CN106370146B - Lift rail perpendicularity detection system - Google Patents
Lift rail perpendicularity detection system Download PDFInfo
- Publication number
- CN106370146B CN106370146B CN201510435333.1A CN201510435333A CN106370146B CN 106370146 B CN106370146 B CN 106370146B CN 201510435333 A CN201510435333 A CN 201510435333A CN 106370146 B CN106370146 B CN 106370146B
- Authority
- CN
- China
- Prior art keywords
- shaft
- ranging laser
- control module
- measuring mechanism
- detection system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
Abstract
The invention discloses a kind of lift rail perpendicularity detection systems, including measuring mechanism, runing rest, serial server and control module；Measuring mechanism includes the first ranging laser, the second ranging laser and double-shaft tilt angle sensor, and runing rest includes supporting plate, shaft, shaft coupling, motor and motor driver；Measuring mechanism acquires the position data of test point and the inclination data of measuring mechanism on guide rail, is sent to control module through serial server, control module determines slide rail verticality deviation according to the position data and inclination data that receive.Data acquisition of the invention and verticality calculating process are not necessarily to manually participate in, high degree of automation, and measuring device structure is simple, easy to operate, are suitable for the detection for the upright verticality of object that cage guide top surface, side and other working faces are plane.
Description
Technical field
The present invention relates to intelligent testing technology field, especially a kind of lift rail perpendicularity detection system.
Background technique
Cage guide is to ensure one of lift running safety and the important component of comfort, therefore examine with regular in installation
The links such as survey have higher requirement to slide rail verticality.
According to The Ministry of Construction of the People's Republic of China, MOC, " the elevator engineering of State Administration for Quality Supervision and Inspection and Quarantine's joint publication
Construction quality accident specification " it provides, it is opposite between the every 5m plumb line measured value of each column working face of guide rail (including side and top surface)
Maximum deviation should not exceed following numerical value: car guide rail and counterweight (balance weight) guide rail equipped with safety tongs are 1.2mm；It does not set
The T-type guide rail of safety tongs is 2.0mm.As it can be seen that then there is low efficiency according to the method for artificial messenger wire and dipstick metering, sampled point has
Limit, the problems such as measurement accuracy is poor, cannot achieve testing goal.
Patent of invention 201310244184.1 discloses a kind of Elevator guide rail calibration device, using laser beam emitting device the bottom of to
The reception device in portion emits laser, is distributed according to hot spot and determines guide rail installation situation；The installation of the device, laser beam emitting device
Leveling and the interpretation of slide rail verticality deviation are both needed to be accomplished manually.
Patent of invention 201410081452.7 discloses a kind of method for measuring perendicular, and this method is directed to camera
The weight line of shooting or the image of laser plummet laser beam and guide rail relative position, with the serial of methods of image procossing
Carry out measuring for verticality；The problem of needing manual measurement and record data this method solve messenger wire or laser plummet detection, but
Manually installed hoist hammer or installation plumb aligner are still needed to be imaged, and the link of image procossing is more, needs human-computer interaction, no
Evitable introducing error.
102278956 A of patent of invention CN discloses a kind of lift rail perpendicularity and gauge robot measurement, the machine
People is made of modules such as fuselage, sorption wheel, sensor, wireless transmission, control drivings, can move up and down along guide rail, stop arriving
Specified point simultaneously is implemented to measure, and data are sent back in host computer procedure and are handled.The system realizes detection automation, and data are adopted
Collection, treatment process are not necessarily to manpower intervention, but guide rail surface often has greasy dirt, and the intimate 90 degree of directions of Robot, which are climbed, easily to be beaten
It is sliding, it influences the accuracy of positioning, generate detection error.For another example 102607467 A of patent of invention CN is disclosed a kind of based on view
The lift rail perpendicularity detection device and detection method for feeling measurement are driven the annulus that shines to move along the rail, ground by robot
Video camera shoot annulus position, the variation of position in vertical direction can reflect slide rail verticality.The system also can
Enough realize full automatic data acquisition and detection, and the structure of robot is relatively easy.But the installation for the annulus that shines need to assist setting
It is standby just to can ensure that its level, and the stationarity of robot motion is also difficult to ensure, can all influence the accuracy of detection.
In conclusion current slide rail verticality detection method and detection device that there are complexities is high, the degree of automation is low,
The problems such as detection accuracy is low.
Summary of the invention
The purpose of the present invention is to provide a kind of structures to be simple and convenient to operate, high degree of automation and measurement are accurate electric
Terraced slide rail verticality detection system.
The technical solution for realizing the aim of the invention is as follows: a kind of lift rail perpendicularity detection system, including measuring machine
Structure, runing rest, serial server and control module；
Measuring mechanism includes the first ranging laser, the second ranging laser and double-shaft tilt angle sensor, runing rest packet
Include supporting plate, shaft, shaft coupling, motor and motor driver；
First ranging laser, the second ranging laser and double-shaft tilt angle sensor are arranged on supporting plate, institute
It states motor to be connected by shaft coupling, shaft with supporting plate, one end of motor driver is connected to the motor, and the other end is taken by serial ports
Business device is connected with control module, and control module controls supporting plate rotation；Measuring mechanism acquires the position data of test point on guide rail
With the inclination data of measuring mechanism, it is sent to control module through serial server, control module is according to the position data received
Slide rail verticality deviation is determined with inclination data.
Compared with prior art, the present invention its remarkable advantage are as follows:
(1) lift rail perpendicularity detection system structure of the invention is simple, belongs to integral type rather than split type equipment, nothing
It on guide rail and need to be installed respectively on ground；
(2) operation of the present invention is convenient, and measuring device is not necessarily to Anping；
(3) measuring speed of the present invention is fast, can be bright compared with manual operation or guide rail upper mounting portion divide the scheme of measuring device
It is aobvious to save the time；
(4) present invention is not limited by illumination condition in working environment, and whether there is or not illuminations in elevator；
(5) present invention obtains range data and the inclination angle of guide rail surface test point using ranging laser and obliquity sensor
Data are then converted to coordinate data of the test point under horizontal coordinates, and then carry out perpendicularity deviation calculating, without artificial ginseng
With error is small, precision is high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of lift rail perpendicularity detection system of the invention.
Fig. 2 is lift rail perpendicularity detection system top view of the invention.
Fig. 3 is element connection relationship block diagram of the invention.
Fig. 4 is the data acquisition control flow chart of control module of the present invention.
Fig. 5 is the verticality schematic diagram calculation of control module of the present invention.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In conjunction with Fig. 1, a kind of lift rail perpendicularity detection system of the invention, including measuring mechanism, runing rest, serial ports
Server 9 and control module；
Measuring mechanism includes the first ranging laser 1-1, the second ranging laser 1-2 and double-shaft tilt angle sensor 2, rotation
Bracket includes supporting plate 3, shaft 4, shaft coupling 5, motor 6, cabinet 7 and motor driver 8；
The first ranging laser 1-1, the second ranging laser 1-2 and double-shaft tilt angle sensor 2 are arranged at bracket
On plate 3, the motor is connected by shaft coupling 5, shaft 4 with supporting plate 3, and one end of motor driver 8 is connected to the motor, another
End is connected by serial server 9 with control module, and control module controls supporting plate 3 and rotates；It is examined on measuring mechanism acquisition guide rail
The position data of measuring point and the inclination data of measuring mechanism are sent to control module through serial server 9, and control module is according to connecing
The position data and inclination data received determines slide rail verticality deviation.
The motor driver 8 and serial server 9 are arranged in cabinet, and supporting plate 3 is used as case lid, pass through shaft 4
It is movably arranged on cabinet.
The X-axis of the axis of the first ranging laser 1-1 and the second ranging laser 1-2 and obliquity sensor 2 is kept
In parallel, two ranging lasers at the center of Y direction away from for 6-8mm, if spacing is greater than 10mm, it cannot be guaranteed that two rangings
Laser all measures guide rail data；If spacing is too small, work region feature can not be preferably embodied with the plane that the data are fitted；
Or first ranging laser 1-1 and the second ranging laser 1-2 axis and obliquity sensor 2 Y-axis keep
In parallel, two ranging lasers are at the center of X-direction away from for 6-8mm.
The present invention is further explained in the light of specific embodiments.
Embodiment
The rail survey unit structure of the present embodiment is as shown in Figure 1, the first ranging laser 1-1, the second ranging laser
1-2 and double-shaft tilt angle sensor 2 are located at 3 top of supporting plate, and the central axes of two ranging lasers and double-shaft tilt angle sensor 2
Y-axis it is parallel；Shaft coupling 5 and motor 6 are mounted in the shaft 4 of supporting plate 3, so that supporting plate 3 drives in above-mentioned component and motor
It is rotated under the control of dynamic device 8；Serial server 9 and motor driver 8 are located inside cabinet 7.
The top view of above-mentioned component is as shown in Fig. 2, the two-laser spacing 8mm used in the present embodiment, range accuracy
0.1mm, the intelligent AIS-2000 double-shaft tilt angle sensor of obliquity sensor selection, 0.001 degree of precision.
The connection relationship of each element of measuring device and the flow direction of control information and data are as shown in figure 3, control module passes through
Computer 10 realizes that 8 one end of serial server connects computer, and one end is separately connected ranging laser 1-1 and 1-2, twin shaft inclines
Angle transducer 2 and motor driver 8, so that the data for acquiring sensor are sent to computer, or computer is generated
Driving instruction is sent to motor driver 8.
Control module of the invention has the function of control and measure device and Measurement and Data Processing, control flow such as Fig. 4
It is shown comprising the steps of:
S1 opens serial ports, initializes the maximum height value H of guide rail to be measured and the space D of two ranging lasers；
S2, setting current cycle time i is 0, maximum cycle n=H/D；Set present level h0=0；
S3 reads the reading of obliquity sensor and 2 ranging lasers；
S4, according to next point height h=h to be measured0+ D calculates supporting plate and reaches the angle that the position need to rotate, and will
Angle number is converted into the umber of pulse of control motor；
Control signal is issued motor driver, and drives supporting plate to go to specified angle under the effect of each component by S5；
S6 suspend mode 1 second, enables obliquity sensor measured value more stable；If i≤n, current cycle time i adds the value of 1, h to be assigned to
Present level h0, then repeatedly step (3)-(6) operation；Otherwise, end loop executes S7；
S7, bracket sheet reset, measurement process terminate.
After measurement, original distance and inclination data are saved into array, are then converted under horizontal coordinates
Coordinate data.If the inclination angle for measuring initial position is α0And β0, i.e. the posture of measuring device and the X-axis of horizontal coordinates and Y-axis
Angle.In measurement process, the distance d that certain test point is measured by ranging laser 1-1 on guide rail, inclination alpha and β, then the point is converted
Coordinate (x, y, z) under to horizontal coordinatesTAre as follows:
The test point of ranging laser 1-2 acquisition will be also moved under the coordinate system of laser 1-1 after above-mentioned transformation.
After all detection point transformation, data processing is ready in coordinate value deposit array.
The data processing function of control module is divided into permutation detection and part detection both of which；According in national standard,
About the measuring for verticality requirement of detection " the relative maximum deviation between the every 5m plumb line measured value of each column working face of guide rail ", permutation
When detection, the perpendicularity deviation data at every 5 meters of intervals from guide rail bottom end to top, i.e. detection starting altitude h are exported1=0, detection
Terminate height h2=H (the guide rail maximum height of user's input), intermediate detection height are followed successively by 5m, 10m ... ..., H/5m；Office
Portion's detection then can be achieved to input the start-stop height h of guide rail section to be detected by user to the detection of any guide rail section interested1And h2,
Intermediate detection height is followed successively by h1,……h1+h2/h1* 5, from calculate angle for, permutation detection be locally detect it is special
Situation.
The basic principle of two kinds of detection patterns is similar with calculating process, as shown in figure 5, because measurement is only capable of obtaining guide rail surface
Sparse test point can not obtain guide rail and arbitrarily detect total data in height, solution here are as follows: using to be detected
Nearby four test points fit the section guide rail surface to height, then calculate the level at two guide levels and detection height
The intersection point of face and vertical plane is to get perpendicularity deviation out.The specific detecting step of each guide rail section is as follows:
(1) data screening: from found out respectively in measurement data from, only height h and h+5 nearest four points, a~d and j
~m；
(2) plane fitting: utilizing least square method, is fitted respectively by point a~d and j~m and detects, stops near height
Two plane P1And P2, that is, find out guide level equation A1x+B1y+C1z+D1=0 and A2x+B2y+C2z+D2=0 coefficient；
(3) intersection is determined: i.e. guide level P1And P2Respectively with detection height levels z1=h and z2The intersection l of=h+51
And l2；
(4) perpendicularity deviation, i.e. straight line l are determined1And l2Intersect with plane x=5 (plane that 5mm is in horizontal plane)
Distance between resulting two intersection point.
If guide rail top surface working face is parallel with yz plane, when guide rail only has the inclination for rotating around x axis and generating, current work
Make the perpendicularity deviation in face close to 0, but side working face will test out perpendicularity deviation；Similarly, when guide rail is only rotated around y-axis
And generate inclination when, top surface working face will detect perpendicularity deviation, and side then zero deflection；When guide rail has around x-axis and y-axis
When rotation, top surface, side can detect deviation.
When the system works, stair shaft bottom or carriage top surface, two ranging laser face guide rails, it is ensured that laser point are placed in
It can get on working face of guide rail.The runing rest of measuring device is under the control of control module, intermittent to rotate to a series of
Angle position, measuring mechanism then above acquire the inclination data of guide rail range data and current location at various locations, and are sent to
Computer, until completing the data acquisition of permutation guide rail.The process that data acquisition and perpendicularity deviation calculate is not necessarily to manual intervention,
High degree of automation, speed are fast, and avoid the error introduced by manual operation.
Claims (4)
1. a kind of lift rail perpendicularity detection system, it is characterised in that: including measuring mechanism, runing rest, serial server
[9] and control module；
Measuring mechanism includes the first ranging laser [1-1], the second ranging laser [1-2] and double-shaft tilt angle sensor [2], rotation
Turning bracket includes supporting plate [3], shaft [4], shaft coupling [5], motor [6] and motor driver [8]；
First ranging laser [1-1], the second ranging laser [1-2] and double-shaft tilt angle sensor [2] are arranged at branch
On frame plate [3], the motor is connected by shaft coupling [5], shaft [4] with supporting plate [3], one end of motor driver [8] and
Motor is connected, and the other end is connected by serial server [9] with control module, and control module controls supporting plate [3] rotation；Measurement
Mechanism acquires the position data of test point and the inclination data of measuring mechanism on guide rail, is sent to control through serial server [9]
Module, control module determine slide rail verticality deviation according to the position data and inclination data that receive.
2. lift rail perpendicularity detection system according to claim 1, it is characterised in that: first ranging laser
The X-axis keeping parallelism of the axis of [1-1] and the second ranging laser [1-2] and double-shaft tilt angle sensor [2], two range lasers
Device is at the center of Y direction away from for 6-8mm.
3. lift rail perpendicularity detection system according to claim 1, it is characterised in that: first ranging laser
The Y-axis keeping parallelism of the axis of [1-1] and the second ranging laser [1-2] and double-shaft tilt angle sensor [2], two range lasers
Device is at the center of X-direction away from for 6-8mm.
4. lift rail perpendicularity detection system according to claim 1, it is characterised in that: detection system further includes cabinet
[7], the motor driver [8] and serial server [9] are arranged in cabinet, and supporting plate [3] is used as case lid, pass through shaft
[4] it is movably arranged on cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510435333.1A CN106370146B (en) | 2015-07-23 | 2015-07-23 | Lift rail perpendicularity detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510435333.1A CN106370146B (en) | 2015-07-23 | 2015-07-23 | Lift rail perpendicularity detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106370146A CN106370146A (en) | 2017-02-01 |
| CN106370146B true CN106370146B (en) | 2019-03-29 |
Family
ID=57880159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510435333.1A Expired - Fee Related CN106370146B (en) | 2015-07-23 | 2015-07-23 | Lift rail perpendicularity detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106370146B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2248636A1 (en) * | 2009-04-15 | 2010-11-10 | KUKA Roboter GmbH | System and a method for measuring a manipulator |
| CN102278956A (en) * | 2011-04-15 | 2011-12-14 | 河北工业大学 | Elevator guide rail verticality and gauge measuring robot |
| 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 |
| CN204085462U (en) * | 2014-09-29 | 2015-01-07 | 苏州大学 | A kind of based on the elevator gauge of laser range sensor and the measuring system of verticality |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7210242B2 (en) * | 2002-11-06 | 2007-05-01 | Lixin Sun | Detection method of lift guide rail perpendicularity and a detector for implementing this method |
-
2015
- 2015-07-23 CN CN201510435333.1A patent/CN106370146B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2248636A1 (en) * | 2009-04-15 | 2010-11-10 | KUKA Roboter GmbH | System and a method for measuring a manipulator |
| CN102278956A (en) * | 2011-04-15 | 2011-12-14 | 河北工业大学 | Elevator guide rail verticality and gauge measuring robot |
| 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 |
| CN204085462U (en) * | 2014-09-29 | 2015-01-07 | 苏州大学 | A kind of based on the elevator gauge of laser range sensor and the measuring system of verticality |
Non-Patent Citations (1)
| Title |
|---|
| 电梯导轨垂直度检测机器人运行机构设计;张浩 等;《机器人》;20060607(第3期);第241-244页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106370146A (en) | 2017-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108032868A (en) | A kind of train rail detecting system and method | |
| CN107884125B (en) | A kind of aircraft weight center of gravity self-operated measuring unit and its control method | |
| CN102338616B (en) | Three-dimensional rotation scanning measurement system and method in conjunction with positioning and orientation system | |
| CN102406504B (en) | Double-column non-contact three-dimensional (3D) automatic human dimension measuring instrument | |
| CN111272142B (en) | High formwork settlement monitoring device and method | |
| CN208206040U (en) | A kind of circuit board electronic component height detection apparatus | |
| CN103868476B (en) | Photoelectric nondestructive testing-based tube inner hole straightness automatic test system and test method | |
| CN106197292A (en) | A kind of building displacement monitoring method | |
| CN113554697A (en) | Cabin section profile accurate measurement method based on line laser | |
| CN110482351A (en) | One kind is with straightness of elevator guide rail detection system and method | |
| CN205718884U (en) | A kind of device for measuring road surface planeness | |
| CN105866031A (en) | Scanning table for terahertz nondestructive testing and scanning imaging device and method | |
| CN202339188U (en) | Collimating laser two-dimensional displacement measurement system | |
| CN106370146B (en) | Lift rail perpendicularity detection system | |
| CN114993263A (en) | High accuracy building unmanned aerial vehicle survey and drawing system based on leveling point location | |
| CN107727377B (en) | A kind of lasting accuracy test macro | |
| CN207502419U (en) | Glass inspection systems | |
| CN109112937A (en) | A kind of surface evenness fining method for fast measuring | |
| CN106500661B (en) | Method for obtaining absolute coordinates of each marking point by using slope surveying device of exploratory well | |
| CN107462186A (en) | 4th axle arrangement for measuring verticality and the 4th shaft flange end face squareness detection method | |
| CN114705134B (en) | Elevator guide rail perpendicularity and parallelism automatic detection device | |
| CN108444663A (en) | A kind of bridge amplitude real-time monitor | |
| CN109112936A (en) | A kind of surface evenness fining rapid measurement device | |
| CN108645384A (en) | A kind of laying out instrument and line-putting method | |
| CN102269574A (en) | Multi-parameter detection device for structural safety of crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190329 Termination date: 20190723 |