manner by appropriate control of the industrial robot 88 and the installation apparatus 10, and installation steps can thus be carried out in the shaft 78 in an automated manner.

[0112] Tools 22 wear out as they are used, in particular when a drill bit encounters a reinforcement in a wall 76 while drilling a hole. The installation device 86 can exchange a tool 22 of the installation apparatus 10, i.e. remove an old tool 22 from the installation apparatus 10 and insert a new tool 22, in an automated manner. The following steps are carried out in order to exchange a tool 22 of an installation apparatus: [0113] receiving the installation apparatus 10 with an old tool 22 held in the tool holder 16 by means of the industrial robot 88, [0114] moving the installation apparatus 10 by means of the industrial robot 88 until the old tool 22 assumes the holding position shown in FIGS. 1 and 3, in which the gripper 44 can fix the old tool 22, [0115] fixing the old tool 22 by means of the gripper 44, [0116] bringing the tool holder 16 into the unlocked state by means of the unlocking device 28, [0117] moving the installation apparatus 10 away from the old tool 22 in the tool direction 14 by means of the industrial robot 88 until the old tool 22 is no longer inside the tool holder 16, [0118] setting down the installation apparatus 10 in the apparatus magazine 91 by means of the industrial robot 88, [0119] receiving the gripping tool 90 from the apparatus magazine 91 by means of the industrial robot 88, [0120] gripping the old tool 22 fixed in the gripper 44 by means of the gripping tool 90, [0121] releasing the old tool 22 by means of the gripper 44, [0122] setting down the old tool 22 in the magazine 92, [0123] gripping a new tool 22 from the magazine 92 using the gripping tool 90, [0124] moving the gripping tool 90 with the new tool 22 by means of the industrial robot 88 until the new tool 22 assumes the holding position shown in FIGS. 1 and 3, in which the gripper 44 can fix the new tool 22, [0125] fixing the new tool 22 by means of the gripper 44, [0126] setting down the gripping tool 90 in the apparatus magazine 91 by means of the industrial robot 88, [0127] receiving the installation apparatus 10 from the apparatus magazine 91 by means of the industrial robot 88, [0128] moving the installation apparatus 10 into a preparation position using the industrial robot 88, [0129] moving the installation apparatus 10 in the tool direction 14 in the direction of the new tool 22 until the new tool 22 is inserted in the tool holder 16 of the installation apparatus 10, with the installation apparatus 10 and thus the tool holder 16 being rotated about an axis in the tool direction 14, and [0130] releasing the new tool 22 by means of the gripper 44.

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

[0132] Finally, it should be noted that terms such as “comprising,” “having,” etc. do not preclude other elements or steps and terms such as “a” or “an” do not preclude a plurality. Furthermore, it should be noted that features or steps which have been described with reference to one of the above embodiments may also be used in combination with other features or steps of other embodiments described above.

[0133] In accordance with the provisions of the patent statutes, the present invention has been described in what is considered to represent its preferred embodiment. However, it should be noted that the invention can be practiced otherwise than as specifically illustrated and described without departing from its spirit or scope.