CN113800358B - Elevator well is just gentle and is filled up wall mechanism - Google Patents
Elevator well is just gentle and is filled up wall mechanism Download PDFInfo
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- CN113800358B CN113800358B CN202111084568.2A CN202111084568A CN113800358B CN 113800358 B CN113800358 B CN 113800358B CN 202111084568 A CN202111084568 A CN 202111084568A CN 113800358 B CN113800358 B CN 113800358B
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- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 11
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- 229910000831 Steel Inorganic materials 0.000 description 3
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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
- B66B7/02—Guideways; Guides
- B66B7/023—Mounting means therefor
- B66B7/027—Mounting means therefor for mounting auxiliary devices
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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Abstract
The invention discloses a rigid and flexible wall supporting mechanism for an elevator shaft, and belongs to the technical field of elevator guide rail installation. The wall-supporting mechanism comprises a rack, a wall-supporting mechanical arm, an adjusting mechanical arm, a guide rail installation and adjustment mechanical arm, a traction support, a vertical pose detection component and a horizontal pose detection component, is flexibly contacted during walking through a structural design of 'two soft and one rigid', can be rigidly supported during positioning, is high in self-stability during wall supporting, and can accurately detect the horizontal and vertical pose states of the wall-supporting mechanism in an elevator shaft and automatically correct the states by arranging the vertical pose detection component and the horizontal pose detection component. The installation and calibration work of the elevator guide rail can be completed quickly and accurately by matching with the guide rail installation and adjustment mechanical arm, the installation efficiency of the elevator guide rail is greatly improved, and the workload and the labor intensity of elevator guide rail installation personnel are reduced.
Description
Technical Field
The invention belongs to the technical field of elevator guide rail installation, relates to an elevator guide rail installation adjusting device, and particularly relates to a rigid and flexible wall supporting mechanism for an elevator hoistway.
Background
With the rapid development of economy, high-rise buildings and super high-rise buildings are transported like bamboo shoots in spring after rain, and elevators in the high-rise buildings become an indispensable part of people's lives. The installation of the elevator guide rail plays an important role in the normal operation of the elevator, and whether the elevator can run stably at high speed depends on whether the installation of the elevator guide rail is accurate and reliable. In the elevator hoistway, the working environment is sultry, not ventilated and dusty, and the working environment of elevator guide rail installation workers is extremely severe. Currently, in the field of elevator installation, installers are extremely scarce, and automated installation and adjustment of elevator guide rails is becoming a future trend. The design of the elevator shaft wall supporting mechanism and the assembly of the manipulator on the wall supporting mechanism to realize the automatic installation and accurate adjustment of the elevator guide rail are very important.
Patent of invention device and method for calibrating guide rails in an elevator shaft (CN 105398911B) proposes a device and method for calibrating guide rails in an elevator shaft, comprising a positioning unit and a calibration unit. A first attachment device is provided on the positioning unit, which is freely movable at each end of the positioning unit and supported in the elevator shaft on the opposite wall structure. The calibration unit is provided with a second attachment device, which is also freely movable at each end of the transfer unit, enabling elevator guide rail vertical calibration. However, the device has the problem of poor overall centering performance of the system, due to the fact that the device adopts a two-point supporting mode, the surface of the wall body of the elevator shaft is uneven, two supporting points of a supporting component of a supporting wall structure cannot be guaranteed to be in close contact with the wall body of the elevator shaft at the same time, and therefore the initial horizontal pose and vertical pose states of the calibration unit are affected, the initial calibration standard set by the calibration unit has certain deviation with the true value, and finally large errors occur in installation and calibration of the elevator guide rail.
An intelligent installation system for elevators is disclosed in the patent publication No. CN112520534A, which includes a guide rail installation unit moving up and down along an elevator shaft and installing guide rails of an elevator, and a material transfer unit supplying the guide rails of the elevator upward to the guide rail installation unit. The material conveying device also comprises a clamping component for clamping the elevator guide rail, a horizontal lifting device for driving the clamping component to move horizontally and lift, and a conveying component for conveying the elevator guide rail. The elevator guide rail is conveyed to the elevator guide rail mounting device through the guide rail material conveying device, and then the guide rail is automatically mounted in the elevator shaft, so that the automatic laying of the elevator guide rail is realized. The invention focuses on the method of automatic installation of elevator guide rails, but there is less work to describe the calibration of the device before installation of the elevator guide rails. The important factor of elevator guide rail installation is to ensure the vertical installation of the guide rail, and the calibration of the horizontal pose and the vertical pose of the device before installation is a vital preparation. The elevator intelligent installation system has low installation accuracy due to the lack of a calibration structure.
Therefore, how to design an elevator hoistway wall supporting mechanism with levelness and verticality meeting the installation requirements in the installation and adjustment process of the elevator guide rail is the most basic technical problem to be solved urgently in the elevator guide rail installation industry. The guarantee that the wall supporting mechanism has good horizontal pose and vertical pose states is a basic precondition for the installation and calibration of the elevator guide rail by the manipulator and is also a key technical point for the installation and calibration of the elevator guide rail.
Disclosure of Invention
The main problems of the existing elevator guide rail installation equipment are as follows: (1) Most of wall supporting mechanisms for assisting in installing the elevator guide rail adopt a two-point supporting mode, and certain errors can exist between the supporting arms and the wall body of the elevator hoistway, so that the problem of basic deviation exists in the installation and calibration work of the elevator guide rail; and (2) the wall supporting mechanism lacks an automatic adjusting function. When the problems of deviation and inconsistent roughness of the surface of the wall body exist in the vertical condition of the wall body, the stability and the working precision of the system are reduced; (3) Elevator guide rail installation mechanism lacks the calibration subassembly, leads to the lower scheduling problem of installation accuracy. In order to solve the problems, the invention provides a wall supporting mechanism for the elevator shaft with rigidity and flexibility.
According to the invention, by designing a rigid-flexible structure, the wall supporting mechanism and the elevator shaft are always kept in a flexible contact state at the beginning, so that the wall supporting mechanism is maintained in a self-stabilization state, the accuracy of the horizontal and vertical poses of the installation point of the elevator guide rail is determined, then the hydraulic cylinder and the auxiliary wall supporting mechanical arm are connected through the L-shaped servo electric push rod, the wall supporting mechanism becomes a rigid body, the hydraulic cylinder provides the required wall supporting force, and finally the guide rail installation adjusting mechanical arm arranged on the wall supporting mechanism completes the automatic installation and calibration work of the elevator guide rail, so that the installation efficiency and the installation precision of the elevator guide rail installation can be improved, and the labor workload of elevator installation workers can be reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
a wall supporting mechanism for an elevator hoistway with rigidity and flexibility comprises a rack, a supporting mechanism and a supporting mechanism, wherein the rack is used for fixedly mounting each part in the wall supporting mechanism; the wall supporting mechanical arm is used for adjusting the horizontal and vertical pose states of the wall supporting mechanism and is in contact with the surface of the wall body of the elevator shaft to provide a wall supporting force; the adjusting mechanical arm is used for adjusting the horizontal and vertical pose states of the wall supporting mechanism, is in contact with the surface of the wall of the elevator shaft, and keeps the mechanism stable; the guide rail installation and adjustment manipulator is used for installing and calibrating the elevator guide rail; the traction support is used for being connected with the traction mechanism, so that the wall supporting mechanism can move up and down along the elevator shaft to reach different stations; the vertical pose detection component is used for detecting and feeding back vertical pose information of the wall supporting mechanism; and the horizontal pose detection part is used for detecting and feeding back the horizontal pose information of the support wall mechanism.
The wall supporting mechanical arms are positioned on the left side and the right side of the rack, the adjusting mechanical arms are positioned on the front side and the rear side of the rack, and the guide rail installation adjusting mechanical arm and the traction support are positioned at the top of the rack. Preferably, the central pose of the traction support is provided with a horizontal pose detection component, and the central pose of the rack is provided with a vertical pose detection component.
Specifically, the frame is formed by connecting a bottom mounting plate and a top support. The left side and the right side of the bottom mounting plate are fixedly connected with two sets of wall supporting mechanical arms through bolts, and the front side and the rear side of the bottom mounting plate are fixedly connected with two sets of adjusting mechanical arms through bolts. The two groups of supporting wall mechanical arms and the two groups of adjusting mechanical arms are centrosymmetric. And the top support center cross beam is sequentially provided with a left guide rail installation and adjustment manipulator mounting plate, a traction support mounting plate and a right guide rail installation and adjustment manipulator mounting plate from left to right. The left guide rail installation and adjustment manipulator mounting plate and the right guide rail installation and adjustment manipulator mounting plate are respectively connected with the guide rail installation and adjustment manipulator through bolts, and the traction support mounting plate is connected with the traction support through bolts.
Preferably, the wall-supporting mechanical arm specifically comprises a supporting piece, a hydraulic cylinder, an L-shaped servo electric push rod, an elastic support, a fixing block, an auxiliary wall-supporting mechanical arm, an S-shaped servo electric push rod, an M-shaped servo electric push rod and a sliding roller. Wherein the supporting piece comprises a bottom plate, a rib plate and a hydraulic cylinder mounting plate.
Specifically, the bottom plate is connected with the hydraulic cylinder mounting plate in the middle position, and rib plates are arranged on two sides of the bottom plate and two sides of the hydraulic cylinder mounting plate. The left side of pneumatic cylinder mounting panel is passed through bolted connection pneumatic cylinder, the right side of pneumatic cylinder mounting panel sets up two sets of the same L type servo electric putter, and two L type servo electric putter are about the output shaft symmetric distribution of pneumatic cylinder. The output shaft of pneumatic cylinder passes through the screw thread and is connected with elastic support 'S top, elastic support' S base passes through the bolt and is connected with supplementary support wall arm, and two arm left sides all are provided with the fixed block around the supplementary support wall arm, supplementary support wall arm center position appearance department is provided with M type servo electric putter, two arm right sides all are provided with S type servo electric putter around the supplementary support wall arm, S type servo electric putter is about M type servo electric putter 'S output shaft symmetric distribution, S type servo electric putter' S output shaft all is connected with the slip gyro wheel.
The output shaft of the M-shaped servo electric push rod is provided with a rod end joint bearing, one rotating part of the rod end joint bearing is used for supporting a wall surface, the other rotating part of the rod end joint bearing is fixedly connected with the output shaft of the M-shaped servo electric push rod, and the vertical pose state and the horizontal pose state of the rack can be adjusted through the stroke change of the M-shaped servo electric push rod.
Preferably, the elastic support specifically comprises a base, a bottom spring clamping groove, a spring, a limiting ring, a retainer ring, a slidable piston and a top spring clamping groove. Preferably, the bottom center position appearance department of base is provided with bottom spring slot, the top of base is passed through the bolt and is connected with the retaining ring, the hole of retaining ring passes through the shaft hole cooperation with slidable piston's outer wall, slidable piston's inner chamber top is provided with top spring slot still install the spring between bottom spring slot and the top spring slot, position appearance department is provided with the spacing ring in the middle of the inner chamber of base, and the spacing ring is used for slidable piston's lower limit position appearance spacing, and the retaining ring is used for slidable piston's upper limit position appearance spacing. The elastic support is arranged to form a flexible damping support of the wall-supporting mechanical arm.
Preferably, the top end of the output shaft of the L-shaped servo electric push rod is of a hemispherical structure, hemispherical circular holes are formed in the centers of the fixed blocks, and the hemispherical circular holes of the fixed blocks are completely matched with the hemispherical shape of the top end of the output shaft of the L-shaped servo electric push rod. When the wall-supporting mechanism reaches the target pose, the L-shaped servo electric push rod of the wall-supporting mechanical arm extends, and the top end of the output shaft of the wall-supporting mechanical arm can abut against the fixed block to form a rigid support. The hemispherical structure design is designed to improve the contact area of the L-shaped servo electric push rod and the fixed block during matching, effectively concentrate the thrust of the L-shaped servo electric push rod, ensure that the wall supporting mechanism keeps good rigidity in the wall supporting process and improve the stability.
Preferably, pressure sensors are arranged on the M-shaped servo electric push rod and the S-shaped servo electric push rod. The pressure sensor can sense pressure signals in real time, and the pressure sensor can convert the pressure signals into electric signals and transmit the electric signals to the control unit. The control unit can control the M-shaped servo electric push rod and the S-shaped servo electric push rod, so that the wall supporting mechanical arm can maintain enough pressure with the wall surface in the up-and-down moving process, and the suspension phenomenon is avoided.
Preferably, compared with the structure of the wall-supporting mechanical arm, the structure of the support adjusting mechanical arm only removes an L-shaped servo electric push rod and a fixing block, and other structures are the same as the wall-supporting mechanical arm. The adjusting mechanical arm comprises a supporting piece, a hydraulic cylinder, an elastic support, an auxiliary wall supporting mechanical arm, an M-shaped servo electric push rod and S-shaped servo electric push rods, wherein the supporting piece, the hydraulic cylinder, the elastic support and the auxiliary wall supporting mechanical arm are fixedly connected to the rack; the hydraulic cylinder is fixedly connected with a supporting piece, an output shaft of the hydraulic cylinder is connected with an auxiliary wall supporting mechanical arm through an elastic support, the side, away from the hydraulic cylinder, of the auxiliary wall supporting mechanical arm is provided with an S-shaped servo electric push rod, and an output shaft of the S-shaped servo electric push rod is provided with a sliding roller.
When the wall supporting mechanism walks and positions in the elevator shaft, the adjusting mechanical arm and the wall supporting mechanical arm are in a flexible supporting state, namely the elastic support has a damping and buffering function and the roller sliding and wall are in a flexible touch state, the stable state of the wall supporting mechanism in the up-and-down running process is maintained, and the stability of the mechanism is also improved by the aid of the four support arm flexible contacts.
Preferably, a horizontal pose detection component is arranged at the central pose of the traction support, and a vertical pose detection component is arranged at the central pose of the bottom mounting plate. The horizontal pose detection component and the vertical pose detection component are used for keeping the standard stable state of the rack during the positioning work of the wall supporting mechanism. When the machine frame of the wall supporting mechanism is in a nonstandard stable state, the horizontal pose detection component and the vertical pose detection component send out nonstandard stable base pose signals to the control unit, and the control unit can adjust the poses of the wall supporting mechanical arm and the adjusting mechanical arm, so that the machine frame is in a standard stable state.
Compared with the prior art, the invention has the following advantages:
(1) The rigid and flexible wall supporting mechanism for the elevator shaft has good centering property. The wall supporting mechanism is provided with a horizontal pose detection component and a vertical pose detection component, pose deviations of the wall supporting mechanism in the horizontal direction and the vertical direction are detected in real time through the two components, and the whole pose of the wall supporting mechanism is adjusted through a hydraulic cylinder and an M-shaped servo electric push rod. The horizontal pose and the vertical pose of the wall supporting mechanism are always kept consistent with the horizontal line and the plumb line, and accurate pose states can be provided for installation and calibration of the elevator guide rail.
(2) The rigid and flexible wall supporting mechanism for the elevator shaft has good self-stability. The wall supporting mechanism is provided with four groups of symmetrical auxiliary wall supporting mechanical arms, and the whole structure is stable and symmetrical. The sliding idler wheel on the auxiliary wall supporting mechanical arm always keeps a flexible contact state with the wall body of the elevator shaft in the operation process and maintains certain pressure, so that the problems of rotation and inclination of the wall supporting mechanism in the elevator shaft due to suspension can be solved.
(3) The rigid-flexible wall supporting mechanism for the elevator shaft, provided by the invention, is provided with the guide rail installation and adjustment manipulator, so that the installation and calibration work of the elevator guide rail can be completed quickly and accurately, the installation efficiency of the elevator guide rail is greatly improved, and the workload and the labor intensity of related workers are reduced.
The elevator shaft rigid-flexible and combined wall supporting mechanism provided by the invention has the most beneficial effects that the wall supporting mechanism has the characteristics of 'two flexible parts and one rigid part', not only has the flexible adjusting function, but also has the rigid supporting function, and is specifically represented as follows: (1) "yirou". The elastic support structure design in the wall supporting mechanical arm has a flexible adjusting function. The output shaft and the elastic support of pneumatic cylinder are connected, and in the wall propping mechanism up-and-down motion process, the thrust that the pneumatic cylinder provided transmits the spring through slidable piston, and the spring cushions this thrust, makes the wall propping mechanism keep steady state, can prevent that elevator well wall unevenness from arousing the shake, avoids propping the condition of wall mechanism unstability and taking place. (2) "two gentle". Two S-shaped servo electric push rods are designed at the supporting arms of the wall supporting mechanical arm and the auxiliary wall supporting mechanical arm in the adjusting mechanical arm and connected with sliding rollers, and the S-shaped servo electric push rods have an adjustable flexible supporting function. In the up-and-down movement process of the wall supporting mechanism, the idler wheel always keeps a flexible touch state with an elevator shaft under the action of the S-shaped servo electric push rod and maintains a certain pressure, the pressure sensor at the top end of the S-shaped servo electric push rod can detect and feed back the pressure value and maintain the supporting pressure of the wall supporting mechanism, when the pressure value deviates from a set value, the stroke length of the front and rear S-shaped servo electric push rods is automatically adjusted, the idler wheel is enabled to be in contact with the wall surface, the pressure value is enabled to be consistent with the set value, the stable state of the wall supporting mechanism in the up-and-down movement process is maintained, and the stability of the mechanism is also improved by the flexible supporting mode of the four support arms. (3) "one steel". The matching design of an L-shaped servo electric push rod in the wall-supporting mechanical arm and a fixing block on the auxiliary wall-supporting mechanical arm has a rigid supporting function. When prop wall mechanism and reach the operation of L type servo electric putter after appointed station, L type servo electric putter's output shaft top hemispherical structure and the cooperation of the hemisphere round hole full contact at fixed block center, provide powerful thrust, make pneumatic cylinder and supplementary wall arm zonulae occludens of propping, form a whole, let whole wall mechanism of propping become rigid structure, and provide sufficient wall power of propping by the pneumatic cylinder, realize the wall function of propping of mechanism in the elevator well, and keep propping the steady state of wall mechanism in the elevator well, provide unified reference condition for subsequent guide rail calibration installation.
Drawings
FIG. 1 is a schematic view of the entire structure of the wall-propping mechanism of the present invention;
FIG. 2 is a schematic view of a frame structure of the wall supporting mechanism of the present invention;
FIG. 3 is a schematic view of the wall-supporting robot arm of the wall-supporting mechanism of the present invention;
FIG. 4 is a schematic view of an adjusting arm structure of the wall-propping mechanism of the present invention;
FIG. 5 is a cross-sectional view of the elastomeric support of the wall propping mechanism of the present invention;
FIG. 6 is a sectional view of the L-shaped servo electric push rod and the auxiliary wall-supporting mechanical arm of the wall-supporting mechanism of the present invention;
FIG. 7 is a schematic structural view of a traction support and a horizontal pose detection component of the wall-supporting mechanism of the present invention;
fig. 8 is a schematic view of the operation of the wall-supporting mechanical arm of the wall-supporting mechanism in an uneven elevator shaft wall.
Wherein: 1. a frame; 2. a wall supporting mechanical arm; 3. adjusting the mechanical arm; 4. the guide rail is provided with an adjusting manipulator; 5. a traction support; 6. a vertical pose detection means; 7. horizontal pose detection means; 8. a wire rope; 9. uneven hoistway walls; 101. a bottom mounting plate; 102. a top support; 103. the left guide rail is provided with an adjusting manipulator mounting plate; 104. a traction support mounting plate; 105. the right guide rail is provided with an adjusting manipulator mounting plate; 106. a vertical pose detection means mount; 201. a base plate; 202. a rib plate; 203. a hydraulic cylinder mounting plate; 204. a hydraulic cylinder; 205. a first L-shaped servo electric push rod; 206. a second L-shaped servo electric push rod; 207. an elastic support; 208. a first fixed block; 209. a second fixed block; 2010. an auxiliary wall-supporting mechanical arm; 2011. a first S-shaped servo electric push rod; 2012. a second S-shaped servo electric push rod; 2013. an M-shaped servo electric push rod; 2014. a first sliding roller; 2015. a second sliding roller; 2071. a base; 2072. a bottom spring clamp slot; 2073. a spring; 2074. a limiting ring; 2075. a retainer ring; 2076. a slidable piston; 2077. and a spring clamping groove at the top.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings. The terms "inner" and "outer" are used to refer to directions toward and away from, respectively, the geometric center of a particular component.
Examples
The invention provides a wall supporting mechanism for the rigidity and flexibility of an elevator shaft, and referring to fig. 1, the wall supporting mechanism mainly comprises: the device comprises a rack 1, a wall supporting mechanical arm 2, an adjusting mechanical arm 3, a guide rail installation and adjustment mechanical arm 4, a traction support 5, a vertical pose detection component 6, a horizontal pose detection component 7 and a steel wire rope 8. Specifically, the elevator shaft wall supporting mechanism with rigidity and flexibility comprises a rack 1, a fixing device and a fixing device, wherein the rack is used for fixedly mounting each part in the wall supporting mechanism; the wall supporting mechanical arm 2 is used for adjusting the horizontal and vertical pose states of the wall supporting mechanism and contacting the surface of the wall body of the elevator shaft to provide wall supporting force; the adjusting mechanical arm 3 is used for adjusting the horizontal and vertical pose states of the wall supporting mechanism, is in contact with the surface of the wall of the elevator shaft, and keeps the mechanism stable; the guide rail installation and adjustment manipulator 4 is used for installing and calibrating the elevator guide rail; the traction support 5 is used for connecting the traction mechanism, so that the wall supporting mechanism can move up and down along the elevator shaft to reach different stations; a vertical pose detection means 6 for detecting and feeding back vertical pose information of the bulkhead mechanism; and the horizontal pose detection part 7 is used for detecting and feeding back the horizontal pose information of the support wall mechanism. The wall supporting mechanism in the embodiment further comprises a control unit, and the control unit controls the operation of the wall supporting mechanism and comprises processing and feedback of data such as a horizontal pose state, a vertical pose state and pressure.
Referring to fig. 2, the housing 1 is formed by connecting a bottom mounting plate 101 and a top bracket 102. Two sets of wall arms 2 have been connected through bolt fixed to the left and right sides on the bottom mounting panel 101, two sets of regulation arms 3 have been connected through bolt fixed to both sides around on the bottom mounting panel 101. The two groups of wall supporting mechanical arms 2 and the two groups of adjusting mechanical arms 3 are centrosymmetric. A left guide rail installation and adjustment manipulator mounting plate 103, a traction support mounting plate 104 and a right guide rail installation and adjustment manipulator mounting plate 105 are sequentially arranged on the central beam of the top support 102 from left to right; the left guide rail installation and adjustment manipulator mounting plate 103 and the right guide rail installation and adjustment manipulator mounting plate 105 are respectively connected with the guide rail installation and adjustment manipulator 4 through bolts, and the traction support mounting plate 104 is connected with the traction support 5 through bolts.
In this embodiment, the guide rail installation and adjustment manipulator 4 is a five-degree-of-freedom manipulator, and can quickly and accurately complete elevator guide rail installation and calibration work at a specified station.
In this embodiment, the traction support 5 is connected to other traction devices through a steel cable 8, the traction devices can improve the driving force of the upward or downward movement for the wall supporting mechanism, and in this embodiment, the traction support is connected to a traction motor special for an elevator.
The central pose position of the bottom mounting plate 101 is provided with a vertical pose detection component 6, the vertical pose detection component 6 in the embodiment is a laser plummet, the laser plummet can monitor the vertical pose state of the wall supporting mechanism in real time and feed back the vertical pose information to the control unit, so that the wall supporting mechanism can be calibrated in time, and the vertical pose of the wall supporting mechanism is always consistent with a plumb line.
Referring to fig. 7, the horizontal attitude detecting means 7 is also fixedly mounted at the above-described central attitude of the towing bracket 5. In this embodiment, the horizontal pose detection component is an electronic level, and the electronic level can monitor the horizontal pose state of the mechanism in real time and feed back the horizontal pose information to the control unit, so that the wall support mechanism can be calibrated in time, and the horizontal pose of the wall support mechanism is always consistent with the horizontal line.
The horizontal pose detection part 7 and the vertical pose detection part 6 are used for keeping the standard stable state of the rack during the positioning work of the wall supporting mechanism, namely the vertical pose of the wall supporting mechanism is always consistent with a plumb line, and the horizontal pose is always consistent with a horizontal line. When the machine frame of the wall supporting mechanism is in a nonstandard stable state, the horizontal pose detection component and the vertical pose detection component send out nonstandard stable base pose signals to the control unit, and the control unit can adjust the poses of the wall supporting mechanical arm and the adjusting mechanical arm, so that the machine frame is in a standard stable state.
Referring to fig. 3, the wall-supporting mechanical arm 2 comprises a bottom plate 201, the bottom plate 201 is connected with a hydraulic cylinder mounting plate 203 in a middle position, and rib plates 202 are arranged on two sides of the bottom plate 201 and the hydraulic cylinder mounting plate 203. The left side of pneumatic cylinder mounting panel 203 is passed through bolted connection pneumatic cylinder 204, the right side bilateral symmetry of pneumatic cylinder mounting panel 203 sets up two sets of the same L type servo electric putter, and two sets of the same L type servo electric putter are first L type servo electric putter 205 and second L type servo electric putter 206. The output shaft of the hydraulic cylinder 204 is connected with the top end of an elastic support 207 through threads, and the base of the elastic support 207 is connected with an auxiliary wall-supporting mechanical arm 2010 through a bolt.
Further, fixing blocks are arranged on the left sides of the front arm and the rear arm of the auxiliary wall supporting mechanical arm 2010 and comprise a first fixing block 208 and a second fixing block 209, and an M-shaped servo electric push rod 2013 is arranged at the central position of the auxiliary wall supporting mechanical arm 2010. The output shaft of the M-shaped servo electric push rod 2013 is provided with a rod end joint bearing, the rod end joint bearing is a straight rod ball head rod end joint bearing, a straight rod part of the rod end joint bearing is used for supporting a wall surface, a rotating part of the rod end joint bearing is fixedly connected with the output shaft of the M-shaped servo electric push rod, and the vertical pose state and the horizontal pose state of the rack can be adjusted through stroke change of the M-shaped servo electric push rod.
Further, the right sides of the front and rear two arms of the auxiliary wall supporting mechanical arm 2010 are provided with S-shaped servo electric push rods, including a first S-shaped servo electric push rod 2011 and a second S-shaped servo electric push rod 2012. The output shafts of the first S-shaped servo electric push rod 2011 and the second S-shaped servo electric push rod 2012 are both connected to a sliding roller, wherein the output shaft of the first S-shaped servo electric push rod 2011 is connected to the first sliding roller 2014, and the output shaft of the second S-shaped servo electric push rod 2012 is connected to the second sliding roller 2015.
All be provided with pressure sensor on above-mentioned M type servo electric putter 2013 and the servo electric putter of S type, pressure sensor can experience pressure signal in real time to convert pressure signal into the signal of telecommunication, transmit the control unit, adjust the support pressure of propping wall arm 2 and adjusting arm 3 to the wall body, keep effective support.
In this embodiment, the hydraulic cylinder 204 can provide a strong supporting force, so that the wall-supporting mechanism can be stably fixed to a station in an elevator hoistway, and then, the automatic installation and calibration of elevator guide rails can be completed by combining other components of the mechanism. The wall surface supporting force provided by the embodiment reaches 10kN.
Referring to fig. 4, compared with the structure of the wall-supporting mechanical arm 2, the structure of the adjusting mechanical arm 3 only removes the L-shaped servo electric push rod and the fixing block, and the other structures are the same as the wall-supporting mechanical arm 2. The adjusting mechanical arm 3 comprises a supporting piece fixedly connected to the rack 1, a hydraulic cylinder 204, an elastic support 207, an auxiliary wall-supporting mechanical arm 2010, an M-shaped servo electric push rod 2013 positioned in the middle of the auxiliary wall-supporting mechanical arm 2010, and S-shaped servo electric push rods which are positioned in the auxiliary wall-supporting mechanical arm 2010 and are symmetrically distributed around the M-shaped servo electric push rod 2013; the hydraulic cylinder 204 is fixedly connected with a supporting piece, an output shaft of the hydraulic cylinder 204 is connected with an auxiliary wall supporting mechanical arm 2010 through an elastic support 207, an S-shaped servo electric push rod is arranged on the side, away from the hydraulic cylinder 204, of the auxiliary wall supporting mechanical arm 2010, and a sliding roller is arranged on the output shaft of the S-shaped servo electric push rod. In the up-and-down motion process of the wall supporting mechanism, the adjusting mechanical arm 3 and the wall supporting mechanical arm 2 jointly keep the stable walking of the wall supporting mechanism.
Referring to fig. 5, the elastic support 207 specifically includes a base 2071, a bottom spring catch 2072, a spring 2073, a limit ring 2074, a retaining ring 2075, a slidable piston 2076, and a top spring catch 2077. Specifically, a bottom spring slot 2072 is arranged at the bottom center position of the base 2071, and the top of the base 2071 is connected with a retaining ring 2075 through a bolt. The inner hole of the retaining ring 2075 is matched with the outer wall of the slidable piston 2076 through a shaft hole, and the top of the inner cavity of the slidable piston 2076 is provided with a top spring clamping groove 2077. A spring 2073 is further installed between the bottom spring catch 2072 and the top spring catch 2077, a limit ring 2074 is disposed at the spring 2073 in the middle position of the inner cavity of the base 2071, the limit ring 2074 is used for limiting the lower limit position of the slidable piston 2076, and the retaining ring 2075 is used for limiting the upper limit position of the slidable piston 2076. The elastic support is used for forming a flexible damping support of the wall-supporting mechanical arm.
Since the slidable piston 2076 is connected to the output shaft of the hydraulic cylinder 204 by a screw, the hydraulic cylinder 204 provides a thrust force to be transmitted to the slidable piston 2076, the slidable piston 2076 can slide along the inner hole of the retainer ring 2075 and compress the spring 2073, and the slidable piston 2076 can move between the limit positions of the retainer ring 2074 and the retainer ring 2075. In this embodiment, the compression pressure range of the spring 2073 is 0.1-0.2 MPa, and the contact condition between the wall-supporting mechanical arm and the wall body is flexibly adjusted within the pressure range, so as to maintain the stable state of the mechanism.
Referring to fig. 6, the top ends of the output shafts of the L-shaped servo electric push rods 205 and 206 are of a hemispherical structure, the centers of the fixed blocks 208 and 209 are both provided with hemispherical circular holes, and the hemispherical circular holes of the fixed blocks 208 and 209 are completely matched with the hemispherical structure of the top ends of the output shafts of the L-shaped servo electric push rods 205 and 206. When the wall supporting mechanism reaches the target pose, the L-shaped servo electric push rod of the wall supporting mechanical arm extends, and the top end of the output shaft of the L-shaped servo electric push rod can abut against the fixed block to form a rigid support. The hemispherical structure design of the supporting wall mechanism aims to improve the contact area of the L-shaped servo electric push rod when the L-shaped servo electric push rod is matched with the fixed block, effectively concentrates the thrust of the L-shaped servo electric push rod, enables the supporting wall mechanism to keep good rigidity in the supporting wall process, and improves the stability.
Referring to fig. 8, when the surface of the wall of the elevator hoistway is uneven or meets a stepped wall, the first S-shaped servo electric push rod 2011 and the second S-shaped servo electric push rod 2012 can adjust different strokes according to actual conditions to maintain the pressure values of the roller and the wall within a set range all the time, so as to ensure the stability of the wall supporting mechanism in the movement process.
This elevator well is just soft and is do benefit from wall supporting mechanism has two support states: and (1) supporting during walking. Draw traction support 5 through wire rope 8, prop wall mechanism and carry out the removal of vertical direction along the elevator well, prop the out of work of L type servo electric putter of wall arm 2 this moment, L type servo electric putter does not contact with the fixed block promptly, prop wall arm 2 and adjust arm 3 and all be in the flexible support state, in-process of walking, S type servo electric putter can be according to the unsmooth state on wall body surface, carry out the stroke adjustment, in order to keep the steady walking of propping wall mechanism, pressure sensor keeps propping the suitable pressure of wall mechanism to the wall body simultaneously, under elastic support 207' S effect, keep propping wall arm 2 and adjust the flexible support of arm 3 to the wall body and do not produce unsettledly. And (2) positioning and supporting the working position. When the wall supporting mechanism moves to the working position, the wall supporting mechanism stops moving. At the moment, the L-shaped servo electric push rod of the wall supporting mechanical arm 2 works, the top end of an output shaft of the L-shaped servo electric push rod can abut against the fixing block, the elastic support of the elastic support 207 fails, the wall supporting mechanical arm 2 forms rigid support for the wall body, the pose stability of the wall supporting mechanism is kept, and the guide rail installation and adjustment mechanical arm completes the automatic installation and calibration work of the elevator guide rail.
In the positioning and supporting state of the wall-propping mechanism, the horizontal pose detection means 7 and the vertical pose detection means 6 are used for detecting the standard stable state of the rack during positioning work. When the pose of the wall supporting mechanism is in a nonstandard stable state, the stroke of an M-shaped servo electric push rod of an auxiliary adjusting arm 3 in the wall supporting mechanical arm 2 and the M-shaped servo electric push rod in the adjusting mechanical arm 3 is increased, the end part of an output shaft of the M-shaped servo electric push rod in the wall supporting mechanical arm 2 and the adjusting mechanical arm 3 is in contact with a wall body, a control unit controls the stroke of the M-shaped servo electric push rod according to the direction of pose deviation, the rotating angle of a rod end joint bearing is adjusted, finally, the vertical pose of the wall supporting mechanism is always consistent with a plumb line, the horizontal pose is always consistent with a horizontal line, the standard stable state of the wall supporting mechanism is maintained, and an accurate pose state is provided for installation and calibration of an elevator guide rail.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A wall supporting mechanism for an elevator hoistway with rigidity and flexibility is characterized in that,
the wall supporting mechanism comprises a rack (1) for fixedly mounting each part in the wall supporting mechanism;
the wall supporting mechanical arm (2) is used for adjusting the horizontal and vertical pose states of the wall supporting mechanism and is in contact with the surface of the wall body of the elevator shaft to provide wall supporting force;
the adjusting mechanical arm (3) is used for adjusting the horizontal and vertical pose states of the wall supporting mechanism, is in contact with the surface of the wall of the elevator shaft, and keeps the mechanism stable;
the guide rail installation and adjustment manipulator (4) is used for installing and calibrating the elevator guide rail;
the traction support (5) is used for connecting the traction mechanism, so that the wall supporting mechanism can move up and down along the elevator shaft to reach different stations;
the vertical pose detection part (6) is used for detecting and feeding back the vertical pose information of the wall supporting mechanism;
the horizontal pose detection part (7) is used for detecting and feeding back the horizontal pose information of the wall supporting mechanism;
the wall supporting mechanical arm (2) comprises a supporting piece fixedly connected to the rack (1), a hydraulic cylinder (204), L-shaped servo electric push rods symmetrically distributed on two sides of an output shaft of the hydraulic cylinder (204), an elastic support (207), an auxiliary wall supporting mechanical arm (2010), an M-shaped servo electric push rod (2013) located in the middle of the auxiliary wall supporting mechanical arm (2010), fixing blocks located in the auxiliary wall supporting mechanical arm (2010) and symmetrically distributed about the M-shaped servo electric push rod (2013), and S-shaped servo electric push rods located in the auxiliary wall supporting mechanical arm (2010) and symmetrically distributed about the M-shaped servo electric push rod (2013);
the hydraulic cylinder (204) is fixedly connected with a supporting piece, an output shaft of the hydraulic cylinder (204) is connected with an auxiliary wall-supporting mechanical arm (2010) through an elastic support (207), a fixing block is arranged on the side, opposite to the L-shaped servo electric push rod, of the auxiliary wall-supporting mechanical arm (2010), the position of the fixing block corresponds to the position of the L-shaped servo electric push rod, an S-shaped servo electric push rod is arranged on the side, away from the L-shaped servo electric push rod, of the auxiliary wall-supporting mechanical arm (2010), and a sliding roller is arranged on the output shaft of the S-shaped servo electric push rod; the output shaft of the M-shaped servo electric push rod (2013) is provided with a rod end joint bearing.
2. The elevator hoistway stiffness and flexibility parallel wall supporting mechanism according to claim 1, wherein the wall supporting mechanical arms (2) are located on the left side and the right side of the rack (1), the adjusting mechanical arms (3) are located on the front side and the rear side of the rack (1), and the guide rail installation and adjustment mechanical arm (4) and the traction support (5) are located on the top of the rack (1).
3. The elevator hoistway stiffness and resilience bracing wall mechanism according to claim 2, wherein the elastic support (207) specifically comprises a base (2071), a bottom spring slot (2072), a spring (2073), a limit ring (2074), a retainer ring (2075), a slidable piston (2076) and a top spring slot (2077);
the bottom center position appearance department of base (2071) is provided with bottom spring draw-in groove (2072), the top of base (2071) is passed through the bolt and is connected with retaining ring (2075), the hole of retaining ring (2075) passes through the shaft hole cooperation with the outer wall of slidable piston (2076), the inner chamber top of slidable piston (2076) is provided with top spring draw-in groove (2077) still install spring (2073) between bottom spring draw-in groove (2072) and top spring draw-in groove (2077), the position appearance is provided with spacing ring (2074) in the outside of spring (2073) in the middle of the inner chamber of base (2071).
4. The elevator shaft wall supporting mechanism with rigidity and flexibility as claimed in claim 2 or 3, wherein the top end of the output shaft of the L-shaped servo electric push rod is of a hemispherical structure, and a hemispherical circular hole matched with the upper hemispherical structure is formed in the opposite side of the fixing block and the L-shaped servo electric push rod.
5. The elevator hoistway stiffness and flexibility parallel wall supporting mechanism according to claim 4, characterized in that: and the M-shaped servo electric push rod (2013) and the S-shaped servo electric push rod are both provided with pressure sensors.
6. The elevator hoistway stiffness and flexibility parallel wall supporting mechanism according to claim 2, wherein the adjusting mechanical arm (3) comprises a support fixedly connected to the frame (1), a hydraulic cylinder (204), an elastic support (207), an auxiliary wall supporting mechanical arm (2010), M-shaped servo electric push rods (2013) positioned in the middle of the auxiliary wall supporting mechanical arm (2010), and S-shaped servo electric push rods positioned in the auxiliary wall supporting mechanical arm (2010) and symmetrically distributed about the M-shaped servo electric push rods (2013);
the hydraulic cylinder (204) is fixedly connected with a supporting piece, an output shaft of the hydraulic cylinder (204) is connected with an auxiliary wall supporting mechanical arm (2010) through an elastic support (207), an S-shaped servo electric push rod is arranged on the side, away from the hydraulic cylinder (204), of the auxiliary wall supporting mechanical arm (2010), a sliding roller is arranged on the output shaft of the S-shaped servo electric push rod, and a rod end joint bearing is arranged on the output shaft of the M-shaped servo electric push rod (2013).
7. The elevator hoistway stiffness and resilience braced wall mechanism of claim 2, characterized in that: the central pose of the traction support (5) is provided with a horizontal pose detection component (7), and the central pose of the rack (1) is provided with a vertical pose detection component (6).
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| CN114455429B (en) * | 2022-02-21 | 2023-06-23 | 无锡瑞吉德机械有限公司 | Elevator guide rail straightness measurement and automatic calibration device and application thereof |
| CN115302634B (en) * | 2022-08-02 | 2024-02-02 | 无锡瑞吉德机械有限公司 | Automatic drilling device capable of automatically replacing tool for elevator shaft and tool replacing method |
| CN118323991A (en) | 2023-05-10 | 2024-07-12 | 株式会社日立制作所 | Assembly device for working in shafts |
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