CN109279467B - Intelligent maintenance system for elevator - Google Patents
Intelligent maintenance system for elevator Download PDFInfo
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- CN109279467B CN109279467B CN201811399423.XA CN201811399423A CN109279467B CN 109279467 B CN109279467 B CN 109279467B CN 201811399423 A CN201811399423 A CN 201811399423A CN 109279467 B CN109279467 B CN 109279467B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 128
- 210000000707 wrist Anatomy 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 27
- 238000003860 storage Methods 0.000 claims description 24
- 229910001220 stainless steel Inorganic materials 0.000 claims description 6
- 239000010935 stainless steel Substances 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 4
- 239000000725 suspension Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 description 10
- 238000005498 polishing Methods 0.000 description 6
- 238000007664 blowing Methods 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0043—Devices enhancing safety during maintenance
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- Maintenance And Inspection Apparatuses For Elevators (AREA)
Abstract
The invention discloses an intelligent maintenance system of an elevator, which is characterized by comprising a maintenance device and a control system for controlling the maintenance device to perform maintenance work; the maintenance device comprises a six-axis mechanical arm arranged at the top of the elevator car, wherein the six-axis mechanical arm can extend to the area where the elevator landing door and the track are positioned; the wrist of the six-axis mechanical arm is provided with a maintenance tool for maintenance. The elevator maintenance system has the advantages that each part of the elevator can be automatically maintained, the labor intensity of maintenance personnel is reduced, the safety of elevator maintenance and operation is improved, the maintenance cost is reduced, and the like.
Description
Technical Field
The invention relates to the technical field of elevator maintenance, in particular to an intelligent maintenance system for an elevator.
Background
An elevator is a very busy vertical transportation means and plays an irreplaceable role in modern production and life. The elevator is in high-efficient service, and a series of outstanding problems such as person closing, person clamping, squatting, top rushing and the like are unavoidable in the operation of the elevator, so that the personal safety of passengers is greatly threatened. Therefore, elevator maintenance (maintenance for short) is a very important thing for elevator safety service.
The common elevator accidents in life mainly comprise door system accidents, roof-rushing or bottom-rushing accidents and other accidents, wherein the proportion of the door system accidents is about 80%, the proportion of the door system accidents is about 15% and the proportion of the door system accidents is about 5%. For the security of guarantee elevator operation, the daily maintenance cycle of elevator part is once for 15 days, and including the track to the last spout of elevator door and sill groove clean, guarantees that the layer door opens and shuts smoothly to and the cleaning and the polishing of elevator layer door lock avoid the electric safety contact of elevator layer door lock to break off because of the corrosion, guarantee that the layer door can lock in place.
At present, the maintenance work is mainly finished by manual operation, and particularly when cleaning a landing door rail and a door lock, the maintenance work needs to be stopped layer by layer, so that the labor intensity is high, the time consumption is long, in addition, the elevator is used as a high-altitude carrier to come and go between a high-rise and the ground, the elevator has certain danger, the negligence is easily caused by long-time high-load operation, the safety of crisis personnel and equipment is greatly increased, and the cost of manual maintenance is greatly increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problems that: how to provide an intelligent maintenance system for the elevator, which can automatically maintain all parts of the elevator, is beneficial to reducing the labor intensity of maintenance personnel, improves the safety of maintenance and operation of the elevator, and reduces the maintenance cost.
In order to solve the technical problems, the invention adopts the following technical scheme:
the intelligent maintenance system for the elevator is characterized by comprising a maintenance device and a control system for controlling the maintenance device to perform maintenance work; the maintenance device comprises a six-axis mechanical arm arranged at the top of the elevator car, wherein the six-axis mechanical arm can extend to the area where the elevator landing door and the track are positioned; the wrist of the six-axis mechanical arm is provided with a maintenance tool for maintenance.
By adopting the structure, the six-axis mechanical arm is utilized to replace a manual operation maintenance tool, routine maintenance work is carried out on each part of the elevator, a large number of repeated and monotonous work in maintenance can be completed, the labor intensity of maintenance personnel is reduced, the maintenance personnel is prevented from negligibly endangering the safety of the personnel and equipment due to long-time work, the safety and the working efficiency can be improved, the working time of the maintenance personnel at the top of a lift car can be greatly shortened, and the safety risk and the manual maintenance cost of the maintenance personnel are reduced.
Further, the maintenance device further comprises a track which is annularly arranged at the top of the car, and the track is arranged close to the edge of the car; the base of the six-axis mechanical arm is movably arranged on the track, and an electric control driving wheel for driving the six-axis mechanical arm to move along the guide rail is further arranged between the base and the track.
The six-axis mechanical arm can move to any position of the inner wall of the elevator shaft along the track through the track which is annularly arranged near the edge of the elevator car. Therefore, even if a six-axis mechanical arm with smaller arm extension is adopted, the six-axis mechanical arm can be conveniently extended to the area where the elevator landing door and the track are located, and maintenance is carried out on all parts of the elevator. The cost of the six-axis mechanical arm is reduced.
Further, the wrist of the six-axis mechanical arm is further provided with a gripping mechanism for gripping the maintenance tool, the maintenance tool is provided with a gripping part which is convenient for the gripping mechanism to grip correspondingly, and the maintenance tool is detachably gripped on the gripping mechanism; the maintenance device further comprises a storage rack for placing the maintenance tool.
Because the maintenance items of all the parts of the elevator are different, the used maintenance tools are also different, and by adopting the structure, the maintenance tools of different items can be placed on the storage rack, and the six-axis mechanical arm can grasp the corresponding maintenance tools according to the maintenance items to carry out maintenance operation.
Further, the whole gripping part of the maintenance tool is cylindrical, and a boss protruding in the radial direction is arranged in the middle of the gripping part; the storage rack comprises a storage plate which is horizontally arranged, the storage plate is provided with a storage hole with the same diameter as the gripping part, and the gripping part is vertically placed in the storage hole.
The boss is located in the middle of the holding part and protrudes, and the diameter of the object holding hole is consistent with that of the holding part, so that the holding part can be stably placed on the object holding plate by utilizing the boss when being vertically placed in the object holding hole. The rack is simple in structure, light in weight and convenient to install at the top of the car.
Further, the object placing hole is provided with a notch which is penetrated and arranged towards one side of the width direction of the object placing plate, and the width of the notch is consistent with the diameter of the object placing hole.
Thus, the gripping part can be taken out from and put into the storage hole through the notch, and the operation is more flexible.
Further, the boss is annularly arranged along the circumferential direction of the gripping part; the two sides of the notch are provided with limiting grooves arranged along the width direction of the object placing plate, the width of each limiting groove is larger than the thickness of the boss, and the bottom spacing of each limiting groove on the two sides is larger than the diameter of the boss.
Therefore, the lug boss on the gripping part can be placed into the limit grooves on the two sides of the notch from the notch side, so that the gripping part is not easy to fall from the storage hole in the up-down running process of the elevator, the stability of maintenance tools can be improved, and the elevator fault caused by falling of the tools can be avoided.
Furthermore, the limiting groove is internally provided with an elastic limiting clamp which is arranged in a protruding mode, so that the boss can extrude the elastic limiting clamp to enter and exit the notch under the action of external force.
Like this through the cooperation of elasticity spacing card and spacing groove, can restrict the portion of gripping of placing on putting the thing board in putting the thing downthehole, even maintenance instrument produces the shake along with the elevator operation, can not make maintenance instrument drop, improves stability and security.
Further, one end of the gripping part is provided with a gripping hole which is coaxially arranged; the gripping mechanism comprises a tubular gripping frame which is arranged on the wrist of the six-axis mechanical arm, and the diameter of the gripping frame is smaller than that of the gripping hole; the gripping frame is also provided with a plurality of clamping parts which are uniformly distributed along the circumferential direction, and a driving mechanism which is used for driving the clamping parts to protrude outwards along the radial direction, so that the clamping parts can be clamped in the gripping holes.
Therefore, the gripping part is provided with the gripping hole, the gripping frame of the gripping mechanism can be inserted into the gripping hole, the clamping part is ejected outwards through the driving mechanism, and the maintenance tool is gripped on the gripping mechanism by utilizing the clamping of the clamping part and the gripping hole. Compared with the traditional manipulator, the space can be saved more by grabbing from the inside of the grabbing hole, the placing distance of two adjacent maintenance tools can be shortened, enough operation space can be reserved for the mechanical arm in a narrow space in the elevator shaft, more maintenance tools can be placed, and more maintenance projects are completed.
Further, through holes are uniformly distributed in the circumferential direction on the gripping frame, and the clamping part is positioned at the through holes and protrudes inwards; the driving mechanism comprises an electromagnetic push rod coaxially arranged in the gripping frame and a tensioning column coaxially arranged on the electromagnetic push rod, the diameter of the tensioning column is larger than the diameter of the inscribed circle of the clamping parts, the outer end of the tensioning column is a conical tensioning part, and the minimum diameter of the tensioning part is smaller than the diameter of the inscribed circle of the clamping parts; when the electromagnetic push rod stretches out and draws back, the tensioning part can integrally pass through the position where the clamping part is located.
When the electromagnetic push rod stretches out, the tensioning part passes through the clamping part, and the maximum diameter of the tensioning part is larger than the inscribed circle diameter of the clamping parts, so that the clamping part is extruded outwards under the guiding action of the upper inclined surface of the tensioning part and protrudes in the radial direction to be clamped in the clamping hole. When the electromagnetic push rod contracts, the tensioning part reversely passes through the clamping part, and the minimum diameter of the tensioning part is smaller than the diameter of the inscribed circle of the clamping parts, so that the extrusion force acting on the clamping part disappears, and the gripping frame can smoothly withdraw from the gripping hole.
Further, the gripping frame is a cylinder made of stainless steel, a strip-shaped elastic sheet formed by cutting U-shaped cutting grooves is arranged on the side wall of the cylinder, and the strip-shaped elastic sheet is arranged along the axial direction of the gripping frame; the suspension end of the strip-shaped elastic sheet is inwards bent to form the clamping part.
Therefore, the strip-shaped elastic sheet is directly cut by the stainless steel cylinder and is bent into the clamping part, so that the strip-shaped elastic sheet and the clamping part are of an integrated structure all the time, and the strip-shaped elastic sheet is simple and stable and convenient to assemble. And the elastic force of the strip-shaped elastic sheet can be utilized to automatically reset after the electromagnetic push rod is contracted, so that the clamping state is released, and the gripping frame can be conveniently and smoothly withdrawn from the gripping hole.
In conclusion, the elevator maintenance system has the advantages that all parts of the elevator can be automatically maintained, the labor intensity of maintenance personnel is reduced, the safety of elevator maintenance and operation is improved, the maintenance cost is reduced, and the like.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent maintenance device for an elevator.
Fig. 2 is a schematic structural view of the cleaning tool.
Fig. 3 is a schematic end-face structure of the first plug member in fig. 2.
Fig. 4 is a schematic structural view of the gripping mechanism.
Fig. 5 is a schematic end view of the second connector in fig. 4.
Fig. 6 is a schematic structural view of the storage plate.
Fig. 7 is a schematic structural view of a spring plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The specific implementation method comprises the following steps: as shown in fig. 1, an intelligent maintenance system for an elevator comprises a maintenance device and a control system for controlling the maintenance device to perform maintenance work; the maintenance device comprises a six-axis mechanical arm 1 arranged at the top of a car of the elevator, wherein the six-axis mechanical arm 1 can extend to an area where an elevator landing door and a track are positioned; the wrist of the six-axis mechanical arm 1 is provided with a maintenance tool 2 for maintenance.
By adopting the structure, the six-axis mechanical arm is utilized to replace a manual operation maintenance tool, routine maintenance work is carried out on each part of the elevator, a large number of repeated and monotonous work in maintenance can be completed, the labor intensity of maintenance personnel is reduced, the maintenance personnel is prevented from negligibly endangering the safety of the personnel and equipment due to long-time work, the safety and the working efficiency can be improved, the working time of the maintenance personnel at the top of a lift car can be greatly shortened, and the safety risk and the manual maintenance cost of the maintenance personnel are reduced.
When the maintenance device is implemented, the maintenance device further comprises a track 3 which is annularly arranged at the top of the car, and the track 3 is arranged close to the edge of the car; the base of the six-axis mechanical arm 1 is movably arranged on the track 3, and an electric control driving wheel for driving the six-axis mechanical arm 1 to move along the guide rail 3 is further arranged between the base and the track 3.
The six-axis mechanical arm can move to any position of the inner wall of the elevator shaft along the track through the track which is annularly arranged near the edge of the elevator car. Therefore, even if a six-axis mechanical arm with smaller arm extension is adopted, the six-axis mechanical arm can be conveniently extended to the area where the elevator landing door and the track are located, and maintenance is carried out on all parts of the elevator. The cost of the six-axis mechanical arm is reduced.
In implementation, the wrist of the six-axis mechanical arm 1 is further provided with a gripping mechanism 4 for gripping the maintenance tool 2, the maintenance tool 2 is provided with a gripping portion 21 which facilitates the corresponding gripping of the gripping mechanism 4, and the maintenance tool 2 is detachably gripped on the gripping mechanism 4; the maintenance device further comprises a shelf 5 for placing the maintenance tool 2.
Because the maintenance items of all the parts of the elevator are different, the used maintenance tools are also different, and by adopting the structure, the maintenance tools of different items can be placed on the storage rack, and the six-axis mechanical arm can grasp the corresponding maintenance tools according to the maintenance items to carry out maintenance operation.
In practice, as shown in fig. 2, the gripping portion 21 of the maintenance tool 2 is cylindrical as a whole, and a boss 22 protruding in a radial direction is provided in the middle of the gripping portion 21; as shown in fig. 6, the rack 5 includes a horizontally disposed storage plate 51, the storage plate 51 has a storage hole 52 with a diameter consistent with that of the gripping portion 21, and the gripping portion 21 is vertically disposed in the storage hole 52.
The boss is located in the middle of the holding part and protrudes, and the diameter of the object holding hole is consistent with that of the holding part, so that the holding part can be stably placed on the object holding plate by utilizing the boss when being vertically placed in the object holding hole. The rack is simple in structure, light in weight and convenient to install at the top of the car.
In practice, the placement hole 52 has a notch penetrating through the placement plate 51 on one side in the width direction, and the width of the notch is identical to the diameter of the placement hole 52.
Thus, the gripping part can be taken out from and put into the storage hole through the notch, and the operation is more flexible.
In practice, the boss 22 is disposed in an annular shape along the circumferential direction of the grip portion 21; the two sides of the notch are provided with limiting grooves 53 arranged along the width direction of the object placing plate 51, the width of the limiting grooves 53 is larger than the thickness of the boss 22, and the bottom spacing of the limiting grooves 53 on the two sides is larger than the diameter of the boss 22.
Therefore, the lug boss on the gripping part can be placed into the limit grooves on the two sides of the notch from the notch side, so that the gripping part is not easy to fall from the storage hole in the up-down running process of the elevator, the stability of maintenance tools can be improved, and the elevator fault caused by falling of the tools can be avoided.
In implementation, the limiting groove 53 is further provided with an elastic limiting card 54 protruding, so that the boss 22 can press the elastic limiting card 54 into and out of the notch under the action of external force.
Like this through the cooperation of elasticity spacing card and spacing groove, can restrict the portion of gripping of placing on putting the thing board in putting the thing downthehole, even maintenance instrument produces the shake along with the elevator operation, can not make maintenance instrument drop, improves stability and security.
In practice, the elastic limit clip 54 is located at the bottom of the limit groove 53.
Because the boss is annular, when passing in and out the breach, its lateral surface and spacing groove bottom become certain angle, can decompose the power of passing in and out the breach direction to the elasticity spacing card on, produce the extrusion to spacing card more easily for maintenance instrument takes more conveniently.
In implementation, the elastic limiting card 54 is a spring piece disposed along the width direction of the storage plate 51, two ends of the spring piece are attached to the inner wall of the limiting groove 53, and the middle part of the spring piece is an arc-shaped protrusion to form a limiting part.
Therefore, when the boss enters and exits the notch, the boss can be extruded more easily by utilizing the guiding function of the arc-shaped boss at the middle part of the spring piece.
In practice, one end of the spring piece is fixedly mounted on the limit groove 53, and the other end is slidably connected in the limit groove 53 along the width direction of the object placing plate 51.
Because one end of the spring piece is movable, when the boss extrudes the spring piece, the movable end of the spring piece can slide along the limit groove, and the compression of the spring piece is easier.
In implementation, two elastic limiting cards 54 are provided, and the two elastic limiting cards are respectively positioned in the limiting grooves 53 at two sides of the notch.
In implementation, the spring piece is made of stainless steel materials.
In practice, one end of the gripping portion 21 has a gripping hole 23 coaxially disposed; as shown in fig. 4, the gripping mechanism 4 includes a gripping frame 41 mounted on the wrist of the six-axis mechanical arm 1 in a cylindrical shape, and the gripping frame 41 has a diameter smaller than that of the gripping hole 23; the gripping frame 41 further has a plurality of clamping portions 42 uniformly distributed along a circumferential direction, and a driving mechanism 43 for driving the clamping portions 42 to protrude radially outwards, so that the clamping portions 42 can be clamped in the gripping holes 23.
Therefore, the gripping part is provided with the gripping hole, the gripping frame of the gripping mechanism can be inserted into the gripping hole, the clamping part is ejected outwards through the driving mechanism, and the maintenance tool is gripped on the gripping mechanism by utilizing the clamping of the clamping part and the gripping hole. Compared with the traditional manipulator, the space can be saved more by grabbing from the inside of the grabbing hole, the placing distance of two adjacent maintenance tools can be shortened, enough operation space can be reserved for the mechanical arm in a narrow space in the elevator shaft, more maintenance tools can be placed, and more maintenance projects are completed.
In practice, the gripping frame 41 has through holes uniformly distributed along the circumferential direction, and the clamping portion 42 is located at the through holes and protrudes inwards; the driving mechanism 43 includes an electromagnetic push rod 431 coaxially disposed in the gripping frame 41, and a tightening post 432 coaxially mounted on the electromagnetic push rod 431, the diameter of the tightening post 432 is larger than the diameter of the inscribed circle of the plurality of clamping portions 42, the outer end of the tightening post 432 is a truncated cone-shaped tightening portion, and the minimum diameter of the tightening portion is smaller than the diameter of the inscribed circle of the plurality of clamping portions 42; when the electromagnetic push rod 431 stretches, the tensioning portion can integrally pass through the position where the clamping portion 42 is located.
When the electromagnetic push rod stretches out, the tensioning part passes through the clamping part, and the maximum diameter of the tensioning part is larger than the inscribed circle diameter of the clamping parts, so that the clamping part is extruded outwards under the guiding action of the upper inclined surface of the tensioning part and protrudes in the radial direction to be clamped in the clamping hole. When the electromagnetic push rod contracts, the tensioning part reversely passes through the clamping part, and the minimum diameter of the tensioning part is smaller than the diameter of the inscribed circle of the clamping parts, so that the extrusion force acting on the clamping part disappears, and the gripping frame can smoothly withdraw from the gripping hole.
In practice, the gripping frame 41 is a cylinder made of stainless steel, the side wall of the cylinder is provided with a strip-shaped elastic sheet cut by a U-shaped cutting groove, and the strip-shaped elastic sheet is arranged along the axial direction of the gripping frame 41; the suspension end of the strip spring is bent inwards to form the clamping part 42.
Therefore, the strip-shaped elastic sheet is directly cut by the stainless steel cylinder and is bent into the clamping part, so that the strip-shaped elastic sheet and the clamping part are of an integrated structure all the time, and the strip-shaped elastic sheet is simple and stable and convenient to assemble. And the elastic force of the strip-shaped elastic sheet can be utilized to automatically reset after the electromagnetic push rod is contracted, so that the clamping state is released, and the gripping frame can be conveniently and smoothly withdrawn from the gripping hole.
When in use, the suspension end of the strip-shaped elastic sheet is bent inwards in a circular arc shape, and a U-shaped structure is formed.
The strip-shaped elastic sheet is bent inwards to form a U-shaped structure, so that the friction force between the strip-shaped elastic sheet and the tensioning part can be reduced, the electromagnetic push rod can extend out smoothly, the clamping part can have elastic deformation capability in the radial direction of the clamping frame, elastic extrusion is kept all the time during clamping, and the clamping stability is improved.
In practice, the gripping hole 23 has an annular clamping groove corresponding to the clamping portion 42, so that the clamping portion 42 protrudes radially outward and is then positioned in the annular clamping groove.
Therefore, the maintenance tool can be further placed and fall off from the grabbing mechanism in the grabbing process by utilizing the annular clamping groove, and the grabbing stability is improved.
In implementation, the maintenance tool 2 is an electric tool, and a first plug connector 24 connected with a power supply is arranged at the bottom of the gripping hole 23; the outer end of the tensioning column 432 is provided with a second plug 433 corresponding to the first plug.
In practice, as shown in fig. 3 and 5, the first plug 24 includes a circular groove coaxially disposed at the bottom of the grip hole 23, the bottom of the circular groove has a plurality of annular ribs coaxially disposed, and each annular rib has a conductive contact on an end surface thereof; the second connector 433 includes a circular boss coaxially disposed on the tensioning post 432, and the diameter of the circular boss is consistent with the diameter of the annular groove; the end face of the circular boss is provided with a plurality of annular grooves which are arranged corresponding to the annular ribs, the depth of each annular groove is smaller than the height of each annular rib, and the bottom of each annular groove is provided with a conductive contact.
In this way, the gripping mechanism can ensure the alignment connection of the second plug connector and the first plug connector no matter what gesture is adopted to grip the maintenance tool.
When the elevator landing door lock maintenance tool is implemented, the maintenance tool 2 is a polishing tool for polishing an elevator landing door lock and comprises a motor and a polishing head arranged on an output shaft of the motor, and the polishing head is a steel wire polishing head.
In practice, the maintenance tool 2 is a cleaning tool for cleaning the elevator landing door guide rail, and comprises a motor and a cleaning disc coaxially arranged on an output shaft of the motor.
In implementation, as shown in fig. 2, the cleaning tool further comprises an outer cylinder body, the motor is installed in the outer cylinder body, and an output shaft of the motor extends out of the outer cylinder body and is provided with the cleaning disc; the motor is characterized in that a blowing fan blade is further arranged on an output shaft of the motor, the blowing fan blade is located in the outer cylinder, the rotation diameter of the blowing fan blade is consistent with the inner diameter of the outer cylinder, an air inlet is formed in the position, close to the motor, of the outer cylinder, and an air blowing port is formed in the end face, facing the sweeping disc, of the outer cylinder.
Therefore, when the landing door guide rail is cleaned, the cleaning can be performed simultaneously, so that the cleaning is more thorough.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. The intelligent maintenance system for the elevator is characterized by comprising a maintenance device and a control system for controlling the maintenance device to perform maintenance work; the maintenance device comprises a six-axis mechanical arm (1) arranged at the top of a car of the elevator, wherein the six-axis mechanical arm (1) can extend to an area where an elevator landing door and a track are located; a maintenance tool (2) for maintenance is arranged on the wrist of the six-axis mechanical arm (1);
the maintenance device further comprises a track (3) which is annularly arranged at the top of the car, and the track (3) is arranged close to the edge of the car; the base of the six-axis mechanical arm (1) is movably arranged on the track (3), and an electric control driving wheel for driving the six-axis mechanical arm (1) to move along the track (3) is also arranged between the base and the track (3);
the wrist of the six-axis mechanical arm (1) is also provided with a gripping mechanism (4) for gripping the maintenance tool (2), the maintenance tool (2) is provided with a gripping part (21) which is convenient for the gripping mechanism (4) to grip correspondingly, and the maintenance tool (2) is detachably gripped on the gripping mechanism (4); the maintenance device also comprises a commodity shelf (5) for placing the maintenance tool (2);
the gripping part (21) of the maintenance tool (2) is integrally cylindrical, and a boss (22) protruding in the radial direction is arranged in the middle of the gripping part (21); the storage rack is characterized in that the storage rack upper part (5) comprises a horizontally arranged storage plate (51), the storage plate (51) is provided with a storage hole (52) with the diameter consistent with that of the gripping part (21), and the gripping part (21) is vertically placed in the storage hole (52);
one end of the gripping part (21) is provided with a gripping hole (23) which is coaxially arranged; the gripping mechanism (4) comprises a tubular gripping frame (41) arranged on the wrist of the six-axis mechanical arm (1), and the diameter of the gripping frame (41) is smaller than that of the gripping hole (23); the gripping frame (41) is also provided with a plurality of clamping parts (42) which are uniformly distributed along the circumferential direction, and a driving mechanism (43) which is used for driving the clamping parts (42) to protrude outwards along the radial direction, so that the clamping parts (42) can be clamped in the gripping holes (23);
the gripping frame (41) is provided with through holes uniformly distributed along the circumferential direction, and the clamping part (42) is positioned at the through holes and protrudes inwards; the driving mechanism (43) comprises an electromagnetic push rod (431) coaxially arranged in the gripping frame (41) and a tensioning column (432) coaxially arranged on the electromagnetic push rod (431), the diameter of the tensioning column (432) is larger than the diameter of inscribed circles of the clamping portions (42), the outer end of the tensioning column (432) is a conical tensioning portion, and the minimum diameter of the tensioning portion is smaller than the diameter of inscribed circles of the clamping portions (42); when the electromagnetic push rod (431) stretches, the tensioning part can integrally pass through the position of the clamping part (42).
2. The intelligent maintenance system of an elevator according to claim 1, wherein the placement hole (52) is provided with a notch penetrating through one side of the placement plate (51) in the width direction, and the width of the notch is consistent with the diameter of the placement hole (52).
3. The intelligent maintenance system of an elevator according to claim 2, characterized in that the boss (22) is arranged in a ring shape along the circumferential direction of the grip portion (21); the two sides of the notch are provided with limiting grooves (53) arranged along the width direction of the object placing plate (51), the width of each limiting groove (53) is larger than the thickness of each boss (22), and the bottom spacing of each limiting groove (53) on the two sides is larger than the diameter of each boss (22).
4. The intelligent maintenance system of claim 3, wherein the limit groove (53) is further provided with an elastic limit card (54) protruding, so that the boss (22) can press the elastic limit card (54) into and out of the notch under the action of external force.
5. The intelligent maintenance system of an elevator according to claim 1, wherein the gripping frame (41) is a cylinder made of stainless steel, a strip-shaped elastic sheet cut by a U-shaped cutting groove is arranged on the side wall of the cylinder, and the strip-shaped elastic sheet is arranged along the axial direction of the gripping frame (41); the suspension end of the strip-shaped elastic sheet is bent inwards to form the clamping part (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811399423.XA CN109279467B (en) | 2018-11-22 | 2018-11-22 | Intelligent maintenance system for elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811399423.XA CN109279467B (en) | 2018-11-22 | 2018-11-22 | Intelligent maintenance system for elevator |
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| Publication Number | Publication Date |
|---|---|
| CN109279467A CN109279467A (en) | 2019-01-29 |
| CN109279467B true CN109279467B (en) | 2024-02-20 |
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| CN201811399423.XA Active CN109279467B (en) | 2018-11-22 | 2018-11-22 | Intelligent maintenance system for elevator |
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| CN209143425U (en) * | 2018-11-22 | 2019-07-23 | 重庆工程职业技术学院 | A kind of maintenance system for elevator |
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| CN109279467A (en) | 2019-01-29 |
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