Elevator guide rail verticality detection machine

Abstract

The utility model discloses an elevator guide rail perpendicularity detection machine, including walking mechanism, detection mechanism and control mechanism, walking mechanism includes robot car body, the four corners of robot car body are equipped with drive wheel, the inboard of robot car body is fixed with electric cylinder, the piston rod end of electric cylinder is equipped with clamping wheel, the top of robot car body is equipped with safety module and is equipped with function module in the bottom, detection mechanism includes inertia measurement unit, laser range sensor and encoder, control mechanism includes electric control box, be equipped with signal receiver, PLC and signal transmitter in electric control box. The elevator guide rail perpendicularity detection machine design is advanced, and reliable operation is realized, and a plurality of function modules are integrated, realize guide rail perpendicularity detection, clean, noise and vibration detection and the defect identification such as many functions in an organic whole, not only has improved the detection efficiency, still greatly reduced equipment cost and maintenance difficulty.

Description

Technical Field

[0001] This utility model belongs to the technical field of elevator guide rail testing equipment, specifically relating to an elevator guide rail verticality testing machine. Background Technology

[0002] An elevator guide rail verticality testing machine is a precision instrument specifically designed for automatically and accurately measuring key parameters such as the verticality and span of elevator guide rails installed within the elevator shaft. It replaces traditional methods such as manual stringing, plumb bobs, and optical theodolites, and is an indispensable high-tech device in modern elevator installation, acceptance, and maintenance. Its core task is to ensure that the elevator guide rails meet extremely high verticality and straightness requirements throughout the entire shaft height, a crucial prerequisite for ensuring smooth, comfortable, low-noise, and safe elevator operation. The testing machine is typically an integrated electromechanical device combining multiple sensors, an automatic drive system, and a computer processing unit. Its workflow can be summarized as "crawling-measuring-recording-analyzing."

[0003] Elevator guide rail verticality testing machines offer advantages such as high precision, high efficiency, high reliability, and automation and intelligence. Their application is a significant indicator of the elevator industry's move towards digitalization and intelligence. However, existing elevator guide rail verticality testing machines suffer from limited functionality. Therefore, there is an urgent need to design a new elevator guide rail verticality testing machine to address these issues. Utility Model Content

[0004] The purpose of this invention is to provide an elevator guide rail verticality testing machine to solve the problems existing in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an elevator guide rail verticality testing machine, comprising: The walking mechanism includes a robot body, drive wheels at the four corners of the robot body, an electric cylinder fixed to the inner side of the robot body, a clamping wheel at the end of the piston rod of the electric cylinder, a power module fixed to the inner top surface of the robot body, a safety module at the top of the robot body and a functional module at the bottom. The detection mechanism includes an inertial measurement unit, a laser rangefinder, and an encoder fixed to the top of the robot body; The control mechanism includes an electrical control box fixed to the top of the robot body, and the electrical control box contains a signal receiver, a PLC, and a signal transmitter wirelessly connected to the signal receiver.

[0006] Furthermore, the inertial measurement unit is used to measure the acceleration and angular velocity information of the robot body in three-dimensional space in real time, the laser rangefinder is used to measure the vertical distance between the robot body and the elevator guide rail, and the encoder is coaxially connected to the drive wheel to record the number of rotations of the drive wheel to calculate the moving distance of the robot body.

[0007] Furthermore, the PLC in the control box receives detection data from the inertial measurement unit, laser rangefinder, and encoder through a signal receiver, and processes the data according to a preset algorithm to obtain the verticality information of the elevator guide rail. The signal transmitter wirelessly transmits the processed verticality information to an external monitoring terminal.

[0008] Furthermore, there are four drive wheels, all of which are arranged vertically and are in contact with the connection surface of the elevator guide rail. A drive motor is fixed to the bottom side of the robot body, and the drive motor is connected to the drive wheels through a sprocket and chain.

[0009] Furthermore, there are at least two electric cylinders and two clamping wheels, with the two electric cylinders arranged opposite each other and the two clamping wheels arranged horizontally and pressed against the guide surface of the elevator guide rail.

[0010] Furthermore, the safety module includes a safety rope and a fall arrestor. The fall arrestor is fixed to the top of the elevator shaft, the safety rope is wound around a drum, one end of the safety rope is fixedly connected to the drum, and the other end of the safety rope passes through the fall arrestor and is fixedly connected to the top of the robot body.

[0011] Furthermore, the functional module is a guide rail cleaning module, which includes a cleaning brush and a dust collection box located directly below the cleaning brush. The bristles of the cleaning brush are in close contact with the surface of the elevator guide rail, and the opening of the dust collection box is oriented towards the cleaning brush.

[0012] Furthermore, the functional module employs a noise and vibration detection module, which includes a vibration sensor and a noise sensor. The vibration sensor is installed close to the surface of the elevator guide rail to detect vibration data during the guide rail's operation in real time. The noise sensor is installed near the guide rail to collect the decibel value of the noise generated by the guide rail's operation.

[0013] Furthermore, the functional module is a guide rail defect identification module, which includes an industrial camera and an image processing unit. The lens of the industrial camera is set directly facing the surface of the elevator guide rail to collect image information of the guide rail surface. The image processing unit is electrically connected to the industrial camera to process the collected image information and identify the type and location of defects on the guide rail surface.

[0014] The technical effects and advantages of this utility model are as follows: This elevator guide rail verticality testing machine features an advanced design, compact structure, ease of use, and reliable operation. By integrating multiple functional modules, it achieves multiple functions in one unit, including guide rail verticality testing, cleaning, noise and vibration detection, and defect identification. This multi-functional integrated design not only improves testing efficiency but also significantly reduces equipment costs and maintenance difficulty. Furthermore, the walking mechanism employs a four-wheel drive system combined with electric cylinders and clamping wheels, ensuring stable movement and accurate measurement of the robot body on the elevator guide rail. High-precision sensors such as the inertial measurement unit, laser rangefinder, and encoder in the testing mechanism can acquire guide rail verticality information in real time and accurately, providing strong support for the safe operation of the elevator. The control mechanism processes and analyzes the testing data through a PLC, achieving automated data processing and wireless transmission, further improving the level of intelligent testing. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a structural schematic diagram of the present invention from another angle; Figure 3 This is the right view of the present invention; Figure 4 This is the left view of the present invention; Figure 5 This is a bottom view of the present invention; Figure 6 This is a schematic diagram of the functional modules in Embodiment 1 of this utility model; Figure 7 This is a schematic diagram of the functional modules in Embodiment 2 of this utility model; Figure 8 This is a schematic diagram of the functional modules in Embodiment 3 of this utility model.

[0016] In the diagram: 100, Walking mechanism; 101, Robot body; 102, Drive wheel; 103, Drive motor; 104, Electric cylinder; 105, Clamping wheel; 106, Power module; 107, Safety module; 1071, Safety rope; 1072, Fall arrestor; 108, Functional module; 1081, Cleaning brush; 1082, Dust collection box; 1083, Vibration sensor; 1084, Noise sensor; 1085, Industrial camera; 1086, Image processing unit; 200, Detection mechanism; 201, Inertial measurement unit; 202, Laser rangefinder sensor; 203, Encoder; 300, Control mechanism; 301, Electrical control box. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] Example 1: This utility model provides, for example Figure 1-6 The elevator guide rail verticality testing machine shown in the figure includes: The walking mechanism 100 includes a robot body 101. Drive wheels 102 are located at the four corners of the robot body 101. An electric cylinder 104 is fixed to the inner side of the robot body 101. A clamping wheel 105 is located at the end of the piston rod of the electric cylinder 104. A power module 106 is fixed to the inner top surface of the robot body 101. A safety module 107 is located at the top of the robot body 101, and a functional module 108 is located at the bottom. The power module 106 uses a rechargeable lithium battery pack, which has the advantages of high energy density, long lifespan, and low self-discharge rate. It can provide stable and reliable power support for various modules on the robot body 101. When the robot body 101 is running, the power module 106 will rationally allocate power according to the working needs of each module, ensuring that the entire testing machine can work stably for a long time without frequent battery replacements.

[0021] The detection mechanism 200 includes an inertial measurement unit 201, a laser rangefinder 202, and an encoder 203 fixed to the top of the robot body 101. The control mechanism 300 includes an electrical control box 301 fixed to the top of the robot body 101. The electrical control box 301 contains a signal receiver, a PLC, and a signal transmitter that is wirelessly connected to the signal receiver.

[0022] For example, see Figure 1 , Figure 3 and Figure 5 As shown, the inertial measurement unit 201 is used to measure the acceleration and angular velocity information of the robot body 101 in three-dimensional space in real time, the laser range sensor 202 is used to measure the vertical distance between the robot body 101 and the elevator guide rail, and the encoder 203 is coaxially connected to the drive wheel 102 to record the number of rotations of the drive wheel 102 to calculate the moving distance of the robot body 101.

[0023] In this technical solution, the inertial measurement unit 201 adopts advanced microelectromechanical systems (MEMS) technology, featuring high precision, small size, and low power consumption. By accurately measuring the acceleration and angular velocity information of the robot body 101 in three-dimensional space, it provides key motion data for verticality detection. The laser rangefinder 202 utilizes the time-of-flight principle of laser pulses to quickly and accurately measure the vertical distance between the robot body 101 and the elevator guide rail, with a measurement accuracy down to the millimeter level, effectively ensuring the accuracy of verticality detection. By coaxially connecting the encoder 203 to the drive wheel 102, as the drive wheel 102 rotates, the encoder 203 records the number of rotations of the drive wheel 102 in real time and converts it into the moving distance of the robot body 101 through a built-in calculation program, providing a position reference for verticality detection.

[0024] For example, the PLC in the control box 301 receives detection data from the inertial measurement unit 201, the laser range sensor 202 and the encoder 203 through the signal receiver, and processes the data according to the preset algorithm to obtain the verticality information of the elevator guide rail. The signal transmitter wirelessly transmits the processed verticality information to the external monitoring terminal.

[0025] In this technical solution, the detection data includes the motion state of the robot body 101 and its relative position with the elevator guide rail, which allows staff to monitor the installation status of the elevator guide rail in real time and make timely adjustments and decisions.

[0026] For example, see Figure 2 and Figure 4As shown, there are four drive wheels 102. All four drive wheels 102 are arranged vertically and are in contact with the connection surface of the elevator guide rail. A drive motor 103 is fixed on the bottom side of the robot body 101. The drive motor 103 is connected to the drive wheels 102 through a sprocket chain.

[0027] In this technical solution, four drive wheels 102 are evenly distributed at the four corners of the robot body 101, ensuring stable support and uniform force distribution on the elevator guide rail. The drive motor 103 is connected to the drive wheels 102 through a sprocket and chain, realizing efficient power transmission and enabling the robot body 101 to move flexibly and accurately along the elevator guide rail. The drive motor 103 adopts a high-performance servo motor, which has the characteristics of fast response speed and high control precision, and can accurately adjust the moving speed and direction of the robot body 101 according to the control command.

[0028] For example, see Figure 2 , Figure 4 and Figure 5 As shown, there are at least two electric cylinders 104 and two clamping wheels 105. The two electric cylinders 104 are arranged correspondingly, and the two clamping wheels 105 are arranged in the horizontal direction and are pressed against the guide surface of the elevator guide rail.

[0029] In this technical solution, when the robot body 101 moves on the elevator guide rail, the electric cylinder 104 can adjust the extension and retraction length of the piston rod as needed, thereby changing the pressure of the clamping wheel 105 on the guide surface of the elevator guide rail, ensuring that the robot body 101 will not deviate or fall during the measurement process, thus improving the accuracy and safety of the measurement.

[0030] For example, see Figures 1-4 As shown, the safety module 107 includes a safety rope 1071 and a fall arrestor 1072. The fall arrestor 1072 is fixed to the top of the elevator shaft. The safety rope 1071 is wound around a drum. One end of the safety rope 1071 is fixedly connected to the drum, and the other end of the safety rope 1071 passes through the fall arrestor 1072 and is fixedly connected to the top of the robot body 101.

[0031] In this technical solution, under normal working conditions, the safety rope 1071 is slowly released or wound up as the robot body 101 moves. Once the robot body 101 falls unexpectedly, the fall arrestor 1072 will quickly lock the safety rope 1071 to prevent the robot body 101 from falling further, thus ensuring the safety of the equipment and personnel. The working principle of the fall arrestor 1072 is within the scope of existing technology and will not be elaborated here.

[0032] For example, see Figure 6As shown, the functional module 108 is a guide rail cleaning module. The functional module 108 includes a cleaning brush 1081 and a dust collection box 1082 located directly below the cleaning brush 1081. The bristles of the cleaning brush 1081 are in close contact with the surface of the elevator guide rail, and the opening of the dust collection box 1082 is set towards the cleaning brush 1081.

[0033] In this technical solution, the functional module 108 has multiple selectable types to adapt to different detection needs. When the guide rail cleaning module is used, the bristles of the cleaning brush 1081 are in close contact with the surface of the elevator guide rail. During the movement of the robot body 101, the cleaning brush 1081 can clean the surface of the elevator guide rail, removing dust and debris. The dust collection box 1082 located directly below the cleaning brush 1081 has its opening facing the cleaning brush 1081 to collect the swept dust and debris, keeping the surface of the elevator guide rail clean.

[0034] Example 2: For example, see Figure 7 As shown, the difference from Embodiment 1 is that the functional module 108 is a noise and vibration detection module. The functional module 108 includes a vibration sensor 1083 and a noise sensor 1084. The vibration sensor 1083 is set close to the surface of the elevator guide rail and is used to detect the vibration data during the operation of the guide rail in real time. The noise sensor 1084 is installed near the guide rail and is used to collect the decibel value of the noise generated by the operation of the guide rail.

[0035] In this technical solution, when a noise and vibration detection module is used, the vibration sensor 1083 is installed close to the surface of the elevator guide rail, enabling real-time detection of vibration data during the guide rail's operation. This vibration data reflects the installation quality and usage condition of the elevator guide rail. Abnormal vibration data may indicate that the guide rail is loose. The noise sensor 1084 is installed near the guide rail to collect the decibel value of the noise generated by the guide rail's operation. Excessively high noise decibel values ​​may indicate friction or collision between the guide rail and other elevator components. By analyzing the noise data, potential safety hazards can be identified and resolved in a timely manner. In addition, the PLC in the electrical control box 301 establishes electrical connections with the vibration sensor 1083 and the noise sensor 1084, facilitating the transmission of the collected vibration frequency, acceleration parameters, and noise spectrum data to an external monitoring terminal.

[0036] Example 3: For example, see Figure 8As shown, the difference from Embodiment 1 is that the functional module 108 is a guide rail defect recognition module. The functional module 108 includes an industrial camera 1085 and an image processing unit 1086. The lens of the industrial camera 1085 is set facing the surface of the elevator guide rail to collect image information of the guide rail surface. The image processing unit 1086 is electrically connected to the industrial camera 1085 to process the collected image information and identify the type and location of defects on the guide rail surface.

[0037] In this technical solution, when the guide rail defect recognition module is used, the lens of the industrial camera 1085 is positioned directly facing the surface of the elevator guide rail, enabling it to capture image information of the guide rail surface. The image processing unit 1086 is electrically connected to the industrial camera 1085, processing the captured image information and identifying the type and location of defects on the guide rail surface. For example, it can identify defects such as cracks, scratches, and deformations on the guide rail surface and accurately mark the defect information on the image, facilitating inspection and repair by personnel. Furthermore, the PLC image processing unit 1086 within the electrical control box 301 is electrically connected, facilitating the transmission of the captured image information to an external monitoring terminal.

[0038] Working Principle: When using this elevator guide rail verticality testing machine, firstly, place the robot body 101 on the elevator guide rail, ensuring that the four drive wheels 102 are tightly fitted with the connecting surfaces of the elevator guide rail. Simultaneously, adjust the electric cylinder 104 to make the clamping wheel 105 press against the guide surface of the elevator guide rail, providing stable support for the robot body 101. Then, turn on the power module 106 to power the various modules on the robot body 101. At this time, the inertial measurement unit 201, laser range sensor 202, and encoder 203 begin to work. The inertial measurement unit 201 measures the acceleration and angular velocity information of the robot body 101 in three-dimensional space in real time. The laser range sensor 202 measures the vertical distance between the robot body 101 and the elevator guide rail. The encoder 203 records the number of rotations of the drive wheels 102 to calculate the moving distance of the robot body 101. The PLC in the control box 301 receives signals through the signal receiver. The detection data from the aforementioned sensors is processed according to a preset algorithm to obtain the verticality information of the elevator guide rail. If the functional module 108 is a guide rail cleaning module, the cleaning brush 1081 will sweep the surface of the elevator guide rail to remove dust and debris during the movement of the robot body 101, and the dust collection box 1082 will collect the swept dust and debris. If the functional module 108 is a noise and vibration detection module, the vibration sensor 1083 is set close to the surface of the elevator guide rail to detect the vibration data during the operation of the guide rail in real time, and the noise sensor 1084 collects the decibel value of the noise generated by the operation of the guide rail. If the functional module 108 is a guide rail defect recognition module, the lens of the industrial camera 1085 is set directly towards the surface of the elevator guide rail to collect image information of the guide rail surface, and the image processing unit 1086 processes the collected image information and identifies the type and location of defects on the guide rail surface. Finally, the signal transmitter wirelessly transmits the processed verticality information and other relevant data to an external monitoring terminal, enabling staff to monitor the installation, operation, and surface condition of the elevator guide rails in real time and make timely adjustments and decisions.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A verticality testing machine for elevator guide rails, characterized in that, include: The walking mechanism (100) includes a robot body (101), drive wheels (102) are provided at the four corners of the robot body (101), an electric cylinder (104) is fixed on the inner side of the robot body (101), a clamping wheel (105) is provided at the piston rod end of the electric cylinder (104), a power module (106) is fixed on the inner top surface of the robot body (101), a safety module (107) is provided at the top of the robot body (101) and a functional module (108) is provided at the bottom. The detection mechanism (200) includes an inertial measurement unit (201), a laser range sensor (202), and an encoder (203) fixed to the top of the robot body (101). The control mechanism (300) includes an electrical control box (301) fixed to the top of the robot body (101), and the electrical control box (301) is equipped with a signal receiver, a PLC and a signal transmitter wirelessly connected to the signal receiver.

2. The elevator guide rail verticality testing machine according to claim 1, characterized in that: The inertial measurement unit (201) is used to measure the acceleration and angular velocity information of the robot body (101) in three-dimensional space in real time. The laser range sensor (202) is used to measure the vertical distance between the robot body (101) and the elevator guide rail. The encoder (203) is coaxially connected to the drive wheel (102) and is used to record the number of rotations of the drive wheel (102) to calculate the moving distance of the robot body (101).

3. The elevator guide rail verticality testing machine according to claim 1, characterized in that: The PLC in the electrical control box (301) receives detection data from the inertial measurement unit (201), laser range sensor (202) and encoder (203) through the signal receiver, and processes the data according to the preset algorithm to obtain the verticality information of the elevator guide rail. The signal transmitter wirelessly transmits the processed verticality information to the external monitoring terminal.

4. The elevator guide rail verticality testing machine according to claim 1, characterized in that: There are four drive wheels (102). All four drive wheels (102) are arranged vertically and are in contact with the connection surface of the elevator guide rail. A drive motor (103) is fixed on the bottom side of the robot body (101). The drive motor (103) is connected to the drive wheels (102) through a sprocket chain.

5. The elevator guide rail verticality testing machine according to claim 1, characterized in that: At least two electric cylinders (104) and clamping wheels (105) are provided. The two electric cylinders (104) are arranged correspondingly, and the two clamping wheels (105) are arranged in the horizontal direction and are pressed against the guide surface of the elevator guide rail.

6. The elevator guide rail verticality testing machine according to claim 1, characterized in that: The safety module (107) includes a safety rope (1071) and a fall arrestor (1072). The fall arrestor (1072) is fixed to the top of the elevator shaft. The safety rope (1071) is wound around a drum. One end of the safety rope (1071) is fixedly connected to the drum, and the other end of the safety rope (1071) passes through the fall arrestor (1072) and is fixedly connected to the top of the robot body (101).

7. The elevator guide rail verticality testing machine according to claim 1, characterized in that: The functional module (108) is a guide rail cleaning module. The functional module (108) includes a cleaning brush (1081) and a dust collection box (1082) located directly below the cleaning brush (1081). The bristles of the cleaning brush (1081) are in close contact with the surface of the elevator guide rail, and the opening of the dust collection box (1082) is set towards the cleaning brush (1081).

8. The elevator guide rail verticality testing machine according to claim 1, characterized in that: The functional module (108) is a noise and vibration detection module. The functional module (108) includes a vibration sensor (1083) and a noise sensor (1084). The vibration sensor (1083) is set close to the surface of the elevator guide rail and is used to detect the vibration data during the operation of the guide rail in real time. The noise sensor (1084) is installed near the guide rail and is used to collect the decibel value of the noise generated by the operation of the guide rail.

9. The elevator guide rail verticality testing machine according to claim 1, characterized in that: The functional module (108) is a guide rail defect identification module. The functional module (108) includes an industrial camera (1085) and an image processing unit (1086). The lens of the industrial camera (1085) is set facing the surface of the elevator guide rail to collect image information of the guide rail surface. The image processing unit (1086) is electrically connected to the industrial camera (1085) to process the collected image information and identify the defect type and location of the guide rail surface.

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