CN111170121B - A kind of elevator guide rail quality detection device and method - Google Patents
A kind of elevator guide rail quality detection device and method Download PDFInfo
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- CN111170121B CN111170121B CN202010012416.0A CN202010012416A CN111170121B CN 111170121 B CN111170121 B CN 111170121B CN 202010012416 A CN202010012416 A CN 202010012416A CN 111170121 B CN111170121 B CN 111170121B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
- B66B7/1207—Checking means
- B66B7/1246—Checking means specially adapted for guides
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/10—Plumb lines
- G01C15/105—Optical plumbing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Radar, Positioning & Navigation (AREA)
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- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
Abstract
The invention relates to a quality detection device for an elevator guide rail, which comprises two plumb lasers independently fixed on the ground, a reflector and a camera, wherein the reflector and the camera are respectively fixed below bottom bodies of grabs at two sides of an elevator guide rail crawling robot and at the inner side of a stabilizing arm unit; the laser light of the plumb laser respectively shoots near the center of the reflector, the camera continuously shoots laser points generated on the reflector, the quality change of the guide rail is directly converted into the position change of the reflector and the camera in the horizontal direction, and the straightness and other quality conditions of the elevator guide rail can be measured by processing the information of robot crawling and the position data of the laser points every time. The device provided by the invention is convenient to use and install, the method is easy to operate, and the device has the advantages of low cost, high resolution, high measurement precision and efficiency and wide application range of buildings.
Description
Technical Field
The invention belongs to the technical field of elevator guide rail quality detection, and relates to an elevator guide rail quality detection device and method.
Background
With the development of the times, the number of buildings on high floors is increased greatly, and the elevator becomes a unique way and means for transporting people and materials to places with higher floors in most cases, so that the safe operation of the elevator is very important. The safe operation of the elevator is closely related to the quality condition of the elevator guide rail, and the elevator guide rail with high verticality can improve the operation speed and the operation safety of the elevator and improve the conveying efficiency of the elevator. However, the quality problem of the elevator guide rail which is monitored to ensure high verticality in the installation and maintenance process of the elevator is difficult to solve, and the sufficient precision is difficult to achieve. The elevator car has no scaffold, so that manual work is difficult to measure the flatness quality parameters. In recent years, the quality of the guide rail of the elevator is measured by using a vertical laser beam technology, but a method with high automation degree is few, and the measuring method of the prior art is troublesome, low in efficiency and high in manufacturing cost. Therefore, it is important to develop a device suitable for detecting the quality of the elevator track and to improve the integration and automation level of the device.
CN107416627A proposes an elevator T-shaped guide rail multi-parameter detection system and method, including: the system comprises an elevator guide rail climbing robot, a wireless transmission module, a laser plummet, a portable industrial personal computer and a plurality of detection modules carried by the climbing robot, wherein the elevator guide rail climbing robot respectively detects the length of an elevator guide rail, the positions of an elevator guide rail bracket and a pressure plate, the gauge of the elevator guide rail and the verticality of the elevator guide rail; the method improves the inspection efficiency and the detection accuracy of inspecting a plurality of parameters of the elevator guide rail, and can realize wireless control and data transmission outside a well pit or a well.
CN110371816A provides an automatic following formula elevator guide rail straightness detector that hangs down, the detector includes guide rail detection fixed cell, damping unit, guide element, position detecting element, elevator guide rail straightness detecting element that hangs down and digital display unit, convenient to use, and it is accurate to detect data.
CN102607467A discloses a device and a method for detecting the verticality of an elevator guide rail based on visual measurement, wherein a robot for detecting the verticality of the elevator guide rail is used for carrying a light-emitting ring vertically arranged on the robot to walk on the guide rail, and a camera is arranged at the bottom end of the guide rail and is aligned with the ring to perform camera shooting and input into a computer; the image processing of the computer accurately calculates the circle center coordinates of the luminous rings and the corresponding heights of the luminous rings, then draws the change curve of the verticality of the elevator to be detected and displays the change curve on the computer display screen in real time; the full-automatic intelligent detection can be realized, the error caused by laser imaging is avoided, and the error caused by manual intervention is reduced.
CN106152976A discloses an elevator guide rail verticality detection device, which consists of a shell, a gyroscope acceleration sensor, a PSD position sensor, a laser, a current-voltage conversion circuit, an operational amplifier, a data acquisition module and a PC; the shell is fixed on a single guide rail, the PSD sensor exposed outside is irradiated by laser to measure the initial value of the vertical angle, the variation of the angle is obtained by using the electronic gyroscope in the whole detection process, the variation is sent to the PC through the data acquisition module, the acquired data is recorded and displayed, and therefore the verticality of the guide rail is determined.
CN108387189A relates to a T type elevator guide rail roughness detecting system, including the support and set up horizontal conveyor, vertical conveyor, guide rail roughness detection device, guide rail turning device on the support. The guide rail flatness detection device comprises a laser transmitter and a laser receiving target which are arranged on a linear track crossing the transverse conveying device. And the detection of the flatness of the guide rail is realized by adopting a laser detection method.
Disclosure of Invention
In view of this, the present invention aims to overcome the deficiencies of the prior art, and provides an elevator guide rail quality detection device, which has the advantages of compact structure, convenient use and installation, easy operation, total measurement cost saving, high resolution, high measurement precision and efficiency, and wide range of applicable buildings, and greatly improves the production automation level, the labor productivity and the economic benefit.
A quality detection device for an elevator guide rail comprises two independent plumb lasers, a reflector and a camera, wherein the reflector and the camera are fixed on a crawling robot for the elevator guide rail;
the reflector plates are respectively fixed below the bottom bodies of the grippers on the two sides of the elevator guide rail crawling robot;
the cameras are respectively fixed on the inner sides of the stable arm units of the elevator guide rail crawling robot through camera fixing frames, camera lenses face the reflectors, and images on the reflectors at different moments are acquired according to a certain frame number;
the two independent plumb lasers are fixed on the ground, and laser rays are respectively emitted to positions near the center of the reflector;
a pair of traction wheels and gripper wheels of the elevator guide rail crawling robot are always tightly attached to the elevator guide rail and crawl along the guide rail;
furthermore, the plumb laser adopts a self-leveling plumb laser, can automatically balance errors caused by uneven ground, and upwards emits two independent vertical laser rays which are relatively static to the ground and serve as two reference lines;
furthermore, four light baffles perpendicular to the reflector are arranged around the reflector; because light leakage between floors is inevitable in the climbing or descending process of the elevator robot, and the phenomenon of light leakage between the elevator cars can also occur due to other reasons, the light baffle plate can reduce the influence of external light on the laser point on the reflector plate, so that the measurement result is more accurate, and the data processing is easier;
furthermore, an encoder is arranged in a traction wheel of the elevator guide rail crawling robot, so that the position of the robot can be acquired at any time; when the quality problem of the guide rail of the elevator is detected, the type of the quality problem of the guide rail, the quantity of the quality problems and the position of each problem can be obtained through data processing, and convenience is brought to an engineer to process and maintain;
further, the camera pixels have a similar aspect ratio to the size of the reflector plate; preferably, the camera pixels are 4000 x 3000, and the size of the reflector is 20cm x 15 cm;
further, the elevator guide rail crawling robot comprises a slidable frame, a traction unit, a gripper unit and a stabilizing arm unit;
the traction unit comprises a direct current motor, at least one pair of traction wheels and a front idler wheel which are vertical to each other; the traction unit is connected with the gripper unit through a bearing seat;
the traction wheel is contacted with the side surface of a web plate of a T-shaped elevator room guide rail to drive the robot to move along the guide rail; the front idler wheel is contacted with the front surface of a guide rail web plate of the elevator room and is tightly attached to the guide rail all the time, so that reliable adhesive force perpendicular to the direction of the guide rail is provided; the front idler is mounted on the idler support by rivets.
The traction wheel is connected with the direct current motor through a driving shaft and a ball bearing, the driving shaft and the ball bearing are wrapped by a bearing seat, the direct current motor provides driving power for the elevator guide rail crawling robot and is connected with the bearing seat through a motor support, and the front idler wheel is connected with the bearing seat through a front idler wheel support.
Because the elevator guide rail specification of difference is different, and the web thickness is also different, and along with the wearing and tearing of guide rail or traction wheel, the frictional force between guide rail web and the traction wheel can reduce and take place the phenomenon of skidding, thereby adjust the pressure in order to prevent the emergence of the phenomenon of skidding between above-mentioned two-wheeled and the web through adjusting between holder unit adjustment traction wheel and the grabber wheel, this structure can make running gear be applicable to the guide rail web of different thickness, can use the guide rail of multiple model, and application scope is wide.
The periphery of the traction wheel is preferably additionally provided with a knurled structure, so that the friction force is further increased through the knurled structure, and the traction wheel is effectively prevented from slipping relative to a guide rail web plate of the elevator room; the traction wheel is preferably made of a material with a high friction coefficient so as to increase the friction force between the traction wheel and the guide rail web.
The gripper unit comprises gripper wheels arranged on a gripper shaft, a force adjusting handle arranged on the gripper shaft through a spring support shaft, and a gripper shaft pin for connecting the top body of the gripper with the bottom body of the gripper;
the gripper unit is connected to a bearing seat of the traction unit 1 through a gripper top body and a gripper bottom body;
the grabbing shaft on the clamper unit is connected with a grabber wheel and a force adjusting handle; the gripper wheel is arranged on one side of the elevator room guide rail web plate opposite to the traction wheel and can roll along the guide rail; the distance between the gripper wheel and the traction wheel and the grasping degree of the gripper wheel to the guide rail can be adjusted through the force adjusting handle, so that the friction force between the gripper wheel and the side surface of the web plate of the guide rail is adjusted, and meanwhile, the problem of loss of the pulley caused by friction can be solved.
Preferably, the clamp unit comprises a spring, the force applied can be changed by adjusting the force adjusting handle, and the force is in direct proportion to the rotation number of the handle, so that the force of the clamping web can be adjusted according to the difference of the load weight, and the load requirement of large-range weight can be further met. Adjusting the magnitude of the contact force also prevents unnecessary damage to the rail surface without the load being too heavy.
The stabilizer arm unit includes a front stabilizer plate, a stabilizer back plate, a main stabilizer arm fixed forward and backward by the two stabilizer plates, a stabilizer front idler, and a stabilizer side idler.
The stabilizing arm unit is connected with the traction unit through the front stabilizing plate and the stabilizer back plate; the stabilizing arm unit comprises two stabilizer side idler wheels which are positioned on the same horizontal position, are positioned on two sides of the web plate, are slightly larger than the thickness of the web plate in distance, and can roll along the guide rail along the direction of the robot when external interference is generated; the robot is influenced by external factors to generate disturbance so that the robot swings, and the stabilizer side idler wheel can roll along the guide rail along the direction of the robot, so that the moment generated by swinging is balanced;
two stabilizer side idlers and a stabilizer front idler on every stabilizer arm unit are triangular distribution, thereby prevent that the robot from leading to the robot to sway along horizontal frame and rock owing to the revolving force that external disturbance brought in the in-process of climbing, make the robot climb more stably.
Further, the elevator guide rail crawling robot further comprises a slidable rack, a detection unit, a control module and a power module.
The slidable rack comprises a cylinder body, a piston, a sliding shaft connected with the piston and a shaft connecting plate connected with the other side of the sliding shaft;
the inside of the slidable frame main body is a sealed cylinder body; the lower part of the slidable rack is communicated with an air compressor through an air cylinder body; the left side and the right side of the slidable rack are respectively connected with the clamp holder unit through shaft connecting plates, so that the robot becomes an integral structure;
the air compressor changes the pressure inside the air cylinder body through air exhaust and air discharge to generate pressure to push the sliding shaft to move so as to adjust the distance between the slidable rack and a pair of clamp units connected with the slidable rack, so that when the robot runs, a front idler wheel of the traction unit and a front idler wheel of a stabilizer of the stabilizing arm unit are in close contact with the front face of a guide rail web plate of the elevator room at any moment, and sufficient force is provided to fix the robot.
The detection unit comprises a laser radar and a sensor at the upper part of the radar. The laser radar and the sensor at the upper part of the radar can detect whether the robot can touch the obstacle when crawling on the guide rail. Laser radar can detect the barrier of horizontal direction, and the sensor on radar upper portion detects the barrier on laser radar upper portion, makes the robot can not have the dead angle ground at the during operation and detect the barrier in level and the place ahead simultaneously like this, and the guarantee operation is safer.
The control module at least comprises a driving motor, a controller for detecting the guide rail obstacle and a main control board of an inclination sensor, and the inclination sensor is used for adjusting the movement rate of the robot and adjusting the robot to be parallel to the horizontal plane.
The power module at least comprises a 24V/10AH storage battery.
Preferably, in the elevator guide rail crawling robot, the traction unit, the gripper unit and the stabilizing arm unit which are connected through the slidable rack are respectively provided with a pair of units and are symmetrically arranged, and the units and the slidable rack form a climbing mechanism of the robot together; the control module and the power module control the robot climbing mechanism to ascend and descend on the elevator guide rail, and the detection unit detects multiple safety parameters of the guide rail and the route condition of the robot on the guide rail in real time, so that the elevator rail crawling transportation is safer and more efficient.
The invention also provides a method for detecting the quality of the elevator guide rails, which utilizes two independent plumb lasers to generate vertical upward laser which respectively irradiate to the positions near the center of the reflector, and a camera continuously shoots laser spots generated on the reflector to detect the quality of each guide rail;
the plumb lasers are respectively fixed on the ground;
the reflector plates are respectively fixed below the bottom bodies of the grippers on the two sides of the elevator guide rail crawling robot;
the cameras are respectively fixed on the inner sides of the stable arm units of the elevator guide rail crawling robot through camera fixing frames, camera lenses face the reflectors, and images on the reflectors at different moments are acquired according to a certain frame number;
the traction wheel and the gripper wheel of the elevator guide rail crawling robot are always tightly attached to the elevator guide rail and crawl along the guide rail; and an encoder is arranged in the traction wheel, and the robot can acquire the position of the robot at any time.
The invention also provides application of the elevator guide rail quality detection device in elevator guide rail straightness quality detection.
The elevator guide rail crawling robot is Jiong-shaped in appearance, small in side thickness and capable of grabbing guide rails on two sides of an elevator to climb, the pressure between a traction unit and a guide rail web plate is adjusted through a clamping device unit with adjustable grabbing force, the pressure between an idler wheel and the front face of the web plate is adjusted through a slidable rack with adjustable space, a climbing mechanism is applicable to guide rails of different types, the application range is wide, meanwhile, sufficient friction force between the traction wheel and the guide rail is guaranteed, sufficient adhesive force is provided for crawling of the rack, and the problem that the pulley is abraded to cause slipping is effectively solved; the clamping web force can be adjusted through the difference of the load weight, the load requirement of large-range weight can be further met, and unnecessary damage to the surface of the guide rail under the condition that the load weight is not large can be prevented by adjusting the contact force. In addition, the detection unit can detect horizontal and front obstacles without dead angles, so that the operation is safer; the power supply and the control module are also incorporated into the robot, the robot designed by the invention does not need to be powered by external equipment during running and can run for a longer distance and time, and the efficiency of conveying materials is improved; the power module and the control module enable the gravity center of the robot to move further downwards, and the robot has certain self-adjusting capacity when encountering external interference.
The invention utilizes two independent plumb lasers, a reflector and a camera to measure the quality of the guide rail of the elevator car. Two independent plumb lasers place in on the ground, can produce vertical ascending laser in certain error range, and laser irradiation can produce the laser spot on the reflector panel, thereby incessantly shoot the laser spot by the camera alright with the quality of judging each guide rail, including whether slope, whether have the circumstances such as little distortion. The traction wheel and the clamp wheel of the elevator guide rail crawling robot are always tightly attached to the elevator guide rail, so that the robot can climb in the original direction of the guide rail; the two reflectors are respectively fixed below the gripper units on the two sides, the reflectors are fixed below the bottom bodies of grippers on the two sides of the elevator guide rail crawling robot, and the camera is fixed on the stabilizing arm unit through the camera fixing frame, so that the changes of the quality such as the bending of the guide rail and the like can be directly converted into the position changes of the reflectors and the camera in the horizontal direction. The two plumb lasers are respectively fixed on the ground, can generate two independent vertical laser beams which are relatively static with the ground and serve as two reference lines and are respectively emitted to the positions near the centers of the reflectors on the two sides of the robot. The inner side of a stabilizing arm unit of the elevator guide rail crawling robot is fixed with two cameras, camera lenses face the reflector, the cameras can acquire images on the reflector at different moments according to a certain number of frames, all information acquired by crawling of the robot at each time is processed, and the quality condition of the straightness of the elevator guide rail can be measured by processing position data of laser points emitted to the reflector by two plumb lasers.
Compared with the prior art, the invention has the following advantages and remarkable progress:
1. the invention can reach higher precision requirement, because the camera pixel and reflector have similar horizontal to vertical ratio, can make the camera more fully utilize, if the camera pixel is 4000X 3000, and the reflector is 20cm X15 cm, then the camera has 0.05mm resolution ratio under this situation, can reach higher precision requirement; and the cost required by the camera is less, so that the total measurement cost is saved. At present, most of the technologies for acquiring laser position information adopt a laser receiver, the technology is expensive in manufacturing cost and low in resolution which approximately reaches 0.5mm, and only one-dimensional position movement of a laser point can be detected, so that the method has great limitation.
2. The measuring efficiency of the invention is very remarkable, if the moving speed of the robot reaches 30cm/s, and the number of display frames per second of the camera is 30Fps, the sampling points of the guide rail are about 1cm apart, so the method has excellent measuring precision. The measuring speed of the device is high, if the device runs at the speed of 30cm/s, the measuring time of an elevator room with the height of 300m is only less than 20 minutes from the bottom to the top, and the measuring efficiency is very obvious. If measurement with higher precision is needed, the robot can repeatedly measure in the elevator room for many times, and the higher measurement precision can be ensured.
3. Because the problems of precision and the like in the prior art cannot be eliminated, the method has very small errors which can be corrected by software programming; the plumb laser can produce the long distance laser of at least 600m, therefore the device can detect the elevator guide rail of the higher building of height, and the scope of being applicable to the building is wide.
In addition, the whole device is very convenient to use and install, easy to operate, capable of being matched with various instruments for use, wide in application range, free of high-altitude operation of personnel, capable of eliminating potential safety hazards and saving cost; the whole structure is compact and reasonable, the guide rail fixing device is suitable for guide rails of different types, and can still be installed and used even in a limited space or under the condition that the guide rail is close to the wall surface; enough friction force and adhesive force exist between the guide rail and the guide rail, so that the slipping phenomenon is effectively prevented, and stable operation can be realized; when the device works, horizontal and front obstacles can be detected simultaneously without dead angles, and energy supply by external equipment is not needed during operation, so that the operation is safer; still have certain self-control ability, anti external disturbance ability reinforce can prevent effectively that the frame from turning up and rocking of frame for the overall structure of robot is more stable, has increased stability and the security of crawling, and is operatable and the practicality is strong.
Drawings
FIG. 1 is a front isometric view (a), a front elevation view (b) and a top view (c) of the apparatus of the present invention;
fig. 2 is a front isometric view of the overall structure of the elevator guide rail crawling robot of the present invention;
fig. 3 is a rear isometric view of the overall structure of the elevator guide rail crawling robot of the present invention;
fig. 4 is a front view (a) and a sectional view (b) of a slidable housing of the elevator guide rail crawling robot according to the present invention;
fig. 5 is an isometric view of a slidable frame of the elevator guide rail crawling robot of the present invention;
fig. 6 is a front view (a) and a sectional view (b) of a traction unit of the elevator guide rail crawling robot according to the present invention;
fig. 7 is an exploded view of a traction unit of the elevator guide rail crawling robot according to the present invention;
fig. 8 is an isometric view of a gripper unit of the elevator guide rail crawling robot of the present invention;
fig. 9 is an exploded view of a gripper unit of the elevator guide rail crawling robot according to the present invention;
fig. 10 is an isometric view (a) and a front view (b) of a stabilizing arm unit of the elevator guide rail crawling robot of the present invention;
in the figure: 1-traction unit, 2-gripper unit, 3-stabilizer arm unit, 4-slidable frame, 5-control module and battery module, 6-air compressor, 7-lidar, 8-elevator car guide rail, 11-traction sheave, 12-bearing block, 13-dc motor, 14-ball bearing, 15-front idler, 16-drive shaft, 17-motor support, 18-idler support, 19-split spring, 21-gripper shaft, 22-gripper top body, 23-gripper bottom body, 24-spring support shaft, 25-gripper wheel, 26-gripper shaft pin, 27-spring seat, 28-force adjustment handle, 31-front stabilizer plate, 32-main stabilizer arm, 33-stabilizer back plate, 34-stabilizer front idler wheel, 35-stabilizer side idler wheel, 41-cylinder body, 42-sliding shaft, 43-stabilizing plug, 44-piston, 45-front plug, 46-shaft connecting plate, 47-O-ring, 91-plumb laser, 92-laser ray, 93-camera, 94-camera fixing frame, 95-ray baffle plate and 96-reflecting plate.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Example 1
The embodiment provides a quality detection device and method for elevator guide rails, as shown in fig. 1(a), (b) and (c), the two independent self-leveling plumb lasers 91 are fixed on the ground, and emit two independent vertical laser beams 92 which are static to the ground upwards as reference lines to be emitted to the positions near the centers of the reflectors 96 connected to the bottom bodies 23 of the grippers at both sides of the elevator guide rail crawling robot; four light baffles 95 perpendicular to the reflector are arranged around the reflector 96, so that the influence of external light on laser points on the reflector can be reduced, the measurement result is more accurate, and the data processing is easier; the camera 93 is fixed on a camera fixing frame 94, and the camera fixing frame 94 is fixed on the stable arm unit 3; because the traction wheel 11 and the clamp wheel 25 of the elevator guide rail crawling robot are always tightly attached to the elevator guide rail and climb along the guide rail, the quality change of the guide rail can cause the positions of the reflector 96 and the camera 93 to change correspondingly; the encoder is installed in traction wheel 11, and the position that oneself was located can be acquireed constantly to the robot, when detecting elevator guide rail quality problem, can obtain the type of guide rail quality problem, the quantity of quality problem and the position that every problem took place through data processing, makes things convenient for the engineer to handle and maintain. Since the laser beam 92 is stationary relative to the ground, the change in the position of the laser spot on the reflector 96 can reflect the quality of the rail; the position change of the laser point is recorded by the camera 93 fixed on the camera fixing frame 94 on the stabilizing arm unit 3, and the specific quality problem of the guide rail can be known by processing the data recorded by the camera in the climbing process of the elevator guide rail crawling robot.
In a preferred implementation of this embodiment, as shown in FIGS. 2-3: the elevator guide rail crawling robot comprises a slidable rack 4, a traction unit 1, a clamp holder unit 2, a stabilizing arm unit 3, a detection unit, a control module and a power supply module; the elevator guide rail crawling robot is in an Jiong-shaped structure, a pair of traction units 1, a pair of clamp units 2 and a pair of stabilizing arm units 3 which are connected through a slidable rack 4 are symmetrically arranged, and the climbing mechanism of the robot is formed by the elevator guide rail crawling robot and the slidable rack; the control module and the power module control the robot climbing mechanism to ascend and descend on the elevator guide rail, and the detection unit detects multiple safety parameters of the guide rail and the route condition of the robot on the guide rail in real time, so that the elevator rail crawling transportation is safer and more efficient.
In a preferred embodiment of this embodiment, as shown in fig. 4 to 5, the slidable frame 4 includes a cylinder block 41, a piston 44, a sliding shaft 42 connected to the piston, and a shaft connecting plate 46 connected to the other side of the sliding shaft 42; the inside of the main body of the slidable frame 4 is a sealed cylinder block 41; the lower part of the slidable frame 4 is communicated with an air compressor 6 through an air cylinder body 41; the left side and the right side of the slidable rack 4 are respectively connected with the holder unit 2 through shaft connecting plates 46, so that the robot becomes an integral structure; the air compressor 6 changes the pressure inside the cylinder body through air exhaust and deflation to generate pressure to push the sliding shaft to move so as to adjust the distance between the slidable rack 4 and the pair of gripper units 2 connected with the slidable rack, so that the front idler wheel 15 of the traction unit 1 and the stabilizer front idler wheel 34 of the stabilizing arm unit 3 are in close contact with the front face of the web of the guide rail 8 of the elevator room all the time when the robot runs, and sufficient force is provided to fix the robot;
in a preferred embodiment of this embodiment, as shown in fig. 6 to 7, the traction unit 1 comprises a dc motor 13, a pair of traction wheels 11 and a front idler wheel 15, which are perpendicular to each other; the traction unit is connected with the gripper unit 2 through a bearing seat 12; wherein the traction wheel 11 is contacted with the side surface of a web plate of a T-shaped elevator room guide rail 8 to drive the robot to move along the guide rail; the front idler pulley 15 is contacted with the front surface of the web plate of the guide rail 8 of the elevator car and is tightly attached to the guide rail all the time, so that reliable adhesion in the direction perpendicular to the guide rail is provided; the front idler 15 is mounted on an idler support 18 by rivets; the traction wheel 11 is connected with a direct current motor 13 through a driving shaft 16 and a ball bearing 14, the driving shaft 16 and the ball bearing 14 are wrapped by a bearing seat 12, the direct current motor 13 provides driving power for the elevator guide rail crawling robot and is connected with the bearing seat 12 through a motor support 17, and a front idle wheel 15 is connected with the bearing seat 12 through a front idle wheel support 18;
because different elevator guide rail specifications are different, the thicknesses of webs are different, and along with the abrasion of the guide rail or the traction wheel 11, the friction force between the guide rail webs and the traction wheel 11 can be reduced to cause the slipping phenomenon, the distance between the traction wheel 11 and the gripper wheel 15 is adjusted by adjusting the gripper unit 2, so that the pressure between the two wheels and the webs is adjusted to prevent the slipping phenomenon, the structure can ensure that the travelling mechanism is suitable for the guide rail webs with different thicknesses, can use guide rails with various types, and has wide application range; a knurled structure is additionally arranged on the periphery of the traction wheel 11, so that the friction force is further increased through the knurled structure, and the traction wheel 11 is effectively prevented from slipping relative to a web plate of a guide rail 8 of the elevator car; the traction wheel is made of a material with a high friction coefficient so as to increase the friction force between the traction wheel and the guide rail web;
in a preferred embodiment of this embodiment, as shown in fig. 8-9, the gripper unit 2 comprises a gripper wheel 25 mounted on the gripper shaft 21, a force adjustment handle 28 mounted on the gripper shaft 21 via a spring support shaft 24, a gripper shaft pin connecting the gripper top body 22 with the gripper bottom body 23; the gripper unit 2 is connected to the bearing block 12 of the traction unit 1 via the gripper top body 22 and the gripper bottom body 33; the gripper shaft 21 of the gripper unit 2 is connected with a gripper wheel 25 and a force adjusting handle 28; the gripper wheel 25 is arranged on one side of the web plate of the elevator car guide rail 8 opposite to the traction wheel 11 and can roll along the guide rail; the distance between the gripper wheel 25 and the traction wheel 11 and the grasping degree of the gripper wheel to the guide rail can be adjusted through the force adjusting handle 28, so that the friction force between the gripper wheel 25 and the side surface of the web plate of the guide rail is adjusted, and meanwhile, the problem of loss caused by friction of the pulley can be solved; the gripper unit 2 contains a spring, the force applied can be changed by adjusting the force adjusting handle 28, and the force is in direct proportion to the number of rotation turns of the handle, so that the force of the gripping web can be adjusted according to the difference of the load weight, and the load requirement of large-range weight can be further met. The contact force can be adjusted to prevent unnecessary damage to the surface of the guide rail under the condition that the load weight is not large;
in a preferred embodiment of this embodiment, as shown in fig. 10, the stabilizer arm unit 3 includes a front stabilizer plate 31, a stabilizer back plate 33, a main stabilizer arm 32 fixed forward and backward by the above two stabilizer plates, a stabilizer front idler 34 and a stabilizer side idler 35; the stabilizer arm unit 3 is connected with the traction unit 1 through the front stabilizer plate 31 and the stabilizer back plate 33; the stabilizing arm unit 3 comprises two stabilizer-side idle wheels 35 which are positioned on two sides of the web plate but have a distance slightly larger than the thickness of the web plate and are positioned on the same horizontal position, and the stabilizer-side idle wheels can roll along the guide rail along the moving direction of the robot; the robot is also provided with a stabilizer front idler wheel 34 which is contacted with the front surface of the web plate, if the robot is disturbed by the influence of external factors to make the robot swing, the stabilizer side idler wheel 35 can roll along the guide rail along the moving direction of the robot, thereby balancing the moment generated by the swing; the two stabilizer side idle wheels 35 and the one stabilizer front idle wheel 34 on each stabilizing arm unit are distributed in a triangular shape, so that the robot is prevented from swinging and shaking along a horizontal rack due to the rotating force caused by external disturbance in the climbing process, and the robot is more stable in climbing;
in a preferred embodiment of this embodiment, the detection unit comprises a lidar 7 and a sensor above the radar. The laser radar 7 and the sensor at the upper part of the radar can detect whether the robot can touch the obstacle when crawling on the guide rail. The laser radar can detect obstacles in the horizontal direction, and the sensor at the upper part of the radar detects the obstacles at the upper part of the laser radar, so that the robot can detect horizontal and front obstacles without dead angles when working, and the operation is safer;
in a preferred implementation manner of this embodiment, the control module includes a driving motor, a controller for detecting a barrier of the guide rail, and a main control board of an inclination sensor, where the inclination sensor is used to adjust a movement rate of the robot and adjust the robot to be parallel to a horizontal plane;
in a preferred implementation of this embodiment, the power module includes a 24V/10AH battery.
In a preferred implementation manner of the embodiment, the robot is in an Jiong shape, has a small side thickness, can grab the guide rails on two sides of the elevator to climb at the same time, adjusts the pressure between the traction unit and the web of the guide rail and the pressure between the idler and the front of the web by the clamping unit with adjustable grabbing force and the slidable rack with adjustable space, is applicable to guide rails of different types, has a wide application range, ensures sufficient friction force between the traction wheel and the guide rail, provides sufficient adhesive force for the crawling of the rack, and effectively solves the problem of slipping caused by the abrasion of the pulley; the clamping web force can be adjusted through the difference of the load weight, the load requirement of large-range weight can be further met, and unnecessary damage to the surface of the guide rail under the condition that the load weight is not large can be prevented by adjusting the contact force. In addition, the detection unit can detect horizontal and front obstacles without dead angles, so that the operation is safer; the power supply and the control module are also incorporated into the robot, the robot designed by the invention does not need to be powered by external equipment during running and can run for a longer distance and time, and the efficiency of conveying materials is improved; the power module and the control module enable the gravity center of the robot to move further downwards, and the robot has certain self-adjusting capacity when encountering external interference.
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| CN111811441B (en) * | 2020-06-19 | 2023-03-21 | 广东电网有限责任公司 | Surface construction process detection device and method |
| CN113620136B (en) * | 2021-09-09 | 2022-05-03 | 清华大学 | Gravity self-driven elevator guide rail detection device |
| CN114104894B (en) * | 2021-11-09 | 2023-05-05 | 青岛市特种设备检验研究院 | Multi-parameter detection method for quality of elevator guide rail |
| CN114018172B (en) * | 2021-11-23 | 2023-10-31 | 青岛大学 | Device and method for detecting single elevator guide rail distortion |
| CN114873469B (en) * | 2022-06-02 | 2023-01-24 | 宜昌精联电子科技有限公司 | FTR unhooking passive automatic detection system and method |
| CN115893154B (en) * | 2022-12-22 | 2025-03-18 | 天津大学 | A spatial position detection system and detection method for a vertical lift guide rail |
| CN118164343B (en) * | 2024-05-15 | 2024-07-05 | 江苏永方轨道科技有限公司 | Elevator track installation jig and installation method |
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| US4537509A (en) * | 1982-03-10 | 1985-08-27 | Nortronics Company, Inc. | Optical inspection and alignment verification system |
| CN100504292C (en) * | 2001-07-06 | 2009-06-24 | 因温特奥股份公司 | Method and device for determining rectilinearity of guide rails |
| CN1292229C (en) * | 2004-10-14 | 2006-12-27 | 上海交通大学 | Detecting robot for lift rail perpendicularity |
| CN101545761A (en) * | 2009-05-06 | 2009-09-30 | 湖北工业大学 | Optical measuring system with multiple degrees of freedom |
| KR101240784B1 (en) * | 2011-04-01 | 2013-03-07 | 고려대학교 산학협력단 | Lift apparatus |
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| CN102607467B (en) * | 2012-03-07 | 2015-02-25 | 上海交通大学 | Device and method for detecting elevator guide rail perpendicularity based on visual measurement |
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| EP2993152B8 (en) * | 2014-09-04 | 2017-04-19 | KONE Corporation | Apparatus and method for aligning guide rails in an elevator shaft |
| JP6218888B1 (en) * | 2016-05-25 | 2017-10-25 | 東芝エレベータ株式会社 | Guide rail angle indicator and angle adjustment method |
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Effective date of registration: 20250110 Address after: 215337, 2nd Floor, Building 28, No. 511 Huangpu River North Road, Zhoushi Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Kunshan Zhiruite Technology Co.,Ltd. Country or region after: China Address before: 266071 No. 7 East Hongkong Road, Laoshan District, Shandong, Qingdao Patentee before: QINGDAO University Country or region before: China |