Self-error calibration method for an orbital elevator

Abstract

The present invention provides a self-error calibration method for an orbital elevator, which relates to the technical field of automatic control and includes the following steps: setting a first comparison track and a second comparison track; obtaining the height of a standard track, and lifting the standard track to a first predetermined height by lifting the elevator; driving the standard track to adjust by several unit heights until the standard track is flush with the first comparison track, and recording the first adjustment value; lifting the standard track to a second predetermined height by the elevator; driving the standard track to adjust by several unit heights until the standard track is flush with the second comparison track, and recording the second adjustment value; calculating the elevator error and correcting it. The present invention performs self-inspection on the elevator by setting comparison tracks, obtains the elevator error, and corrects the use of the elevator through this error, ensuring the accurate and effective subsequent use of the elevator and guaranteeing the accuracy of the standard track during the detection process.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular, to a method for calibrating the self-error of a rail elevator. Background Art

[0002] In the hanging production system, the transportation track of the production line is composed of small sections of tracks. In order to ensure that each track is flush with each other and avoid uneven track joints that may cause stops in the transportation of the hanging carrier during actual transportation, it is necessary to calibrate and test the installed track during the track splicing and installation process. At present, there is a track calibration elevator to calibrate and test the installed track. It is equipped with a section of standard track. By controlling the standard track to rise and fall to the track that needs to be calibrated and tested, it can be judged whether the installed track is skewed and needs calibration based on whether the joints between the two are flush. However, in addition to the inconsistency in horizontal height, the unevenness of the track joints may also be because although they are at the same horizontal height, the cross-section has a certain deflection, resulting in the cross-sections of the two tracks cannot be aligned.

[0003] Currently, the entire calibration process is done manually, that is, the standard track of the elevator is manually controlled to rise and fall, and the alignment is judged by naked eyes. This method is not only labor-intensive, but also has low calibration efficiency and large errors in the test results.

[0004] In addition, after the standard track is raised and lowered multiple times by the elevator, the elevator itself may also have errors, and this error is difficult to detect when it first appears, causing the transport track to gradually deviate from the predetermined installation position during installation. Even if the standard track is used for calibration, the accuracy will be reduced, resulting in poor installation of the transport track.

[0005] Therefore, in order to solve the above problems, it is necessary for us to design a reasonable method for calibrating the self-error of the rail elevator. Summary of the invention

[0006] The purpose of the present invention is to provide a method for calibrating the self-error of a track elevator. By setting a comparison track to perform self-inspection on the elevator, the error of the elevator is obtained, and the use of the elevator is corrected according to the error, so as to ensure the accuracy and effectiveness of the subsequent use of the elevator, and the accuracy of the standard track during the detection process is guaranteed. The whole process can be completed automatically, effectively improving the calibration efficiency.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A method for calibrating the self-error of a rail elevator comprises the following steps:

[0009] S1: Set a first comparison track at a first predetermined height of the elevator and a second comparison track at a second predetermined height of the elevator;

[0010] S2: Obtain the real-time height of the standard track on the elevator at every predetermined time interval, obtain the first height difference between the real-time height and the first predetermined height, and make the standard track rise or fall to the first predetermined height by raising or lowering the elevator by the first height difference;

[0011] S3: Determine whether the standard track is flush with the first comparison track. If so, directly execute step S4; otherwise, drive the standard track to adjust by several unit heights until the standard track is flush with the first comparison track, record the first adjustment value, and execute step S4;

[0012] S4: Obtain the second height difference between the first predetermined height and the second predetermined height, and make the standard track rise or fall to the second predetermined height by raising or lowering the elevator by the second height difference;

[0013] S5: Determine whether the standard track is flush with the second comparison track. If so, directly execute step S6; otherwise, drive the standard track to adjust by several unit heights until the standard track is flush with the second comparison track, record the second adjustment value, and execute step S6;

[0014] S6: Calculate the height error of the elevator according to the first adjustment value and the second adjustment value, and correct the elevator.

[0015] As a preference of the present invention, when executing step S1, the first comparison track and the second comparison track are arranged on the same side of the elevator.

[0016] As a preference of the present invention, when executing step S1, the difference between the first predetermined height and the second predetermined height is not less than 50 cm.

[0017] As a preference of the present invention, when executing step S2, at every predetermined time interval, randomly generate a height value, make the standard track on the elevator rise or fall to this height value by the elevator, and then obtain the real-time height of the standard track on the elevator.

[0018] As a preference of the present invention, when executing step S2, obtain the distance between the standard track and the ground through an infrared rangefinder under the standard track, which is the real-time height of the standard track.

[0019] As a preference of the present invention, when performing step S3, when the standard track is not aligned with the first comparison track, the position of the standard track relative to the first comparison track is sensed by a first infrared sensor provided on the first comparison track, and the standard track is driven by a lift to perform unit height adjustment m times in the direction of alignment with the first comparison track until the standard track is aligned with the first comparison track;

[0020] When performing step S5, when the standard track is not aligned with the second comparison track, the position of the standard track relative to the second comparison track is sensed by a second infrared sensor provided on the second comparison track, and the standard track is driven by a lift to perform unit height adjustment n times in the direction of alignment with the second comparison track until the standard track is aligned with the second comparison track.

[0021] As a preference of the present invention, after performing step S6, it further includes:

[0022] Step S7: Driving the standard track to horizontally rotate 180°;

[0023] Step S8: Judging whether the standard track is aligned with the second comparison track. If so, directly perform step S9; otherwise, drive the standard track to adjust by several unit heights until the standard track is aligned with the second comparison track, record the third adjustment value, and perform step S9;

[0024] S9: Calculating the attitude error of the lift according to the first adjustment value, the second adjustment value, and the third adjustment value, and correcting the lift.

[0025] As a preference of the present invention, when performing steps S2 to S9, the first height difference, the second height difference, the first adjustment value, the second adjustment value, and the third adjustment value are positive or negative values.

[0026] As a preference of the present invention, when performing step S6, judging whether the height error of the lift is within the first error range. If so, input the height error of the lift into the lift controller for lift correction; otherwise, send a first alarm message.

[0027] As a preference of the present invention, when performing step S9, judging whether the attitude error of the lift is within the second error range. If so, input the attitude error of the lift into the lift controller for attitude correction; otherwise, send a second alarm message.

[0028] The beneficial effect of the self-error calibration method of a track lift of the present invention is that: by setting up comparison tracks to perform self-inspection on the lift to obtain the error of the lift, and correcting the use of the lift through this error, ensuring the accuracy and effectiveness of the subsequent use of the lift, guaranteeing the accuracy of the standard track during the detection process, and the whole process can be completed automatically, effectively improving the calibration efficiency. Brief Description of the Drawings

[0029] Figure 1 It is a schematic flowchart of a self - error calibration method for an orbital elevator according to the present invention. Detailed Description of the Embodiments

[0030] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0031] In the following description, the terms "first" and "second" are only for the purpose of description and cannot be construed as indicating or implying relative importance. The following description provides multiple embodiments of the present application. Different embodiments can be replaced or combined. Therefore, the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing all other possible combinations of A, B, C, and D, even though such embodiments may not be explicitly described in the following content.

[0032] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the content of the present application. Each example can appropriately omit, substitute, or add various processes or components. For example, the described method can be executed in a different order than the described order, and various steps can be added, omitted, or combined. In addition, the features described in some examples can be combined into other examples.

[0033] Embodiment 1: As Figure 1 shown, Figure 1This is a schematic flowchart of the self-error calibration method for an orbital elevator of the present invention, which is only one of the embodiments of the present invention. The self-error calibration method for an orbital elevator of the present invention is used for an elevator that carries and lifts a standard track. The elevator performs installation detection on the installation track by comparing the standard track with the installation track. Here, the installation track is the track that is being installed in real time. During the general track installation process, multiple sections of tracks are installed in sequence. When each section of the track is installed, it can be regarded as the installation track. The front end of the installation track is the end that has not been installed; the standard track is placed on the lifting platform board of the elevator. The lifting platform board can be lifted up and down, and the elevator is actually a movable vehicle that can move along the extension direction of the track to be installed; when each section of the track is installed (i.e., when the installation track is installed), ensure that the standard track is located below the front of the installation track. The standard track is lifted to the front of the installation track through the lifting function of the lifting platform board, and the alignment of the installation track is verified by aligning and calibrating the standard track with the installation track.

[0034] The error calibration method includes the following steps:

[0035] S1: Set a first comparison track at a first predetermined height of the elevator, and set a second comparison track at a second predetermined height of the elevator;

[0036] Similar to using the standard track and the installation track for alignment to check the installation track, here, the comparison track is used to align the standard track to check the standard track, and the displacement of the standard track can reflect the working condition of the elevator.

[0037] In addition to the possibility of being set on the elevator, the first comparison track and the second comparison track may also be set on the support rod beside the elevator, or on the wall beside the elevator. It is necessary to ensure that the first comparison track and the second comparison track are stably located at the first predetermined height and the second predetermined height.

[0038] Here, when performing step S1, the first comparison track and the second comparison track are set on the same side of the elevator.

[0039] Furthermore, when performing step S1, the difference between the first predetermined height and the second predetermined height is not less than 50 cm.

[0040] S2: Obtain the real-time height of the standard track on the elevator at every predetermined time interval, obtain the first height difference between the real-time height and the first predetermined height, and lift the standard track to the first predetermined height by lifting the elevator by the first height difference;

[0041] Generally, a rest period for track installation is set for elevator calibration. For example, ten minutes before the workers go to work every morning. For example, the scheduled time can be set to 24 hours, that is, the elevator error calibration is carried out at 8:50 every morning.

[0042] During calibration, obtain the standard track height (real-time height) in the current elevator state. Given the first predetermined height, it is easy to calculate the height error between the real-time height and the first predetermined height. Then drive the lifting function of the elevator to drive the lifting platform plate for carrying the standard track, so that the standard track is lifted or lowered until the elevator lifts the standard track to the first predetermined height.

[0043] It should be noted that here, the standard track is only displaced to the first predetermined height considered by the elevator.

[0044] Here, when performing step S2, the distance between the standard track and the ground is obtained through the infrared rangefinder under the standard track, which is the real-time height where the standard track is located.

[0045] S3: Determine whether the standard track is flush with the first comparison track. If so, directly execute step S4; otherwise, drive the standard track to adjust by several unit heights until the standard track is flush with the first comparison track, record the first adjustment value, and execute step S4;

[0046] As mentioned in step S2, the standard track is only displaced to the first predetermined height considered by the elevator. Then, when performing step S3, it is necessary to perform an alignment detection between the standard track and the first comparison track to verify whether the standard track has truly been displaced to the first predetermined height;

[0047] If the standard track is flush with the first comparison track, it initially indicates that the lifting error of the elevator is small; otherwise, if the standard track is not flush with the first comparison track, it means that there is an error in the lifting of the elevator. The adjustment value for driving the standard track to be adjusted until it is flush with the first comparison track is the first adjustment value.

[0048] When performing step S3, when the standard track is not flush with the first comparison track, the position of the standard track relative to the first comparison track is sensed through the first infrared sensor set on the first comparison track, and the standard track is driven by the elevator to adjust in the direction of alignment with the first comparison track by m unit heights until the standard track is flush with the first comparison track;

[0049] A circle of infrared sensors is arranged on the outside (up, down, left, and right) of the first comparison track. If the upper infrared sensor senses an obstruction, it means that the standard track is above the first comparison track, and the standard track needs to be adjusted downward.

[0050] The unit height is generally 1 mm, that is, the standard track is adjusted downward multiple times with a displacement of 1 mm each time until the standard track is flush with the first comparison track. If it is adjusted 20 times, it is adjusted downward by 2 cm.

[0051] S4: Obtain the second height difference between the first predetermined height and the second predetermined height, and lift or lower the standard track to the second predetermined height by lifting or lowering the lift by the second height difference.

[0052] When both the first predetermined height and the second predetermined height are known, it is easy to calculate the second height difference. After the adjustment in step S3, the standard track is definitely at the first predetermined height. At this time, by lifting or lowering the lift by the second height difference, the standard track can be lifted or lowered to the second predetermined height.

[0053] Similar to step S2, at this time, the height of the standard track is at the second predetermined height considered by the lift.

[0054] S5: Determine whether the standard track is flush with the second comparison track. If so, directly execute step S6; otherwise, drive the standard track to adjust several unit heights until the standard track is flush with the second comparison track, record the second adjustment value, and execute step S6.

[0055] As mentioned in step S4, the standard track is only displaced to the second predetermined height considered by the lift. Then, when executing step S5, it is necessary to perform an alignment detection between the standard track and the second comparison track to verify whether the standard track has really been displaced to the second predetermined height.

[0056] If the standard track is flush with the second comparison track, it means that the lifting error of the lift is small; otherwise, if the standard track is not flush with the second comparison track, it indicates that there is an error in the lifting of the lift. The adjustment value for driving the standard track to be adjusted until it is flush with the second comparison track is the second adjustment value.

[0057] Similarly, when executing step S5, when the standard track is not flush with the second comparison track, the position of the standard track relative to the second comparison track is sensed by the second infrared sensor provided on the second comparison track, and the lift is driven to adjust the standard track in the direction of alignment with the second comparison track by the unit height n times until the standard track is flush with the second comparison track.

[0058] Here, a circle of infrared sensors is provided on the outside (up, down, left, and right) of the second comparison track, and the unit height is still 1 mm.

[0059] S6: Calculate the height error of the lift according to the first adjustment value and the second adjustment value, and correct the lift.

[0060] Dividing the first adjustment value by the first height difference gives the error rate of the first displacement; dividing the second adjustment value by the second height difference gives the error rate of the second displacement. The error in the lifting height of the lift can be obtained from the error rates of the two displacements, and the lifting drive unit of the lift is calibrated according to this error rate.

[0061] Moreover, when performing step S6, it is judged whether the height error of the lift is within the first error range. If so, the height error of the lift is input to the lift controller for lifting correction; otherwise, a first alarm message is issued.

[0062] If the height error of the lift is within the first error range, there are two ways to correct the height error of the lift: First: It is necessary to calibrate the structure of the drive unit so that the drive can be more accurate when the drive unit drives; Second: Send the lifting error to the control end of the drive unit. Every time the drive unit drives and lifts in the future, according to this error rate and the expected lifting value, the actual output lifting value of the drive unit is obtained.

[0063] In the second case: If the lifting error is a 10% over-lift, then when the standard track needs to be raised by 110 cm, the output lifting value of the drive unit is that the drive machine rises by 100 cm, so that the standard track actually rises by 110 cm.

[0064] A self-error calibration method for a track lift of the present invention obtains the error of the lift by setting a comparison track to perform self-inspection on the lift, and corrects the use of the lift through this error, ensuring the accuracy and effectiveness of the subsequent use of the lift, guaranteeing the accuracy of the standard track during the detection process, and the whole process can be completed automatically, effectively improving the calibration efficiency.

[0065] Embodiment 2: Still as Figure 1 shown, which is only one of the embodiments of the present invention. On the basis of Embodiment 1, in a self-error calibration method for a track lift of the present invention,

[0066] After performing step S6, it further includes:

[0067] Step S7: Drive the standard track to rotate horizontally by 180°;

[0068] Step S8: Judge whether the standard track is flush with the second comparison track. If so, directly execute step S9; otherwise, drive the standard track to adjust by several unit heights until the standard track is flush with the second comparison track, record the third adjustment value, and execute step S9;

[0069] S9: Calculate the attitude error of the lift according to the first adjustment value, the second adjustment value and the third adjustment value, and correct the lift.

[0070] It should be noted that when performing steps S2 to S9, the first height difference, the second height difference, the first adjustment value, the second adjustment value, and the third adjustment value are positive or negative; that is to say, the first height difference, the second height difference, the first adjustment value, the second adjustment value, and the third adjustment value may be -5, where a negative value of the height difference indicates a downward displacement; a negative value of the adjustment value is a value for reverse adjustment.

[0071] For example, if the first predetermined height is 60 cm and the second predetermined height is 120 cm, and if the real-time height in step S2 is 200 cm, then the first height difference is -140 cm, that is, the lift needs to drive the standard track downward by 140 cm to reach the first predetermined height. And in step S3, the standard track needs to be adjusted upward by 3 cm to be flush with the first comparison track. Since the adjustment direction (upward adjustment) is opposite to the displacement direction of the lift (downward displacement of 140 cm), it means the first adjustment value is -3 cm; the second predetermined height value is +60 cm, that is, the lift needs to drive the standard track upward by 60 cm to reach the second predetermined height. And in step S5, the standard track needs to be adjusted upward by 2 cm to be flush with the second comparison track. Since the adjustment direction (upward adjustment) is the same as the displacement direction of the lift (upward displacement of 60 cm), it means the first adjustment value is +2 cm.

[0072] In this way, the positive and negative values of the adjustment value can more intuitively show whether the error in the lift's movement in a certain direction is an over-displacement error or an under-displacement error.

[0073] It should be noted that when the first height difference is negative and -140 cm, the first adjustment value divided by the absolute value of the first height difference is the error rate of the first displacement; when the first adjustment value is negative and -3 cm, it means the error of the first displacement is an over-displacement error.

[0074] Similarly, if after driving the standard track to rotate horizontally by 180°, when performing step S8, the standard track needs to be adjusted upward by 1 cm to be flush with the second comparison track, it means the third adjustment value is +1 cm (since there is no displacement direction for comparison in the third adjustment value, it is simply considered that when the third adjustment is upward adjustment, the third adjustment value is positive; otherwise, it is negative), which means the height difference between the two ends of the standard track is 1 cm.

[0075] By calculating with the third adjustment value and the standard track length value L, the inclination rate of the standard track can be obtained. In the case where the standard track is of completely standard size, this inclination rate can be regarded as the inclination rate of the lift's lifting platform plate, and fine adjustment of the heights at both ends of the lifting platform plate is required.

[0076] Finally, when step S9 is executed, it is judged whether the attitude error of the lift is within the second error range. If so, the attitude error of the lift is input into the lift controller for attitude correction; otherwise, a second alarm message is issued.

[0077] Steps S7 to S9 are to check whether the lifting platform board of the lift is horizontally set, or whether there is a deviation phenomenon; then the attitude of the lift is adjusted.

[0078] Embodiment 3: Still as Figure 1 shown, which is only one of the embodiments of the present invention. On the basis of any of the above embodiments, in the self-error calibration method of a track lift of the present invention, when step S2 is executed, at every predetermined time interval, a height value is randomly lifted, and the standard track is lifted by this height value through the lift, and then the real-time height where the standard track is located on the lift is obtained.

[0079] This is to ensure that when the lift is calibrated, the standard track is not in the initial position, and the calibration accuracy is higher.

[0080] Moreover, in the present invention, when step S2 is executed, the first predetermined height and the second predetermined height are not determined; the height farther from the real-time height should be set as the first predetermined height, and the height closer to the actual height should be set as the second predetermined height.

[0081] For example, there are two comparison tracks set at 60 cm height and 120 cm height respectively. When the real-time height of the standard track is 200 cm, the comparison track at 60 cm height is defined as the first comparison track, and the height of 60 cm is defined as the first predetermined height; the comparison track at 120 cm height is defined as the second comparison track, and the height of 120 cm is defined as the second predetermined height.

[0082] This can ensure that when the standard track is displaced from the real-time height to the first predetermined height and then to the second predetermined height, there will inevitably be two displacements of rising and falling, so the lifting calibration of the lift is more accurate.

[0083] The self-error calibration method of a track lift of the present invention performs self-inspection on the lift by setting comparison tracks to obtain the error of the lift, and corrects the use of the lift through this error, ensuring the accurate and effective subsequent use of the lift, guaranteeing the accuracy of the standard track during the detection process, and the whole process can be completed automatically, effectively improving the calibration efficiency.

[0084] The present invention is not limited to the above specific embodiments, and the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made to the above embodiments based on the technical essence of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calibrating the self-error of an orbital elevator, characterized in that, It includes the following steps: S1: Set a first comparison track at a first predetermined height and a second comparison track at a second predetermined height; S2: Obtain the real-time height of the standard track on the lift every predetermined time interval, obtain the first height difference between the real-time height and the first predetermined height, and lift or lower the standard track by the first height difference through the lift so that the standard track is lifted or lowered to the first predetermined height; S3: Determine whether the standard track is flush with the first comparison track. If so, directly execute step S4; otherwise, drive the standard track to adjust by several unit heights until the standard track is flush with the first comparison track, record the first adjustment value, and execute step S4; S4: Obtain the second height difference between the first predetermined height and the second predetermined height, and lift or lower the standard track by the second height difference through the lift so that the standard track is lifted or lowered to the second predetermined height; S5: Determine whether the standard track is flush with the second comparison track. If so, directly execute step S6; otherwise, drive the standard track to adjust by several unit heights until the standard track is flush with the second comparison track, record the second adjustment value, and execute step S6; S6: Calculate the height error of the lift according to the first adjustment value and the second adjustment value, and correct the lift; S7: Drive the standard track to rotate horizontally by 180°; S8: Determine whether the standard track is flush with the second comparison track. If so, directly execute step S9; otherwise, drive the standard track to adjust by several unit heights until the standard track is flush with the second comparison track, record the third adjustment value, and execute step S9; S9: Calculate the attitude error of the lift according to the first adjustment value, the second adjustment value and the third adjustment value, and correct the lift.

2. The method for calibrating the self-error of an orbital elevator according to claim 1, characterized in that: When executing step S1, the first comparison track and the second comparison track are arranged on the same side of the lift.

3. The method for calibrating the self-error of an orbital elevator according to claim 1, characterized in that: When executing step S1, the difference between the first predetermined height and the second predetermined height is not less than 50 cm.

4. The method for calibrating the self-error of an orbital elevator according to claim 1, characterized in that: When executing step S2, every predetermined time interval, the lift lifts or lowers a random height value, and then obtains the real-time height of the standard track on the lift.

5. The method for calibrating the self-error of an orbital elevator according to claim 4, characterized in that: When executing step S2, the distance between the standard track and the ground is obtained through the infrared rangefinder under the standard track, which is the real-time height of the standard track.

6. The method for calibrating the self-error of an orbital elevator according to claim 1, characterized in that: When executing step S3, when the standard track is not flush with the first comparison track, the position of the standard track relative to the first comparison track is sensed by the first infrared sensor arranged on the first comparison track, and the standard track is driven by the lift to adjust in the direction of alignment with the first comparison track by m times of unit height until the standard track is flush with the first comparison track; When executing step S5, when the standard track is not flush with the second comparison track, the position of the standard track relative to the second comparison track is sensed by the second infrared sensor arranged on the second comparison track, and the standard track is driven by the lift to adjust in the direction of alignment with the second comparison track by n times of unit height until the standard track is flush with the second comparison track.

7. The method for calibrating the self-error of an orbital elevator according to claim 1, characterized in that: When performing steps S2 to S9, the first height difference, the second height difference, the first adjustment value, the second adjustment value, and the third adjustment value are positive or negative values.

8. The method for calibrating the self-error of an orbital elevator according to claim 1, characterized in that: When performing step S6, it is judged whether the height error of the lift is within the first error range. If so, the height error of the lift is input to the lift controller for lift correction; otherwise, a first alarm message is issued.

9. The method for calibrating the self-error of an orbital elevator according to claim 1, characterized in that: When performing step S9, it is judged whether the attitude error of the lift is within the second error range. If so, the attitude error of the lift is input to the lift controller for attitude correction; otherwise, a second alarm message is issued.

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