CN102278956B - Elevator guide rail verticality and gauge measuring robot - Google Patents
Elevator guide rail verticality and gauge measuring robot Download PDFInfo
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- CN102278956B CN102278956B CN201110094853A CN201110094853A CN102278956B CN 102278956 B CN102278956 B CN 102278956B CN 201110094853 A CN201110094853 A CN 201110094853A CN 201110094853 A CN201110094853 A CN 201110094853A CN 102278956 B CN102278956 B CN 102278956B
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Abstract
The invention discloses an elevator guide rail verticality and gauge measuring robot which comprises a robot body, an adsorption magnetic wheel, a sensor module, a wireless transmission module, a control module and a driving module. The adsorption magnetic wheel comprises a magnetic wheel and silicon steel plates, the silicon steel plates are attached on two end faces of the magnetic wheel respectively and are fixed on the robot body through a bearing embedded in a body wall. The sensor module comprises an inclination angle sensor and a laser range finder which are installed on a deck surface of the robot body, the inclination angle sensor and the laser range finder are above and under a one-chip microcomputer respectively, and both are in bidirectional connection with the one-chip microcomputer. The wireless transmission module comprises a host computer wireless transmission bench and a robot body wireless transmission bench. The control module comprises the one-chip microcomputer and control program. The driving module comprises a front directive wheel stepping motor, a rear directive wheel stepping motor and an encoder.
Description
Technical field
The present invention relates to the special equipment measuring technique, be specially a kind of lift rail perpendicularity and gauge robot measurement.This robot a kind ofly relies on permanent magnetism absorption vertically to climb to carry out the semiautomatic machine people of slide rail verticality and gauge DATA REASONING.
Background technology
Cage guide is carried out verticality and the gauge measurement is important task of elevator industry.Current China, flourish along with economy, increasing high buildings and large mansions appear among each city, and are accompanied by being on the increase of skyscraper, and the quantity of the box elevator of thing followed sedan-chair is also more and more.The security of elevator, high efficiency, comfortableness also become basic, the important techniques performance requirement to elevator operation.Therefore, the I&M for elevator has also received increasing concern accordingly.
The lift rail perpendicularity detection method has experienced two stages basically: the phase one is to utilize manual work that slide rail verticality is carried out segmentation to detect; For example traditional messenger wire method; Adopt traditional method of hanging vertical line to guarantee the verticality that guide rail is installed; Utilize earth gravity field exactly, the steel wire upper end of a Φ about 0.6 is fixing, the weight in lower end.Adopt this method at first will scaffold erecting, the model frame is installed, segmentation is hung vertical line and is carried out the rectification of model up and down to guide rail then.It is accurately simple that this method seems, but in the site operation of reality, be difficult to guarantee the accurate precision of hanging down.At first, weight itself is a pendulum, and one 100 meters long weight reaches 20 seconds hunting period, is difficult in the short time to stop.So, weight is being placed organic oil with the increase damping usually, even but consuming time so also long, influence precision simultaneously.Secondly; The weight line receives the influence of wind easily, and 10kg, the long weight of 100m are if only receive the influence of 1g transverse force (power that is equivalent to an ant strength size) at the weight place; Will make messenger wire depart from 10mm, just about 20 rads error at the 100m place.Once more, the microvibration of buildings is easy to be delivered to the vertical line of tightening, and causes vertical missing.Simultaneously, the stair shaft dark, wet, long-term operation is healthy unfavorable to survey crew, and easy fatigue causes the personal error of measuring process.Particularly in the elevator maintenance stage, owing to there has not been framing scaffold, be difficult to hang the vertical line operation especially, the squareness measurement of elevator is just difficult more; Subordinate phase is that testing process is accomplished by robot.In recent years, elevator industry has occurred being used for the laser plummet that slide rail verticality detects, and uses high-precision perpendicular laser beam to replace hanging vertical line, and accuracy of detection improves a lot.Be accompanied by the appearance of laser plummet, lift rail perpendicularity detects and on measuring process and method, has obtained new progress.
Shanghai Communications University machinery and power institute, and " based on the cage guide study on high-precision measurement of Flame Image Process " paper that Ji Haizhong etc. deliver (referring to Guo Lifeng. the research of the uneven compliance measurement of cage guide, modeling and sedan-chair case Properties of Horizontal Vibration of Cabin: [doctorate paper]. Tianjin: proposed a kind of CCD of utilization camera, fixing and receiving trap, laser transmitting system, video acquisition and processing system etc. the .2005 of University Of Tianjin) and be combined as holistic verticality measurement device.Laser transmitting system comprises: transfer the generating laser and the tripod of vertical functional automatically, video acquisition and processing system comprises: ccd video camera, video frequency collection card, software systems, image glass sheet and imaging thin plate.Seek profile, the oval least square fitting of least square method and method such as preferred through maximal value filtering, image burn into image expansion, OTSU binaryzation, Canny conversion; Can confirm the center of laser facula fully; Just can adjust then, thereby improve scope and precision that cage guide detects greatly the verticality of guide rail.This method provides to the lift rail perpendicularity measurement a good measuring basis is provided.But; This measuring method still needs artificial participating in the overall process; Workload is big, and too busy to get away framing scaffold, has limited the application in the elevator maintenance operational phase; And because manpower restriction measurement point quantity can be not too many, even have only so several times mistake measurement also will cause the guide rail curve-fitting results than mistake.
University Of Tianjin has proposed a kind of novel elevator slide rail verticality measuring instrument; Make measuring instrument be close to guide rail with strong magnet; Measuring instrument links to each other with car through a pull bar; Laser plummet is fixedly arranged in guide rail bottom, sends a perpendicular laser beam downwards (referring to Ji Haizhong etc., based on the cage guide study on high-precision measurement of Flame Image Process: the .2006 of Shanghai Communications University).During measurement, car drives measuring instrument and on guide rail, moves, and the CCD camera that is installed on measuring instrument receives laser facula, and through the displacement of Computer Image Processing identification spot center, this change in displacement has promptly reflected the guide rail vertical error.This method realizes simple, and measuring process does not need manual intervention, and measuring speed is fast.But discover that there are some defectives in above-mentioned cage guide measuring instrument: measuring instrument is passed in level and vertical vibration in (1) cage operation process inevitably, thereby causes uncontrollable measuring error; (2) at the guide rail installation phase owing to there is not lift car, can't use this measuring instrument to carry out guide rail and detect and correct, usable range is limited greatly.
Summary of the invention
To the deficiency of prior art, the technical matters that quasi-solution of the present invention is determined is that a kind of lift rail perpendicularity and gauge robot measurement are provided; This robot adopts the wheeled adsorption structure of permanent magnetism, can on the basis of the vertical operation of absorption guide rail, measure slide rail verticality and gauge simultaneously; Have simple in structure; Characteristics such as measurement is accurately saved the energy, and operating cost is low.
The technical scheme that the present invention solve the technical problem is: design a kind of lift rail perpendicularity and gauge robot measurement, it is characterized in that this robot comprises fuselage, absorption magnet-wheel, sensor assembly, wireless transport module, control module and driver module; Said absorption magnet-wheel comprises magnet-wheel and siliconized plate, and siliconized plate is attached to respectively on two end faces of magnet-wheel, and through being embedded in bearing fixing on the fuselage wall on fuselage; Obliquity sensor that said sensor assembly comprises and laser range finder, obliquity sensor and laser range finder are installed on the deck plane of fuselage through bearing, and are in the bottom and upper segment of single-chip microcomputer respectively, and all are connected with single-chip microcomputer is two-way; Said wireless transport module comprises host computer wireless transmission platform and robot body wireless transmission platform; Described control module comprises single-chip microcomputer and control program; Said driver module comprises front jockey wheel stepper motor and back angle sheave stepper motor and scrambler.
Compared with prior art, lift rail perpendicularity of the present invention and gauge robot measurement have adopted the wheeled adsorption structure design of permanent magnetism, have reduced cost of manufacture, avoid routine man power and material's waste, for accurate measurement data comparatively ideal platform are provided simultaneously; Use in the time of laser range finder and obliquity sensor, realized the measurement of many indexs, for the cage guide installation and maintenance provides more sound assurance.
Description of drawings
Fig. 1 is the integral module composition frame chart of lift rail perpendicularity of the present invention and a kind of embodiment of gauge robot measurement;
Fig. 2 is the one-piece construction synoptic diagram of lift rail perpendicularity of the present invention and a kind of embodiment of gauge robot measurement; Wherein (a) is mechanism's front view, (b) is mechanism's vertical view;
Fig. 3 is the working routine control system structured flowchart of lift rail perpendicularity of the present invention and a kind of embodiment of gauge robot measurement;
Fig. 4 is the magnet-wheel shape and structure synoptic diagram of lift rail perpendicularity of the present invention and a kind of embodiment of gauge robot measurement; Wherein (a) looks the shape synoptic diagram for the magnet-wheel master, (b) is the magnet-wheel cross-sectional view;
Fig. 5 is the siliconized plate shape and structure synoptic diagram of lift rail perpendicularity of the present invention and a kind of embodiment of gauge robot measurement, and wherein (a) looks the shape synoptic diagram for the siliconized plate master, (b) is the siliconized plate cross-sectional view;
Fig. 6 is the magnetic absorbing wheel assembly structure synoptic diagram of lift rail perpendicularity of the present invention and a kind of embodiment of gauge robot measurement.
Embodiment
Below in conjunction with embodiment and accompanying drawing thereof the present invention is described in further detail.Embodiment only is used to specify the present invention, does not limit the protection domain of the application's claim.
The lift rail perpendicularity and the gauge robot measurement of the present invention's design is characterized in that this robot comprises fuselage 1, absorption magnet-wheel 2, sensor assembly 3, wireless transport module 4, control module 5 and driver module 6 (referring to Fig. 1); For preventing magnetic leakage, described fuselage 1 adopts YL12 hard aluminum to make; Said absorption magnet-wheel 2 comprises magnet-wheel 21 and siliconized plate 22, and siliconized plate 22 is attached to respectively on two end faces of magnet-wheel 21 (referring to Fig. 4-6), and through being embedded in bearing fixing on fuselage 1 wall on fuselage 1; Obliquity sensor 31 and laser range finder 32 that described sensor assembly 3 comprises; Obliquity sensor 31 is installed on the deck plane of fuselage 1 with laser range finder 32 through bearing; And be in the bottom and upper segment (referring to Fig. 2 (b)) of single-chip microcomputer 51 respectively, and all with 51 two-way connections of single-chip microcomputer; Said wireless transport module 4 comprises host computer wireless transmission platform 41 and robot body wireless transmission platform 42; Described control module 5 comprises single-chip microcomputer 51 and control program; Said driver module 6 comprises front jockey wheel stepper motor 61 and back angle sheave stepper motor 62 and scrambler 63.
Absorption magnet-wheel 2 of the present invention (referring to Fig. 4-6) embodiment adopts the Nd-Fe-B made, and through realizing that at the both sides of magnet-wheel 21 applying siliconized plate 22 leakage flux is minimum, the optimal design structure that absorption affinity is maximum.Absorption magnet-wheel 2 can be realized that robot vertically is adsorbed on the cage guide, and can vertically climb as permanent magnetism absorption.The present invention is through being made into permanent magnetic material Nd-Fe-B the top magnet-wheel and the angle sheave of axial charging; Two somewhat larger in diameter all fit on each magnet-wheel in the siliconized plate of magnet-wheel; Playing the guiding magnetic flux, top magnet-wheel absorption guide rail is for preventing that robot from overturning, and magnet-wheel is because of as driving wheel before and after the right side; So other magnet-wheels are bigger relatively for size, are the twice of other magnet-wheels.The enough absorption affinities of driving wheel provide friction force, drive through stepper motor to make robot vertically to climb.
The type selecting of obliquity sensor 31 of the present invention and laser range finder 32 and the method for application of sensor with the data measured accuracy requirement of wanting relevant.Obliquity sensor 31 is used to measure guide rail at the sample point inclination angle, and laser range finder 32 is used to measure the gauge of guide rail in sample point.Measuring the back exports through host computer data processing software form with chart on display screen in real time.The obliquity sensor 31 of the embodiment of the invention adopts the NS-15/PI double-shaft tilt angle sensor; The laser range finder 32 of embodiment adopts the ZCCJ-70 laser range sensor.
4 of wireless data transmission modules of the present invention are as prior art.The type selecting of embodiment is LM96/MU 430Hz, about 2000 meters of transmission ranges.Selected wireless data transmission module is based on following requirement: wireless data transmission is used in (1), can save expensive cable resource; (2) can prevent data transmission fault loosening because of interface or that damage occurs.
5 of control modules of the present invention are as prior art.The single-chip microcomputer 51 of embodiment control module 5 adopts Freescale (Freescale)-integrated embedded single-chip microcomputer of DG128.Its serial ports transceive data that can walk abreast.
The host computer of the present invention design gives single-chip microcomputer 51 signals of control module 5 through wireless transport module 4, and control module 5 is connected with driver module 6 feedbacks through scrambler 63, and while sensor assembly 3 also carries out two-way the connection with control module 5; Absorption magnet-wheel 2 combines driver module 6 for robot the driving of vertically climbing to be provided.Sensor assembly 3 is made up of obliquity sensor 31 and laser range finder 32.Obliquity sensor 31 laser range finders 32 are installed on the fuselage 1, are respectively applied for the inclination angle value of measurement sampled point and the gauge between two cage guides, then through calculating actual numerical value.Disturb for the measurement of avoiding the robot operational shock to bring, robot adopts the cyclical intermission Movement Design, comes motion sexual refractoriness performance period through the left and right stepper motor of programming Control, and the time out of design robot operation is the data sampling time point.Obliquity sensor 31 sends to host computer with laser range finder 32 measured data through wireless transmission platform 42, and intuitively shows with diagrammatic form; Control module 5 adopts mcu programming control; Driver module 6 adopts front jockey wheel stepper motor 61 and back angle sheave stepper motor 62 drive machines people to seesaw.
The present invention has designed robot executive control program (referring to Fig. 3) simultaneously.This program is comparatively simple, and those skilled in the art promptly provide specific procedure easily without creative work.This program comprises the steps:
Step 1: host computer gives the single-chip microcomputer initializing signal through wireless host computer digital transmission module, and after initialization was accomplished, single-chip microcomputer gave stepper motor and sensor enabling signal respectively;
Step 2: robot is with the cycle geneva motion cage guide that climbs, and in robot quiescent interval section, single-chip microcomputer gives the sensor enabling signal, the beginning image data, and data are sent back to single-chip microcomputer;
Step 3: single-chip microcomputer is passed to the digital transmission module of host computer to data again through the wireless data transmission module on the robot body, after the data that pass handle through the host computer data processing software, show with diagrammatic form;
Step 4: the staff judges through chart whether the data that cage guide is surveyed in the sampled point place meet the GB requirement.
The mode of robot of the present invention (1) through the permanent magnetism sorption wheel realized that robot along vertically the climbing of cage guide, reduces other material resources losses; (2) the common use of obliquity sensor and laser range finder is measured when realizing lift rail perpendicularity and gauge, has improved accuracy of detection and efficient.
Robot of the present invention executive routine can be realized lift rail perpendicularity and gauge are accurately measured, and if run into fault in the course of the work and can suddenly stop, and convert manual control into, give the alarm simultaneously.
The measurement data of robot of the present invention can pick up, export through sensor, and by microcomputer measurement data is gathered automatically, analyzed and exports.The course of work and principle are summarized as follows:
(1) goes up definite several check points at " the side workplace " and " top workplace " of cage guide to be detected.The check point guide rail that N rice is long is divided into plurality of sections, and each section is detected;
(2) measure each check point one by one in the position coordinates of cage guide length direction and the distance between adjacent two check points;
(3) measure line and the angle of pedal line between adjacent 2 of each check point one by one;
(4) with detecting " each check point is at the position coordinates of rail length direction " obtain, " line between adjacent 2 of each check point and the angle of pedal line " and data such as " distances between adjacent two check points "; Through mathematical computations, analysis and arrangement, promptly obtain the error of perpendicularity data and the verticality curve map of cage guide to be detected.
Machine designed people of the present invention can avoid the abominable hoistway of the frequent contact conditions of staff, has guaranteed testing staff's safety.See by economics point; The present invention can from top to bottom be moved along guide rail by robot automatically once can accomplish detection; Detect without layering; Also improved simultaneously the accuracy of detection and the work efficiency of cage guide predetermined distance, the lot of manpower and material resources financial resources have been saved in detection when making things convenient for elevator to install and annual maintenance work.
The present invention does not address part and is applicable to prior art.
Claims (5)
1. lift rail perpendicularity and gauge robot measurement is characterized in that this robot comprises fuselage, absorption magnet-wheel, sensor assembly, wireless transport module, control module and driver module; Said absorption magnet-wheel comprises magnet-wheel and siliconized plate, and siliconized plate is attached to respectively on two end faces of magnet-wheel, and through being embedded in bearing fixing on the fuselage wall on fuselage; Obliquity sensor that said sensor assembly comprises and laser range finder, obliquity sensor and laser range finder are installed on the deck plane of fuselage through bearing, and are in the bottom and upper segment of single-chip microcomputer respectively, and all are connected with single-chip microcomputer is two-way; Said wireless transport module comprises host computer wireless transmission platform and robot body wireless transmission platform; Described control module comprises single-chip microcomputer and control program; Said driver module comprises front jockey wheel stepper motor and back angle sheave stepper motor and scrambler.
2. lift rail perpendicularity according to claim 1 and gauge robot measurement is characterized in that described fuselage adopts the manufacturing of YL12 hard aluminum; Described absorption magnet-wheel adopts the Nd-Fe-B made.
3. lift rail perpendicularity according to claim 1 and gauge robot measurement is characterized in that described obliquity sensor adopts
NS-15/PIDouble-shaft tilt angle sensor; Described laser range finder adopts
ZCCJ-70Laser range sensor.
4. lift rail perpendicularity according to claim 1 and gauge robot measurement is characterized in that described wireless data transmission module is LM96/MU 430Hz.
5. lift rail perpendicularity according to claim 1 and gauge robot measurement is characterized in that described single-chip microcomputer adopts the integrated embedded single-chip microcomputer of Freescale-DG128.
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| CN201110094853A CN102278956B (en) | 2011-04-15 | 2011-04-15 | Elevator guide rail verticality and gauge measuring robot |
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| CN201110094853A CN102278956B (en) | 2011-04-15 | 2011-04-15 | Elevator guide rail verticality and gauge measuring robot |
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| CN103105140B (en) * | 2013-01-28 | 2016-03-09 | 唐山学院 | Building deformation monitoring device and the method with its monitoring |
| CN103466404B (en) * | 2013-09-25 | 2015-06-17 | 苏州欢颜电气有限公司 | Method for paving elevator guide rail based on 3D (three-dimensional) printing technology and device |
| CN103591886B (en) * | 2013-11-18 | 2016-03-30 | 苏州大学 | A kind of elevator gauge Deviation Analysis Method of deformation based sensor instrument distance |
| CN104229582A (en) * | 2014-07-28 | 2014-12-24 | 江苏省特种设备安全监督检验研究院苏州分院 | Upper and lower computer system based on elevator rail gauge and verticality measurement and measuring method thereof |
| CN104697451B (en) * | 2015-03-27 | 2017-06-27 | 福建省特种设备检验研究院 | A kind of cage guide morpheme dynamic state of parameters detection means and implementation method |
| CN104976982A (en) * | 2015-07-01 | 2015-10-14 | 上海理工大学 | Detection apparatus of T-shaped elevator guide rail |
| CN106370146B (en) * | 2015-07-23 | 2019-03-29 | 江苏省特种设备安全监督检验研究院吴江分院 | Lift rail perpendicularity detection system |
| CN108508842B (en) * | 2018-04-04 | 2021-01-05 | 中国工程物理研究院激光聚变研究中心 | Straightness error detection method for linear guide rail of numerical control machine tool |
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| CN109795666B (en) * | 2019-01-21 | 2020-01-03 | 福建省特种设备检验研究院 | Elevator guide rail bracket interval mark measuring device based on unmanned aerial vehicle |
| CN110482351B (en) * | 2019-08-05 | 2020-12-04 | 南京理工大学 | System and method for detecting straightness of guide rail of elevator in use |
| CN111170121B (en) * | 2020-01-07 | 2021-01-26 | 青岛大学 | Quality detection device and method for elevator guide rail |
| CN111923057B (en) * | 2020-07-28 | 2022-02-25 | 日立楼宇技术（广州）有限公司 | Automatic installation equipment, method, device and system for elevator guide rail |
| CN112357726A (en) * | 2020-11-24 | 2021-02-12 | 河北东讯科技有限公司 | Robot device for elevator track comprehensive detection and elevator track detection method |
| CN114018172B (en) * | 2021-11-23 | 2023-10-31 | 青岛大学 | Device and method for detecting single elevator guide rail distortion |
| CN115503845B (en) * | 2022-08-02 | 2023-09-05 | 中国船舶重工集团公司第七一三研究所 | Self-walking device for measuring precision of marine equipment guide rail |
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| FI88282C (en) * | 1990-11-28 | 1993-04-26 | Kone Oy | Equipment for checking the straightness of lift guides |
| JP3718362B2 (en) * | 1999-03-24 | 2005-11-24 | 新日本製鐵株式会社 | Coke extrusion control device |
| CN2462416Y (en) * | 2000-08-08 | 2001-11-28 | 谢会骅 | Laser track linear detector |
| CN2651638Y (en) * | 2003-03-20 | 2004-10-27 | 王欣南 | Small dehumidifier |
| JP2006224496A (en) * | 2005-02-18 | 2006-08-31 | Victor Co Of Japan Ltd | Manufacturing method of laminated card, laminator and card printing machine |
| CN201072336Y (en) * | 2007-07-24 | 2008-06-11 | 武汉东菱富士电梯制造有限公司 | Laser measuring device |
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