CN206599342U - A kind of cage guide guidance stroke measurment robot based on sensor technology - Google Patents
A kind of cage guide guidance stroke measurment robot based on sensor technology Download PDFInfo
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- CN206599342U CN206599342U CN201720166579.8U CN201720166579U CN206599342U CN 206599342 U CN206599342 U CN 206599342U CN 201720166579 U CN201720166579 U CN 201720166579U CN 206599342 U CN206599342 U CN 206599342U
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Abstract
The utility model discloses a kind of cage guide guidance stroke measurment robot based on sensor technology, including robot main frame and remote control box, pass through the distance of the real-time robot measurement fuselage of Hall sensor in the robot and guide rail spigot surface, by laser range sensor come the distance between robot measurement and object being measured, measured by the robot, measurement accuracy is high, speed is fast, greatlys save manpower, effectively solves the problem of the elevator inspection project.
Description
Technical field
The utility model belongs to elevator fields of measurement, and in particular to a kind of cage guide leading based on sensor technology
Journey robot measurement.
Background technology
Elevator as a kind of carrying individuals and the special equipment of goods, its security performance by society extensive concern, this
The construction quality of detectability and elevator unit in charge of construction to special equipment inspection body proposes higher and higher require.Elevator
Guide rail is lift car, counterweight provides guiding, and it controls the running orbit of lift car, ensures the transmission of operation signal, it
It is to be related to elevator safety and the important component of running quality again.Thus it is guaranteed that the guidance stroke of counter weight guide track and car guide rail
Accurately measure to elevator safety operation important in inhibiting.
And the measurement of existing cage guide is completed by manual measurement, particularly with express elevator, elevator
Guide rail guidance stroke it is relatively large, be difficult to accurately and effectively measure using traditional survey tool, can bring as measurement error compared with
Greatly, measurement difficulty is big, it is certain to there are problems that, in view of problem above, development of practical, conveniently, accurately, automaticity
High cage guide guidance stroke special measurement instrument, can examine detection work to provide more objective, accurate survey for elevator
Test result.
The content of the invention
The utility model purpose is：A kind of cage guide guidance stroke measurment robot based on sensor technology is provided,
Guidance stroke for measuring counter weight guide track and car guide rail, can obtain it is timely, true, objective, accurately guide stroke measurment
As a result.
The technical solution of the utility model is：A kind of cage guide guidance stroke measurment machine based on sensor technology
People, the guidance stroke for measuring cage guide, including robot main frame and remote control box, are communicated to connect between the two, are led to
The motion that the remote control box sends signals to control the robot main frame is crossed, wherein the robot main frame was being measured
Be close in journey on cage guide and can along cage guide lengthwise movement, including Hall sensor, laser range sensor,
Servomotor, microprocessor, buzzer and signal receiving device, the remote control box include display screen, button and signal
Dispensing device, wherein：
The Hall sensor is used for the signal for obtaining measurement original position, and starting point is measured with accurate obtain；
The laser range sensor is used to launch and receive laser, with measure the robot main frame and measured object it
Between distance, the measured object be lubricating cup；
The servomotor is used for the motion for driving the robot main frame.
Further, magnetic devices are provided with the robot main frame, for itself to be adsorbed in into cage guide.
Further, the robot main frame is arranged at the both sides of spigot surface, passes through the servo provided with four wheels
Motor-driven rotation, is moved for the robot measurement on cage guide surface.
Further, startup/stopping, up, descending, measurement are included on the remote control box, is confirmed and reset key.
Further, the microprocessor is single-chip microcomputer.
Further, the signal receiving device is radio receiver, and the sender unit fills for wireless transmission
Put, be attached between the robot main frame and remote control box by way of radio communication.
Further, the mode of the radio communication includes bluetooth, WIFI or infrared communication.
Concrete operation step is：
1st, survey crew enters car top at the stop of upper end, by magnetic devices in car top mounting robot main frame, four
Individual wheel is in the both sides of spigot surface so that robot main frame is close to cage guide surface；
2nd, starting up robot main frame, presses remote control box " up " button so that robot main frame is led along elevator
Rail is run up, and robot main frame runs to cage guide and is automatically stopped the wait remote control box at the top of cage guide
The sense command of transmission, while robot main frame sends " ready " sound by buzzer；
3rd, survey crew withdraws from car top；
4th, elevator maintenance staff are manipulated by the modes such as cabinet button, short circuit limit switch and allow car to compress buffering completely
Device；
5th, survey crew's operation remote control box, presses " measurement " button, allows robot main frame to start measurement；
6th, it is measured rear robot main frame and sends " detection terminates " sound；The measurement of remote control box display screen display simultaneously
Value；
7th, survey crew enters car top and records the spacing that boots top surface is led at lubricating cup top to counterweight；
8th, survey crew enters upper end stop car top, operates remote control box in car top, presses " descending " button, allows machine
People's main frame is run downwards；
9th, robot main frame runs " stopping " button that remote control box is pressed during to survey crew's close proximity, machine
Device people's main frame is out of service on cage guide；
10th, the robot main frame on dismounting cage guide；
11st, survey crew withdraws car top；
12nd, the guidance stroke of cage guide is calculated；
13 and 0.1+0.035v2（m）Formula is compared, and wherein v is the normal speed of elevator, judges cage guide
Whether qualified guide stroke.
The utility model has the advantages that：
This instrument flexibly uses Single Chip MC in Embedded System and sensor technology, using the Hall sensor in robot and
Laser range sensor carries out the measurement that cage guide guides stroke, and the compact conformation, design is simple, easy to use, pass through
Software programming, realizes quick, accurate and automation measurement.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment is further described to the utility model：
Fig. 1 is the scheme of installation of robot described in the utility model；
Fig. 2 is the hardware structure diagram of robot main frame described in the utility model；
Fig. 3 is remote control box schematic diagram described in the utility model；
Wherein：1st, car；2nd, car guide rail；3rd, counter weight guide track；4th, lubricating cup；5th, robot main frame；A, main frame institute of robot
Locate position；B, lubricating cup present position.
Embodiment
Embodiment：As Figure 1-3, a kind of cage guide guidance stroke measurment robot based on sensor technology, peace
Loaded on being measured on cage guide, cage guide includes car guide rail 2 and counter weight guide track 3, and the robot includes robot
Main frame 5 and remote control box（It is not drawn into figure）, communicate to connect between the two, remote control box can be sent to robot main frame 5
The motion for control machine people main frame 5 is ordered, wherein the robot main frame 5 is arranged at cage guide in measurement process
It is upper and can along cage guide lengthwise movement, including Hall sensor, laser range sensor, servomotor, microprocessor,
Buzzer and signal receiving device, the remote control box include display screen, button and sender unit, the long-range behaviour
Vertical box sends a signal to signal receiving device by sender unit, and signal receiving device sends a signal to microprocessor and entered
Row processing, wherein：
The Hall sensor is used for the signal for obtaining measurement original position；
The laser that the laser range sensor is launched is received by the sensor again after being reflected through lubricating cup 4, laser ranging
Sensor is used for the distance between robot measurement main frame and measured object, in the present embodiment, and the measured object is lubricating cup；
The servomotor is used for the motion for driving robot main frame 5.
In the present embodiment, magnetic devices are additionally provided with the robot main frame 5, for the electricity itself will to be adsorbed in
On terraced guide rail.
In the present embodiment, the robot main frame 5 is arranged at the both sides of spigot surface, for institute provided with four wheels
Robot main frame 5 is stated to be moved on cage guide surface.
In the present embodiment, startup/stopping, up, descending, measurement are included on the remote control box, confirms and resets
Button.
In the present embodiment, the microprocessor is single-chip microcomputer.
In the present embodiment, the signal receiving device is radio receiver, and the sender unit is wireless hair
Device is sent, is attached between the robot main frame 5 and remote control box by way of radio communication.
In the present embodiment, the mode of the radio communication includes bluetooth, WIFI or infrared communication.
In the present embodiment, the guidance stroke of counter weight guide track is measured, survey crew enters car top at the stop of upper end, machine
Device people main frame 5 is arranged on counter weight guide track 3, is started working using remote control box start machine people main frame 5, robot main frame 5
Startup optimization is simultaneously run up with the speed set along counter weight guide track 3, Hall sensor constantly detect robot main frame 5 with
The distance between top surface of counter weight guide track 3, once at operation to the top of counter weight guide track 3, when the distance value now detected is bigger than normal,
Robot main frame 5 just judges to have reached the top of counter weight guide track 3 and out of service immediately, now carried on robot main frame 5
Buzzer sends sound and informs that survey crew robot main frame 5 has carried out the preparation of measurement at the top of counter weight guide track 3, then surveys
Amount personnel withdraw from car top, by apparatus for examination and repair so that car is run downwards, and continue to run downwards after short circuit lower extreme switch,
Until the complete compression buffer of car, now, the start button that survey crew can be pressed on remote control box start long-range control
Robot main frame 5 processed starts measurement, and robot main frame 5 is received after trigger signal by laser range sensor robot measurement
Main frame to lubricating cup distance, the laser that the laser range sensor of specially robot main frame 5 is launched reflected through lubricating cup 4 after again
Received by the laser range sensor, the laser range sensor time that recording laser comes and goes simultaneously, the light velocity and two-way time multiply
Long-pending half, is exactly the distance between robot main frame 5 and lubricating cup 4, in the present embodiment, if light with speed c in atmosphere
Propagate, it is assumed that robot main frame is located at location A, lubricating cup is located at B location, and laser is the time required to A, B point-to-point transmission round trip
T, then A, B distance between two points D can be represented with following：
D=ct/2；
I.e. the distance between robot main frame 5 and lubricating cup 4 are D, and buzzer generation sound informs measurement people after the completion of ranging
Member's measurement is finished, and measured value is shown automatically on the display screen of remote control box, is obtained after the numerical value, the numerical value and oil
Cup 4 height be added, two number sums again with 0.1+0.035v2（m）Formula is compared, and judges that the guidance stroke of counter weight guide track 3 is closed
Whether is lattice；The guidance stroke method for measuring car guide rail 2 is similar.
Certain above-described embodiment is only to illustrate technical concepts and features of the present utility model, and its object is to allow be familiar with this
The people of technology can understand content of the present utility model and implement according to this, and protection model of the present utility model can not be limited with this
Enclose.The modification that all Spirit Essences according to the utility model main technical schemes are done, should all cover and be protected of the present utility model
Within the scope of shield.
Claims (7)
1. a kind of cage guide guidance stroke measurment robot based on sensor technology, the leading processed for measuring cage guide
Journey, it is characterised in that including robot main frame and remote control box, communicate to connect between the two, passes through the remote control box
Send signals to control the motion and measurement of the robot main frame, wherein the robot main frame is close in measurement process
On cage guide and can along cage guide lengthwise movement, including Hall sensor, laser range sensor, servomotor,
Microprocessor, buzzer and signal receiving device, the remote control box include display screen, button and sender unit,
Wherein：
The Hall sensor is used for the signal for obtaining measurement original position；
Laser range sensor transmitting and receive laser, for measure between the robot main frame and measured object away from
From；
The servomotor is used for the motion for driving the robot main frame.
2. a kind of cage guide guidance stroke measurment robot based on sensor technology according to claim 1, it is special
Levy and be, magnetic devices are provided with the robot main frame, for itself to be adsorbed in into cage guide.
3. a kind of cage guide guidance stroke measurment robot based on sensor technology according to claim 1, it is special
Levy and be, the robot main frame is arranged at the both sides of spigot surface provided with four wheels, turned by servomotor driving
It is dynamic, moved for the robot measurement on cage guide surface.
4. a kind of cage guide guidance stroke measurment robot based on sensor technology according to claim 1, it is special
Levy and be, startup/stopping, up, descending, measurement are included on the remote control box, is confirmed and reset key.
5. a kind of cage guide guidance stroke measurment robot based on sensor technology according to claim 1, it is special
Levy and be, the microprocessor is single-chip microcomputer.
6. a kind of cage guide guidance stroke measurment robot based on sensor technology according to claim 1, it is special
Levy and be, the signal receiving device is radio receiver, the sender unit is wireless base station apparatus, the machine
It is attached between people's main frame and remote control box by way of radio communication.
7. a kind of cage guide guidance stroke measurment robot based on sensor technology according to claim 6, it is special
Levy and be, the mode of the radio communication includes bluetooth, WIFI or infrared communication.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720166579.8U CN206599342U (en) | 2017-02-23 | 2017-02-23 | A kind of cage guide guidance stroke measurment robot based on sensor technology |
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| CN201720166579.8U CN206599342U (en) | 2017-02-23 | 2017-02-23 | A kind of cage guide guidance stroke measurment robot based on sensor technology |
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ID=60147609
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108002197A (en) * | 2017-12-25 | 2018-05-08 | 华南理工大学广州学院 | A kind of escalator braking performance detector |
| CN111362088A (en) * | 2020-03-19 | 2020-07-03 | 江苏省特种设备安全监督检验研究院 | Elevator counterweight guide rail guidance stroke measuring device based on sensor technology |
-
2017
- 2017-02-23 CN CN201720166579.8U patent/CN206599342U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108002197A (en) * | 2017-12-25 | 2018-05-08 | 华南理工大学广州学院 | A kind of escalator braking performance detector |
| CN111362088A (en) * | 2020-03-19 | 2020-07-03 | 江苏省特种设备安全监督检验研究院 | Elevator counterweight guide rail guidance stroke measuring device based on sensor technology |
| CN111362088B (en) * | 2020-03-19 | 2021-07-30 | 江苏省特种设备安全监督检验研究院 | Elevator counterweight guide rail guidance stroke measuring device based on sensor technology |
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