Elevator compensating chain length measuring device

Abstract

The application provides an elevator compensation chain length measuring device and relates to the technical field of mechanical automation. The technical key points are that the device comprises a support frame and a length measuring sensor. Two groups of symmetrical stabilizing devices are arranged above the support frame. Each stabilizing device comprises two stabilizing rollers extending along the width direction of the support frame and a stabilizing belt. A pressing device is arranged above each stabilizing device. The pressing device comprises a pressing roller corresponding to the stabilizing roller and a pressing belt. A driving device is arranged above the pressing device to drive the pressing device to move in the vertical direction. A motor sliding table is arranged on the support frame to adjust the position of the length measuring sensor. The length measuring sensor is not affected by the smoothness of the surface of the compensation chain during the measurement. Meanwhile, the pressing device and the stabilizing device reduce the vibration and friction of the compensation chain during the length measurement, thereby reducing the possibility of error.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical automation, and in particular to an elevator compensation chain length measuring device. BACKGROUND

[0002] The elevator balance compensation chain is a key component in the elevator system, used to balance the weight changes of the elevator and ensure the elevator to remain stable during up and down. In the production process of the compensation chain, the length of the compensation chain needs to be measured, and the compensation chain is cut to the required length and packed according to the customer's requirements. The existing compensation chain can be roughly divided into contact type and non-contact type when conveying. The contact type is driven by the friction force of the compensation chain to rotate the metering wheel, and the data is measured by the number of rotations, or the upper and lower tracks drive the compensation chain to move to read the number of synchronous pulley rotations to measure the data. The non-contact type generally uses laser measurement to calculate the speed by the time difference of the emitted and reflected light to measure the length data. In the contact type measurement, the measurement accuracy will decrease to a certain extent due to the existence of friction. In the existing non-contact measurement method, the price of the laser sensor is relatively high, and it has high requirements for the environment, which cannot well adapt to the needs of the factory. Therefore, it is the key to improve the compensation chain length measuring efficiency and reduce the compensation chain loss to invent a non-contact sensor with high cost performance and good environmental adaptability.

[0003] For example, the patent with application number 202410971502.2 and the name "a self-adaptive elevator compensation chain length measuring method and device" has a fixed structure design for the overall length measuring system. After completing the measurement of a single type of compensation chain, there is a problem of insufficient equipment adaptability when switching between multiple specifications of products, and there is a risk of interference between the length measuring sensor and the measured object. The three-axis sliding table positioning mechanism needs to perform a mechanical coordinate reset operation after the compensation chain is replaced, and there is a technical defect that the positioning coordinate secondary calibration process is complicated, which significantly increases the time cost in the product change process. Although the four groups of adjustable limit devices can realize the basic positioning function, they are affected by the cumulative error of the mechanical gap, resulting in systematic deviation error of the relative spatial pose of the compensation chain and the distance measuring sensor, which directly affects the recognition accuracy of the single-chip microcomputer on the reference positioning point. The rigid contact constraint mode between the limiting mechanism and the compensation chain easily causes high-frequency micro-vibration and friction coupling effect on the contact surface during the measurement process, resulting in nonlinear distortion error of the measurement data. SUMMARY

[0004] The purpose of the present application is to solve the problem that the rigid contact constraint mode between the limiting mechanism and the compensation chain in the prior art easily causes high-frequency micro-vibration and friction coupling effect on the contact surface during the measurement process, resulting in nonlinear distortion error of the measurement data.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] The application discloses an elevator compensating chain length measuring device, which comprises a support frame and a length measuring sensor, wherein two groups of stabilizing devices are arranged above the support frame and are symmetric to the center along the length direction of the support frame, each of the stabilizing devices comprises two stabilizing rollers extending along the width direction of the support frame and a stabilizing belt sleeved outside the stabilizing rollers, a pressing device is arranged above each of the stabilizing devices, the pressing device comprises a pressing roller corresponding to the stabilizing roller and a pressing belt sleeved outside the pressing roller, a driving device is arranged above the pressing device to drive the pressing device to move along the vertical direction, and a motor sliding table is arranged between the two groups of stabilizing devices on the support frame and is used for adjusting the Z-axis and X-axis directions of the length measuring sensor.

[0007] Preferably, the driving device comprises a fixed plate and a driving cylinder arranged on the fixed plate, the fixed plate is fixedly arranged on the support frame, the cylinder barrel of the driving cylinder is fixed on the fixed plate and is arranged to point downward, the end of the piston rod of the driving cylinder is connected with a U-shaped connecting frame, the opening of the U-shaped connecting frame points downward and extends along the length direction of the support frame, the two pressing rollers are arranged at the two ends of the length direction of the U-shaped connecting frame and are arranged at the opening of the U-shaped connecting frame, and the pressing rollers are rotatably arranged on the U-shaped connecting frame.

[0008] Preferably, a pushing-out cylinder is arranged on the support frame, the pushing-out cylinder is arranged between the two stabilizing devices, the pushing-out cylinder extends along the width direction of the support frame, and the end of the pushing-out cylinder is connected with the motor sliding table to drive the length measuring sensor.

[0009] Preferably, the motor sliding table is provided with two motor sliding tables, the two motor sliding tables are a Z-axis direction motor sliding table and an X-axis direction motor sliding table respectively, each of the motor sliding tables comprises two fixed blocks and a sliding block, the two fixed blocks are connected through a connecting plate, the sliding block is slidably arranged along the length direction of the connecting plate, one of the fixed blocks on the Z-axis direction motor sliding table is fixedly connected with the piston rod of the pushing-out cylinder, the sliding block on the Z-axis direction motor sliding table is fixedly connected with the connecting plate on the X-axis direction motor sliding table, and the length measuring sensor is fixedly arranged on the sliding block of the X-axis direction motor sliding table.

[0010] Preferably, the motor sliding table further comprises a lead screw, a driving motor and a guide rod, the lead screw is rotatably arranged on the two fixed blocks, the driving motor is arranged outside one of the fixed blocks and is connected with the lead screw, the sliding block is rotatably arranged on the lead screw, and the guide rod is arranged between the two fixed blocks and is parallel to the lead screw and passes through the sliding block.

[0011] Preferably, the two self-adapting adjusting devices are arranged on the sides of the two stabilizing devices away from each other, and each of the self-adapting adjusting devices comprises a sliding rail fixed on the support frame and extending along the width direction of the support frame, and two clamping parts, one of which is fixed on one end of the sliding rail in the rail direction, and the other of which is arranged to slide along the rail direction of the sliding rail.

[0012] Preferably, the clamping part comprises a base, a sliding part and a plurality of rubber wheels, the sliding part is arranged to slide above the sliding rail, a limiting bolt is arranged on the side of the sliding part and abuts against the sliding rail, and the position between the sliding part and the sliding rail is limited by the limiting bolt; the base is cuboid, the length direction of the base is perpendicular to the rail direction of the sliding rail, and the rubber wheels are arranged in an array along the length direction of the base.

[0013] Preferably, the two self-adapting adjusting devices are arranged on the sides of the two stabilizing devices away from each other, and each of the self-adapting adjusting devices comprises a sliding rail fixed on the support frame and extending along the width direction of the support frame, and two clamping parts, one of which is fixed on one end of the sliding rail in the rail direction, and the other of which is arranged to slide along the rail direction of the sliding rail.

[0014] Preferably, the stabilizing device further comprises an L-shaped plate, two L-shaped plates are arranged on each of the stabilizing devices, the two L-shaped plates are arranged at the two ends of the width direction of the support frame, the two L-shaped plates are symmetrically arranged, the horizontal sections of the two L-shaped plates are fixed on the top of the support frame, two stabilizing rollers are arranged at the two ends of the length direction of the L-shaped plate and between the two L-shaped plates, and the stabilizing rollers are rotatably arranged on the L-shaped plate.

[0015] Compared with the prior art, the application has the following beneficial effects:

[0016] 1. By arranging the chain pressing device and the chain stabilizing device, the surface smoothness of the compensation chain does not affect the measurement process, and the vibration and friction of the compensation chain during the length measurement process are reduced, thereby reducing the possibility of error and further improving the measurement accuracy.

[0017] 2. By arranging the two motor sliding tables, the pneumatic positioning execution module (pushing cylinder) and the X / Z-axis high-precision motor sliding table form a driving mechanism, and through the linear driving output of the cylinder and the precise servo control of the two-axis sliding table, a multi-degree-of-freedom rapid positioning / reset mechanism is formed.

[0018] 3. By setting the pull rod encoder orthogonally arranged in the X-axis direction and the Z-axis direction, the pull rod encoder forms a data path with the microcontroller unit (MCU) through the analog-to-digital conversion (ADC) module, and real-time collection and quantization of linear displacement in the orthogonal axial direction. The configuration enables the length measuring device to synchronously acquire millimeter-level precision position feedback signals in the X-Z plane, realizes dynamic compensation and correction of the length measuring sensor detection position, and effectively eliminates the control deviation caused by mechanical gap errors in the distance measuring system.

[0019] 4. By setting the pull rod encoder, the measurement distance can be automatically corrected during measurement, improving the measurement accuracy and shortening the time of repeated positioning of the length measuring system. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is an overall structure schematic diagram of an elevator compensating chain length measuring device in an embodiment of the present application.

[0021] Figure 2 It is a partial method schematic diagram of an elevator compensating chain length measuring device in an embodiment of the present application.

[0022] Figure 3 It is an overall structure schematic diagram of an elevator compensating chain length measuring device from another angle in an embodiment of the present application.

[0023] Figure 4 It is an enlarged schematic diagram of part A in the Figure 3

[0024] Figure 5 It is an electrical connection schematic diagram of a control device in an embodiment of the present application.

[0025] Figure 6 It is a flowchart schematic diagram of an elevator compensating chain length measuring device in use in an embodiment of the present application.

[0026] Figure 7 It is a control system block diagram in an embodiment of the present application.

[0027] Figure 8 It is a software flowchart in an embodiment of the present application.

[0028] Figure 9 It is a Kalman filtering algorithm flowchart in an embodiment of the present application.

[0029] Figure 10 It is a peak detection algorithm flowchart in an embodiment of the present application.

[0030] Figure 11 It is a compensating chain mechanical structure size diagram in an embodiment of the present application.

[0031] Figure 12 ​For the original signal collected in the example and filtering;

[0032] Figure 13 For the peak detection result graph.

[0033] Legend:

[0034] 1, support frame; 11, corner connector; 2, chain compression mechanism; 21, self-adaptive adjusting device; 211, sliding rail; 212, clamping part; 2121, base; 2122, sliding part; 2123, rubber wheel; 22, stabilizing device; 221, L-shaped plate; 222, stabilizing roller; 223, stabilizing belt; 23, compression device; 231, fixed support; 232, driving device; 2321, fixed plate; 2322, driving cylinder; 233, compression part; 2331, U-shaped connecting frame; 2332, compression roller; 2333, compression belt; 3, chain measuring mechanism; 31, push-out cylinder; 32, motor sliding table; 321, fixed seat; 3211, connecting plate; 3212, guide rod; 322, lead screw; 323, driving motor; 324, sliding block; 33, length measuring sensor; 34, pull rod encoder. DETAILED DESCRIPTION

[0035] The application will be further described in detail below in combination with specific embodiments.

[0036] Please refer to Figure 1 and Figure 2 , an elevator compensation chain length measuring device, comprising a support frame 1, a chain compression mechanism 2 and a chain measuring mechanism 3, the support frame 1 is used to support the chain compression mechanism 2 and the chain measuring mechanism 3, the chain compression mechanism 2 is used to fix the position of the elevator compensation chain, and the chain measuring mechanism 3 is used to measure the length of the elevator compensation chain; during the measuring process, the compensation chain needs to move for length measurement, and the movement of the compensation chain is mainly driven by external force or a traction machine.

[0037] Please refer to Figure 1 , the support frame 1 is a cuboid frame, in an embodiment, the support frame 1 is composed of high-strength aluminum alloy profiles, the frame structure is assembled by modularization through corner connectors 11, the support frame 1 has a vertical height adjustable function, which can adapt to the height constraint conditions of different factory space; the chain compression mechanism 2 and the chain measuring mechanism 3 are located at the top of the support frame 1.

[0038] Please refer to Figure 1Two chain pressing mechanisms 2 are arranged on the support frame 1, and the two chain pressing mechanisms 2 are arranged symmetrically along the center of the length direction of the support frame 1. The chain pressing mechanism 2 comprises an adaptive adjusting device 21, a stabilizing device 22 and a pressing device 23. The adaptive adjusting device 21 is arranged at the two ends of the length direction of the support frame 1, and the stabilizing device 22 is arranged between the two adaptive adjusting devices 21 to support the compensation chain on the adaptive adjusting device 21. The pressing device 23 is arranged on the top of the stabilizing device 22, and the pressing device 23 is used to press the compensation chain on the stabilizing device 22.

[0039] Please refer to Figure 1 and Figure 2 Each adaptive adjusting device 21 comprises a sliding rail 211 and two clamping parts 212. The sliding rail 211 extends along the width direction of the support frame 1 and is fixed on the top of the support frame 1. The clamping part 212 is arranged to slide along the track direction of the sliding rail 211. The clamping part 212 comprises a base 2121, a sliding part 2122 and a rubber wheel 2123. The sliding part 2122 is arranged above the sliding rail 211, and a limiting bolt is arranged on the side of the sliding part 2122 to limit the position between the sliding part 2122 and the sliding rail 211. The base 2121 is a cuboid, and the length direction of the base 2121 is perpendicular to the track direction of the sliding rail 211. The rubber wheel 2123 is arranged in an array along the length direction of the base 2121, and the rotation axis of the rubber wheel 2123 is perpendicular to the horizontal plane of the base 2121. The rubber wheel 2123 is arranged on the base 2121 through the rotation axis. When the model of the compensation chain changes, the position between the two sliding parts 2122 can be adjusted to keep the chain in the appropriate position. In an embodiment, one sliding part 2122 is fixed, and the other sliding part 2122 is arranged to slide. When the compensation chain passes through the adaptive adjusting device 21, the compensation chain can be always constrained within the preset tension threshold range between the fixed end and the sliding end.

[0040] Please refer to Figure 1 and Figure 2The stabilizing device 22 comprises L-shaped plates 221, stabilizing rollers 222 and stabilizing belts 223. Two L-shaped plates 221 are arranged on each stabilizing device 22. The two L-shaped plates 221 are arranged at the two ends of the support frame 1 in the width direction and symmetrically. The horizontal sections of the two L-shaped plates 221 are fixed to the top of the support frame 1. In an embodiment, the L-shaped plates 221 are fixed to the top of the support frame 1 by fixing bolts.

[0041] The stabilizing rollers 222 are arranged between the two L-shaped plates 221. The stabilizing rollers 222 are arranged in plurality. The stabilizing rollers 222 are arranged along the frame direction of the support frame 1. The stabilizing rollers 222 are arranged in sequence from the middle to the two ends in the length direction of the L-shaped plates 221. The stabilizing rollers 222 are arranged to rotate along the circumferential direction of the stabilizing rollers 222 on the L-shaped plates 221. In an embodiment, the surface of the stabilizing rollers 222 is coated with a plurality of layers of composite wear-resistant polyurethane buffer belts. The stabilizing belts 223 are arranged around the outer periphery of the two stabilizing rollers 222. The arrangement of the stabilizing device 22 forms a radial elastic constraint on the compensating chain on the stabilizing belt 223, forms a closed-loop dynamic contact interface, and realizes three-dimensional space limiting of the movement track of the compensating chain. The elastic contact surface formed on the surface of the stabilizing belt 223 improves the impact energy absorption rate of the compensating chain and the support surface. At the same time, the interface friction coefficient is optimized to effectively suppress the transverse vibration amplitude. In the continuous production working condition, the life of the chain transmission system is prolonged.

[0042] The pressing device 23 is arranged above the stabilizing device 22. The pressing device 23 is arranged corresponding to the stabilizing device 22. Each pressing device 23 comprises a fixed support 231, a driving device 232 and a pressing part 233. The fixed support 231 is arranged in connection with the support frame 1. The driving device 232 is arranged on the fixed support 231. The pressing part 233 is arranged below the driving device 232. The pressing part 233 is driven by the driving device 232 to displace in the vertical direction to abut above the stabilizing device 22.

[0043] In an embodiment, the fixed support 231 is consistent with the support frame 1 and is constructed by aluminum alloy profiles. The cross section of the fixed support 231 in the vertical direction is arranged in L shape. The vertical section of the fixed support 231 is connected with the support frame 1. In an embodiment, the vertical section of the fixed support 231 is integrally arranged with the vertical rod arranged vertically on the support frame 1. The horizontal section of the fixed support 231 is arranged at the top of the vertical section. The horizontal section of the fixed support 231 is arranged on the side of the vertical section pointing to the support frame 1.

[0044] The driving device 232 comprises a transverse fixed plate 2321 and driving cylinders 2322 on the fixed plate 2321, the cylinder barrels of the driving cylinders 2322 are fixed on the fixed plate 2321, and the driving cylinders 2322 are arranged downward. The driving cylinders 2322 are ISO 15552 standard cylinders, and precise displacement of 125mm axial stroke is realized by driving of the driving cylinders 2322, so that the compensation chain working surface forms a constant pressure contact interface of 0.1-0.2Mpa with the stabilizing device 22.

[0045] The pressing part 233 comprises a U-shaped connecting frame 2331, pressing rollers 2332 and a pressing belt 2333, wherein the U-shaped connecting frame 2331 is arranged downward with an opening and extends along the length direction of the support frame 1, and the top of the U-shaped connecting frame 2331 is connected with the driving cylinders 2322, and the height of the U-shaped connecting frame 2331 is adjusted by the driving cylinders 2322.

[0046] A plurality of the pressing rollers 2332 are arranged in the middle of the length direction of the U-shaped connecting frame 2331 and extend to both ends in sequence, and are arranged at the opening of the U-shaped connecting frame 2331. The pressing rollers 2332 are rotatably arranged on the U-shaped connecting frame 2331, and in an embodiment, the pressing rollers 2332 overlap with the projections of the stabilizing rollers 222 on the horizontal plane. The pressing belt 2333 is arranged around two pressing rollers 2332. By synchronous linkage output of the driving cylinders 2322, two groups of pressing rollers 2332 drive the compensation chain to realize symmetric dynamic constant pressure loading, so that the compensation chain working surface and the bearing plane realize full-time linear contact coupling. The pressing device 23 provided by the application can effectively eliminate the vertical displacement deviation caused by inertia impact in the compensation chain transmission process, the uniformity of the contact surface pressure distribution improves the stability of the chain body movement track, and meets the dynamic constraint requirements under the high-precision continuous conveying working condition.

[0047] The pressing rollers 2332 and the stabilizing rollers 222 are driven rollers, and are driven to rotate by the movement of the peripheral belt caused by the traction force of the compensation chain.

[0048] Please refer to Figure 3 and Figure 4The chain measuring mechanism 3 comprises a push-out air cylinder 31, a motor sliding table 32 and a length measuring sensor 33, wherein the push-out air cylinder 31 is fixed on the support frame 1 and located between the two pressing devices 23, and the extension direction of the push-out air cylinder 31 is the width direction of the support frame 1; the full-stroke push-out action is performed by the push-out air cylinder 31, so that the detection surface of the length measuring sensor 33 and the reference surface of the chain self-adapting device maintain a constant distance, and the geometric constraint relationship effectively guarantees the stability of the measurement reference of the length measuring system during the working process, and provides reliable mechanical positioning guarantee for the measurement distance parameter calibration of the length measuring sensor 33.

[0049] The motor sliding table 32 is provided with two Z-axis direction motor sliding tables 32 and X-axis direction motor sliding tables 32, each of the motor sliding tables 32 comprises a fixed seat 321, a screw rod 322, a driving motor 323 and a sliding block 324, the fixed seat 321 on each of the motor sliding tables 32 is provided with two fixed seats 321, the two fixed seats 321 are symmetrically arranged, and the two fixed seats 321 are connected through a connecting plate 3211, the screw rod 322 is rotationally arranged on the two fixed seats 321, the driving motor 323 is arranged on the outer side of one of the fixed seats 321 and connected with the screw rod 322, and the sliding block 324 is rotationally arranged on the screw rod 322.

[0050] One of the fixed seats 321 on the Z-axis direction motor sliding table 32 is connected and fixed with the piston rod of the push-out air cylinder, and the sliding block 324 on the Z-axis direction motor sliding table 32 is fixedly connected with the connecting plate 3211 on the X-axis direction motor sliding table 32. The length measuring sensor 33 is fixedly arranged on the sliding block 324 of the X-axis direction motor sliding table 32.

[0051] In an embodiment, the chain measuring mechanism 3 further comprises two pull rod encoders 34, one of which is located above one of the fixed plates 2321 and used to collect size data of the compensation chain in real time. The fixed section of the pull rod encoder 34 on this side is fixed above the fixed plate 2321, and the measuring section thereof points downward and abuts against the top of the U-shaped connecting frame 2331. When the compensation chain is positioned tightly, the axial dynamic displacement of the pressing device 23 is collected by measuring the distance between the U-shaped connecting frame 2331 and the fixed plate 2321 and converted into a digital coded signal, which is transmitted to the main control single-chip microcomputer through an SPI bus. Based on the real-time feedback data of the pull rod encoder 34, the single-chip microcomputer calculates the axial target positioning coordinates of the distance measuring sensor, and realizes closed-loop correction of the measurement reference.

[0052] The other pull rod encoder 34 is fixed on the base 2121, and this side of the pull rod encoder 34 is located on the side of the base 2121 away from the support frame 1. In an embodiment, the fixed section of the pull rod encoder 34 is fixedly arranged with the fixedly arranged clamping part 212 of the base 2121, and the measuring section thereof points to and abuts against the base 2121 on the movably arranged clamping part 212. The measuring section measures the moving distance of the base 2121 on the movable clamping part 212, so as to realize measurement of the compensation chain. The measuring section is a displaceably arranged detection guide rod. The displaceably arranged detection guide rod and the transmission surface of the compensation chain form a dynamic compensation module. When the adaptive adjustment device 21 generates progressive wear of the friction pair due to high-frequency replacement of the compensation chain, the pull rod encoder 34 generates a real-time displacement amount and generates a feedback signal, which is coupled with the main control single-chip microcomputer to form an electrical signal, so as to realize detection of the stability of the accuracy in the whole life cycle. In the present application, the two pull rod encoders 34 collect deformation data of the compensation chain in real time, so that the two motor sliding tables 32 perform millimeter-level linkage calibration, which can ensure that the length measuring sensor 33 reaches the target detection position. After detection is completed, the push-out cylinder 31 and the driving cylinder 2322 are reset synchronously to form an axial avoidance space, so as to maintain a safety distance of 80 mm between the length measuring sensor 33 and the compensation chain, and realize rapid replacement and high-speed detection of the compensation chain.

[0053] In the present application, the performance indicators and modeling requirements of some key elements are as follows:

[0054]

[0055] The control system block diagram and the software flowchart are as follows: Figure 7 and Figure 8As shown, the single-chip microcomputer reads the voltage value corresponding to the extension length of the pull rod encoder 34, and in the program, the voltage value is converted into the actual displacement length of the pull-up encoder by mapping the voltage value with the actual distance. Then the single-chip microcomputer combines the obtained measurement value with the preset position compensation amount, and when positioning, the single-chip microcomputer converts the total displacement amount after combining the measurement value with the preset compensation amount into the actual pulse number, so that the motor slider 324 moves to the required position.

[0056] In addition, the length measuring sensor in the present application is divided into filtering and feature extraction and peak detection, wherein the filtering uses Kalman filtering algorithm Figure 9 , and the peak detection algorithm is as shown in Figure 10 .

[0057] The chain link counting logic and length calculation method are as follows:

[0058] The structure of the compensation chain is as shown in Figure 11 , and the total length thereof can be directly calculated from the set parameters of the chain links, and the derivation process is as follows:

[0059] Let the measured total length of the compensation chain be , the length of a single compensation chain link be , the straight edge diameter be , and the pitch be , wherein , and the derivation formula is as shown below:

[0060]

[0061]

[0062] In the above formula, N is the final output result of the peak detection program, that is, the number of recognized chain links.

[0063] The system calibration in the present application is carried out by the following steps:

[0064] The two-axis sliding table is returned to the zero position by the serial port screen command, and the required chain type is reselected. The system drives the sliding table to position according to the chain parameters.

[0065] Working principle:

[0066] Please refer to Figure 5 and Figure 6 . During actual measurement, the compensation chain is passed through the two self-adaptive adjusting devices 21, and the moving end is pressed towards the fixed end.

[0067] The two side driving cylinders 2322 are controlled to descend, so that the chain pressing device 23 presses the compensation chain on the chain stabilizing device 22, so as to ensure that the initial position of the compensation chain does not change;

[0068] The chain measuring mechanism 3 is pushed out using the push-out cylinder 31, and the chain measuring mechanism 3 will control the motor sliding table 32 to move the measuring module to the measuring area according to the measurement data of the two pull rod encoders 34. After the movement stops, the vertical distance and the horizontal distance from the compensation chain are measured using the pull rod encoder 34, and it is determined whether the length measuring sensor 33 is within the length measuring position range. If it is within the length measuring position, the following steps are performed. If it is not within the length measuring position range, the Z-axis direction motor sliding table 32 is controlled to perform height correction until the length measuring sensor 33 reaches the length measuring position range.

[0069] After the length measuring sensor 33 enters the length measuring position range, the compensation chain is moved by external force or traction machine traction, the length measuring sensor 33 enters the continuous measurement mode, and the threshold is used to filter out useful signals for accumulation to obtain the real-time number of links of the compensation chain. Finally, the length of the compensation chain is converted according to the calculation formula; when the detected length reaches the set value, the length measuring system sends a stop signal to the control terminal to terminate the movement of the compensation chain, and the compensation chain stops and waits to be cut off. The length measuring system waits for the terminal signal to continue the next measurement.

[0070] During the length measuring process, the pull rod encoder 34 continuously measures the vertical height and horizontal distance from the compensation chain, and determines whether the length measuring sensor 33 is within the measuring height and horizontal range, so as to determine whether the length measuring sensor 33 is within the measuring height and horizontal range, and to move and correct the length measuring sensor 33 by controlling the motor sliding table 32, so as to avoid the occurrence of cut-off or saturated distortion of the sampling signal, and to improve the measurement accuracy.

[0071] After measuring a type, the push-out cylinder 31 and the drive cylinder 2322 are retracted to a suitable position, and the compensation chain can be easily taken out for cutting or replacement, without worrying about accidental touch of the length measuring sensor 33 during the replacement process.

[0072] The above content is described in combination with specific embodiments as follows:

[0073] First, after entering the chain ring size and target measurement length of the compensation chain in the serial screen, the air circuit control module is used to control the double-cylinder compression device to press down. The ring-shaped conveyor belt connected below the cylinder compresses the compensation chain to ensure its stable operation. A linear displacement sensor is installed on the side parallel to the cylinder to measure the height of the cylinder's descent. At the same time, the distance between the guide wheel groups is adjusted to accommodate different specifications of the compensation chain to pass through normally and be guided correctly. Linear displacement sensors are also installed between the guide wheel groups to measure the distance between them. By reading the height of the cylinder's descent and the distance between the guide wheel groups, the system processes the data to obtain the distance the slide needs to move, and moves the eddy current displacement sensor to the accurate measurement position. The length measurement module, as the core functional module of the system, is responsible for real-time acquisition of the compensation chain ring profile feature signal using the eddy current displacement sensor, and for filtering and denoising and feature recognition processing of the original signal. Specifically, the Kalman filtering algorithm is used to dynamically suppress external interference noise and improve signal smoothness and stability by combining historical data and current measurement state. Subsequently, the peak detection algorithm based on sliding window proposed in this paper is used to accurately extract the number of wave peaks in the chain ring feature signal. The system calculates the actual length of the compensation chain according to the mapping formula. The air circuit control module is responsible for controlling the opening and closing of the relay to indirectly control the cylinder and the inkjet device. By driving the two-position three-way electromagnetic valve through the relay, the air circuit to the double cylinder is controlled. When the electromagnetic valve is powered on, compressed air enters the cylinder through the air circuit pipeline, drives the compression mechanism to press down, and realizes reliable compression of the running compensation chain. When the electromagnetic valve is powered off, the cylinder piston rod retracts, and the compression mechanism lifts up. In addition, the module is also connected to the inkjet device. When the embedded system detects that the measurement value reaches the set value, it controls the relay to be briefly attracted and then turned off to generate an edge signal. The timing device receives the signal and causes the inkjet device to spray a marker point on the surface of the compensation chain to mark the cutting position.

[0074] Process:

[0075] 1. Collect the original signal and filter Figure 12 );

[0076] 2. Perform peak detection to detect 309 rising trend segments, 308 peak points, and 308 falling trend segments, which are consistent with the actual results shown in the actual waveform graph Figure 3 );

[0077] 3. Specific measurement data

[0078]

[0079] The relative error of the measurement is within 5‰, and the relative error standard deviation indicates good repeatability.

[0080] The elevator compensation chain length measuring device provided by the application is not affected by the smoothness of the surface of the compensation chain during the measurement process, and the vibration and friction of the compensation chain during the length measurement process are reduced, thereby reducing the possibility of error occurrence and further improving the measurement accuracy.

[0081] In the application, the pneumatic positioning execution module (push-out air cylinder 31) and the X / Z-axis high-precision motor sliding table 32 constitute a driving mechanism through the setting of the two motor sliding tables 32, and a multi-degree-of-freedom quick reset mechanism is formed through the linear driving output of the air cylinder and the precise servo control of the two-axis sliding table.

[0082] In the application, the pull rod encoder 34 is orthogonally arranged on the X-axis and the Z-axis, the pull rod encoder 34 forms a data path with a microcontroller unit (MCU) through an analog-to-digital conversion (ADC) module, and the linear displacement of the orthogonal axes is collected and quantized in real time. The configuration enables the length measuring device to synchronously obtain the position feedback signal with millimeter-level accuracy in the X-Z plane, realizes dynamic compensation and correction of the length measuring sensor 33, and effectively eliminates the control deviation caused by the mechanical gap error in the distance measuring system.

[0083] In addition, the setting of the pull rod encoder 34 enables automatic correction of the measurement distance during the measurement process, improves the measurement accuracy, and shortens the time for repeated positioning of the length measuring system.

Claims

1. An elevator compensating chain length measuring device comprising a support frame and a length measuring sensor, characterized in that: The upper part of the support frame is provided with two groups of stable devices which are centrally symmetrical along the length direction of the support frame, each of the stable devices comprises two stable rollers extending along the width direction of the support frame and a stable belt sleeved outside the stable rollers, and each of the stable devices is provided with a pressing device above, the pressing device comprises a pressing roller corresponding to the stable roller and a pressing belt sleeved outside the pressing roller, and a driving device is arranged above the pressing device to drive the pressing device to move in the vertical direction; a motor sliding table is arranged between the two groups of stable devices on the support frame to adjust the Z-axis and X-axis directions of the length measuring sensor; The length measuring sensor is divided into filtering and feature extraction and peak value detection, wherein the Kalman filtering algorithm is used for filtering, and the algorithm steps of the peak value detection are as follows: S1: the peak detection signal is filtered, a sliding window W is set, the length is I and is odd, W={w1, w2, …, w I}; S2: filtered data in the window from w1 to w I Fill in sequence, then compare the whole sliding window; if the data in the sliding window is in the rising waveform segment, that is, w1 < w2 < … < w I , then C r is increased by 1, and the detection is repeated until C r ≥ C, C r is cleared, and the trend flag U f is set to zero, and the trend accumulation N is increased by 1; when C r <C, if the data in the window does not satisfy w1 < w2 < … < w I , then E c is increased by 1; when E c ≥ E, the trend is not obvious, C r is cleared, and the detection is repeated until C r ≥ C; S3: Then, the local extremum method is used to detect the peak value. Since the detected value is not a strict peak value but an extremum of the peak position, only w m-1 ≤w m >w m+1 or w m-1 <w m ≥w m+1 is required to determine that the peak position is detected, where w m is the number in the middle of the sliding window, and the trend flag U f is set to -1 at this time; S4: Start detecting the falling trend section, window sliding receiving new data and making judgment, before detecting the falling trend section, the rising trend flag bit and the value of trend change counter remain unchanged; if detecting the data in the sliding window is in the falling waveform section, that is, w1> w2>…>w I , then C d is increased by 1, and the detection is repeated until C d ≥ C, C d is cleared, the trend flag bit U f is set to 1, and the trend change counter N is increased by 1; when C d < C, if detecting the data in the window does not satisfy w1> w2>…>w I , the last processing process in step one is also executed until C d ≥ C; the data in the sliding window is updated again, and the next rising trend judgment is prepared, and the cycle is run, during which the value of the trend cumulative amount N is constantly updated; The total length L of the compensation chain is as follows: L=N(l-2d)+2d Wherein, N is the number of chain rings, l is the length of a single chain ring, and d is the diameter of the straight edge of the chain ring.

2. A compensating chain length measuring device for an elevator according to claim 1, characterized in that The driving device comprises a fixed plate and a driving cylinder located on the fixed plate, the fixed plate is fixedly arranged on the support frame, the cylinder barrel of the driving cylinder is fixed on the fixed plate and is arranged downward, the end of the piston rod of the driving cylinder is connected with a U-shaped connecting frame, the opening of the U-shaped connecting frame points downward and extends along the length direction of the support frame, the two pressing rollers are located at the two ends of the length direction of the U-shaped connecting frame and are located at the opening of the U-shaped connecting frame, and the pressing rollers are rotatably arranged on the U-shaped connecting frame.

3. The elevator compensating chain length measuring device according to claim 1, characterized in that: A push-out cylinder is arranged on the support frame, the push-out cylinder is located between the two stable devices, the push-out cylinder extends along the width direction of the support frame, and the end of the push-out cylinder is connected with the motor sliding table to drive the length measuring sensor and adjust the measurement position.

4. An elevator compensating chain length measuring device according to claim 3, characterized in that: The motor sliding table is provided with two motor sliding tables, the two motor sliding tables are a Z-axis direction motor sliding table and an X-axis direction motor sliding table, each of the motor sliding tables comprises two fixed seats and a sliding block, the two fixed seats are connected through a connecting plate, the sliding block is slidably arranged along the length direction of the connecting plate, one side of the fixed seat on the Z-axis direction motor sliding table is fixedly connected with the piston rod of the push-out cylinder, the sliding block on the Z-axis direction motor sliding table is fixedly connected with the connecting plate on the X-axis direction motor sliding table, and the length measuring sensor is fixedly arranged on the sliding block of the X-axis direction motor sliding table.

5. An elevator compensating chain length measuring device according to claim 4, characterized in that: The motor sliding table further comprises a lead screw, a driving motor and a guide rod, the lead screw is rotatably arranged on the two fixed seats, the driving motor is arranged outside one of the fixed seats and is connected with the lead screw, the sliding block is rotatably arranged on the lead screw, and the guide rod is located between the two fixed seats and is parallel to the lead screw, and the guide rod passes through the sliding block.

6. A compensating chain length measuring device for an elevator as defined in claim 1, characterized in that Two adaptive adjusting devices are further included, and two adaptive adjusting devices are respectively arranged on the sides of the two stabilizing devices away from each other. The adaptive adjusting device comprises a sliding rail and two clamping parts. The sliding rail is fixed on the support frame, and the sliding rail extends along the width direction of the support frame. One clamping part is fixed on one end of the sliding rail in the track direction, and the other clamping part is arranged in sliding mode along the track direction of the sliding rail.

7. An elevator compensating chain length measuring device according to claim 6, characterized in that: The clamping part comprises a base, a sliding part and a plurality of rubber wheels. The sliding part is arranged above the sliding rail. Limiting bolts are arranged on the side of the sliding part and abut on the sliding rail. The position between the sliding part and the sliding rail is limited by the limiting bolts. The base is in the shape of a cuboid. The length direction of the base is perpendicular to the track direction of the sliding rail. The rubber wheels are arranged in an array along the length direction of the base.

8. An elevator compensating chain length measuring device according to claim 7, characterized in that: Two pull rod encoders are further included. One pull rod encoder is arranged above one driving device to collect the size data of the compensation chain in real time. The other pull rod encoder is arranged on the base away from the fixed plate where the pull rod encoder is arranged. The pull rod encoder on the base away from the fixed plate where the pull rod encoder is arranged is used to detect the distance between the two clamping parts.

9. The elevator compensating chain length measuring device of claim 1, wherein: The stabilizing device further comprises an L-shaped plate. Two L-shaped plates are arranged on each stabilizing device. The two L-shaped plates are arranged at the two ends of the width direction of the support frame. The two L-shaped plates are symmetrically arranged. The horizontal segments of the two L-shaped plates are fixed on the top of the support frame. The two stabilizing rollers are arranged at the two ends of the length direction of the L-shaped plate and between the two L-shaped plates. The stabilizing rollers are arranged in rotating mode on the L-shaped plate.

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