Method for assisting elevator load detection using a palletizing and transporting robot

Abstract

The present invention relates to a method for assisting elevator load detection by using a stacking and carrying robot, comprising the following steps: S1, the stacking and carrying robot carries weights into the elevator compartment, and the weight carrying platform (20) thereof is used only as a counterweight stacking area except for a support portion (34) provided on the side for a rectangular coordinate slider module, wherein the support portion (34) is a movable support portion so that the rectangular coordinate slider module can move horizontally, and one end of the rectangular coordinate slider module can extend toward a space outside the weight carrying platform (20); S2, the rectangular coordinate slider module moves the weights (80) out of the weight carrying platform (20) as needed and places them in the elevator compartment; S3, the stacking and carrying robot leaves the elevator compartment and performs an elevator load detection; S4, repeating steps S2 and S3; S5, the rectangular coordinate slider module moves the weights (80) in the elevator compartment back to the weight carrying platform (20). The present invention uses a relatively simple structure to achieve an increase in weight carrying capacity, so that it can meet the five-level test load requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator detection, and in particular to a method for utilizing a palletizing and carrying robot to assist in elevator load detection. Background Art

[0002] Elevators, as essential means of transportation in daily life, play a crucial role in people's lives, especially in densely populated and resource-intensive cities. Elevators are indispensable for high-rise buildings. With the growing use of elevators, the probability of elevator accidents is also increasing. Elevator traction capacity is fundamental to safe elevator operation. Elevator traction capacity is tested by testing the elevator with no load, at 25%, 50%, 75%, 100%, and 125% of its rated load. The applied load consists of standard weights stacked on top of each other as needed. In practice, standard weights must be manually transported, and their weights range from 20 to 50 kg. Manual handling is labor-intensive, costly, time-consuming, and prone to personal injury.

[0003] Chinese patent document CN110744556A discloses a method for elevator inspection using a palletizing robot. This method employs a specially designed palletizing robot to detect the elevator's traction force. The robot consists of a main body and several counterweights. The robot body includes a walking mechanism and a counterweight adjustment mechanism, which are articulated at the head, with the angle between them controlled by an angle adjustment mechanism. The counterweight adjustment mechanism includes a rotating support plate, a palletizing mechanism, and a counterweight stacking mechanism. The elevator inspection method includes the steps of moving the inspection robot into position and adjusting the inspection robot's counterweights. This invention enables automated loading and adjustment of the counterweights, saving labor. However, it has the following shortcomings: 1. Its structure is complex. For example, its weight adjustment mechanism includes a rotating support plate, a stacking mechanism, and a counterweight stacking mechanism. The counterweight stacking mechanism includes a stacking baffle fixed to the stacking plate, a positioning baffle located at the counterweight clamp mouth, and a rotating baffle located at the tail opening of the counterweight clamp mouth. This reduces the space for stacking weights, making it difficult to meet the five test load requirements of 25%, 50%, 75%, 100%, and 125% of the rated load value. 2. Due to the stacking plate and positioning baffle, the counterweight must pass over these plates to move. 3. The stacking mechanism uses a rectangular coordinate slider module, which limits the range of motion of the robot arm, limiting it to movement between the counterweight stacking area and the counterweight loading and unloading area. The counterweight unloading procedure is as follows: first, the counterweight is placed in the counterweight loading and unloading area, then the rotating baffle and counterweight clamp mouth are opened, the telescopic positioning plate is retracted, and finally, the walking mechanism is activated to move away from the counterweight, completing the separation of the counterweight from the robot body. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a method for using a stacking and carrying robot to assist in elevator load detection. A relatively simple structure is used to realize the transfer of weights between the weight carrying platform and the elevator compartment, so as to increase the carrying capacity of the weights so that it can meet the five-level test load requirements.

[0005] In order to achieve the above object, the technical solution of the present invention is as follows:

[0006] The method of using a palletizing and carrying robot to assist in elevator load detection includes the following steps:

[0007] S1. A palletizing transport robot carries weights into an elevator compartment. The palletizing transport robot includes a walking mechanism and a weight-bearing platform. The weight-bearing platform is provided with a weight transfer mechanism. The weight transfer mechanism uses a rectangular coordinate slider module equipped with a weight clamp. The weight-bearing platform is used only as a counterweight stacking area, except for a support portion provided on the side for the rectangular coordinate slider module. The support portion is a movable support portion, which enables the rectangular coordinate slider module to move horizontally as a whole. When the weight needs to be moved horizontally out of or back to the weight-bearing platform, one end of the rectangular coordinate slider module can extend toward the space outside the weight-bearing platform.

[0008] S2. The rectangular coordinate slider module equipped with the weight clamp moves the weights out of the weight carrying platform as needed and places them in the elevator cabin. The weights on the weight carrying platform that are close to the outwardly extendable end of the rectangular coordinate slider module are moved out of the weight carrying platform first.

[0009] S3: The palletizing robot leaves the elevator compartment and performs an elevator load test;

[0010] S4. Repeat steps S2 and S3 to complete the elevator load test as needed;

[0011] S5. The rectangular coordinate slider module equipped with a weight clamp moves the weight in the elevator compartment back to the weight bearing platform, wherein the weight is preferentially placed in an area on the weight bearing platform away from the outwardly extendable end of the rectangular coordinate slider module.

[0012] As an improvement, the support portion has a support portion moving base for driving the support portion to move horizontally.

[0013] As an alternative solution, the support part is a fixed support part, and the rectangular coordinate slider module has an extension section, which extends beyond the weight carrying platform so that the weight clamp can move the weight horizontally out of or back to the weight carrying platform. The weights on the weight carrying platform close to the extension section are moved out of the weight carrying platform first; when the weights in the elevator cabin are moved back to the weight carrying platform, the weights are placed first in the area of ​​the weight carrying platform away from the extension section.

[0014] As an improvement, the rectangular coordinate slider module includes a longitudinal bracket, a transverse bracket, and a vertical bracket. The longitudinal brackets are symmetrically arranged on both sides of the weight bearing platform. The longitudinal brackets are connected to the weight bearing platform through a support part. The transverse bracket is movably connected between the two longitudinal brackets and can move along the longitudinal brackets. The vertical bracket is movably connected to the transverse bracket and can move in the horizontal and vertical directions relative to the transverse bracket. The weight clamp is fixed to the bottom of the vertical bracket.

[0015] As a further improvement, the support portion is a lifting platform arranged on both sides of the weight bearing platform, and the lifting platform enables the longitudinal bracket to move in the vertical direction.

[0016] As an improvement, the longitudinal bracket is provided with a positioning slider, and the transverse bracket is movably connected to the longitudinal bracket via the positioning slider; the transverse bracket is provided with a positioning slider, and the vertical bracket is movably connected to the transverse bracket via the positioning slider.

[0017] As a further improvement, the positioning slider is provided with bayonet holes on two opposite surfaces thereof for connecting with the longitudinal bracket, or the transverse bracket, or the vertical bracket.

[0018] As an improvement, the horizontal bracket is provided with a sliding motor at one end thereof, and the vertical bracket is provided with a lifting motor at the top end thereof.

[0019] As a further improvement, the support portion is provided with reinforcing ribs on the side surface of the upper portion thereof.

[0020] As a further improvement, the weight bearing platform is provided with a protrusion for limiting the position of the weight.

[0021] The beneficial effects of the present invention are as follows: compared with Chinese patent document CN110640715A, this application abandons the relatively complex structure, and the operations of removing and placing the weights on the weight bearing platform are all completed by the rectangular coordinate slider module. Secondly, the end of the longitudinal bracket can extend outside the weight bearing platform, so that the weights need to pass through the space outside the weight bearing platform to get on and off the weight bearing platform. In addition to the support part provided on the side for the rectangular coordinate slider module, the weight bearing platform is only used as a counterweight stacking area, so that as many weights as possible can be placed on the weight bearing platform, thereby meeting the requirements of the five-level test load. Thirdly, the vertical bracket connected to the horizontal bracket and the lifting platform arranged on both sides of the weight bearing platform can both move in the vertical direction, so that the weights can be stacked, so that the weight bearing platform can further increase the number of weights it can carry. Fourthly, the movement of the weights in the vertical direction can be mainly completed by the lifting platform arranged on both sides of the weight bearing platform. Compared with the single-arm lifting of the vertical bracket, it is more stable and reliable, and is also conducive to improving the service life of the vertical bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of Example 1 of the present invention, in which the weights are laid flat on the weight-bearing platform;

[0023] Figure 2 This is a schematic diagram of the structure of Example 1 of the present invention, in which all weights have been removed from the weight-bearing platform;

[0024] Figure 3 This is a structural diagram of the positioning slider of the present invention;

[0025] Figure 4 This is a structural diagram of embodiment 2 of the present invention, in which weights are stacked in two layers on a weight-bearing platform;

[0026] Figure 5 This is a structural diagram of Example 2 of the present invention. In the figure, all the weights have been removed from the weight carrying platform.

[0027] In the figure: 10, walking mechanism; 20, weight carrying platform; 21, raised portion; 30, weight transfer mechanism; 31, longitudinal bracket; 311, extension section; 32, transverse bracket; 33, vertical bracket; 34, support portion; 35, support portion moving base; 36, reinforcing rib; 40, weight clamp; 50, positioning slider; 51, bayonet; 60, sliding motor; 70, lifting motor; 80, weight. DETAILED DESCRIPTION

[0028] Example 1

[0029] like Figure 1 、 Figure 2 As shown, the method of utilizing a palletizing and carrying robot to assist in elevator load detection according to the present invention comprises the following steps:

[0030] S1. A palletizing robot carrying weights enters the elevator compartment. The palletizing robot comprises a tracked running mechanism 10 and a weight-carrying platform 20. The running mechanism 10 is a crawler-type running mechanism. The weight-carrying platform 20 is mounted on the running mechanism 10 and is rectangular in shape, measuring 1170 mm x 700 mm. The weight-carrying platform 20 is provided with a raised portion 21 for retaining the weights 80. The weight-carrying platform 20 serves solely as a counterweight storage area, with the exception of a support portion 34 on the side for the rectangular coordinate slider module.

[0031] A weight transfer mechanism 30 is provided on the weight carrying platform 20. The weight transfer mechanism 30 adopts a rectangular coordinate slider module equipped with a weight clamp 40. The rectangular coordinate slider module includes a longitudinal bracket 31, a transverse bracket 32, and a vertical bracket 33. The longitudinal brackets 31 are symmetrically arranged on both sides of the weight carrying platform 20. The longitudinal brackets 31 are connected to the weight carrying platform 20 through a support part 34. The transverse bracket 32 ​​is movably connected between the two longitudinal brackets 31 and can move along the longitudinal bracket 31. The vertical bracket 33 is movably connected to the transverse bracket 32 ​​and can move in the horizontal and vertical directions relative to the transverse bracket 32. The weight clamp 40 is fixed to the bottom of the vertical bracket 33.

[0032] The longitudinal bracket 31 is provided with a positioning slider 50, and the transverse bracket 32 ​​is movably connected to the longitudinal bracket 31 through the positioning slider 50. The transverse bracket 32 ​​is provided with a positioning slider 50, and the vertical bracket 33 is movably connected to the transverse bracket 32 ​​through the positioning slider 50. The structure of the positioning slider is as follows Figure 3 As shown, the positioning slider 50 is provided with a bayonet 51 on two opposite surfaces thereof for connecting to the longitudinal bracket 31, the transverse bracket 32, or the vertical bracket 33. A sliding motor 60 is provided at one end of the transverse bracket 32 ​​for driving the transverse bracket 32 ​​to move horizontally along the longitudinal bracket 31, and a lifting motor 70 is provided at the top end of the vertical bracket 33 for driving the vertical bracket 33 to move vertically relative to the transverse bracket 32.

[0033] Four support sections 34 are movable support sections, located on either side of the weight-bearing platform 20. These support sections 34 have movable bases 35, enabling horizontal movement of the rectangular coordinate slide module. The structure of the movable bases 35 is conventional, requiring only a sliding motor to move them along the rails, and will not be further described. Reinforcing ribs 36 are provided on the upper side of the support sections 34.

[0034] When the weight 80 needs to be moved horizontally out of or back into the weight-carrying platform 20, the support movable base 35 drives one end of the rectangular coordinate slider module to extend toward the space outside the weight-carrying platform 20. As an obvious variation, the longitudinal support 31 can be pre-installed with an extension section. The extension section is an extension of the longitudinal support 31, and the pre-installed extension section extends beyond the weight-carrying platform 20. The pre-installed extension section further expands the space for the vertical support 33 to move forward, making it easier to remove and place the weight 80.

[0035] S2. The rectangular coordinate slider module equipped with the weight clamp 40 moves the weight 80 out of the weight carrying platform 20 as needed and places it in the elevator cabin. Among them, the weight 80 on the weight carrying platform 20 close to the outwardly extendable end of the rectangular coordinate slider module is moved out of the weight carrying platform 20 first.

[0036] S3. The palletizing robot leaves the elevator compartment and performs an elevator load test.

[0037] S4. Repeat steps S2 and S3 to complete 5 elevator load tests, with the total value of the weights 80 each time being 25%, 50%, 75%, 100%, and 125% of the elevator's rated load value, respectively.

[0038] S5. The rectangular coordinate slider module equipped with the weight clamp 40 moves the weight 80 in the elevator compartment back to the weight bearing platform 20, wherein the weight 80 is preferentially placed on the weight bearing platform 20 away from the outwardly extendable end of the rectangular coordinate slider module.

[0039] Example 2

[0040] like Figure 4 、 Figure 5 As shown, the difference between Example 2 and Example 1 is that:

[0041] (1) The support portion 34 is a fixed support portion and cannot move horizontally. Therefore, the rectangular coordinate slider module must have an extension section 311. The extension section 311 is an extension of the longitudinal bracket 31. The extension section 311 extends outside the weight bearing platform 20 so that the weight clamp 40 can move the weight 80 horizontally out of or back into the weight bearing platform 20.

[0042] When the weight clamp 40 moves the weight 80 away from the weight carrying platform 20 , the weight 80 close to the extension section 311 is moved out of the weight carrying platform 20 first, and the weight 80 away from the extension section 311 serves as a counterweight to maintain the balance of the weight carrying platform 20 .

[0043] When the weight clamp 40 moves the weight 80 back to the weight carrying platform 20 , the weight 80 is preferentially placed on the area of ​​the weight carrying platform 20 away from the extension section 311 .

[0044] (2) The support portion 34 is a lifting platform structure, which is also equipped with a lifting motor so that the support portion 34 can change its height. The lifting platform structure allows the longitudinal bracket 31 to move in the vertical direction. In this case, the weights can be stacked in double layers on the weight bearing platform 20, making it more space-efficient.

[0045] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for assisting elevator load detection using a palletizing and carrying robot, characterized in that: The following steps are included: S1. A stacking and transporting robot carries weights into an elevator compartment. The stacking and transporting robot comprises a walking mechanism (10) and a weight carrying platform (20). A weight transfer mechanism (30) is provided on the weight carrying platform (20). The weight transfer mechanism (30) adopts a rectangular coordinate slider module equipped with a weight clamp (40). The weight carrying platform (20) is used only as a counterweight stacking area except for a support portion (34) provided on the side for the rectangular coordinate slider module. The support portion (34) is a movable support portion, so that the rectangular coordinate slider module can be moved horizontally as a whole. When the weight (80) needs to be moved horizontally out of or back to the weight carrying platform (20), one end of the rectangular coordinate slider module can extend toward the space outside the weight carrying platform (20). S2, the rectangular coordinate slider module equipped with the weight clamp (40) moves the weight (80) out of the weight bearing platform (20) as needed and places it in the elevator compartment, wherein the weight (80) on the weight bearing platform (20) close to the outwardly extendable end of the rectangular coordinate slider module is first moved out of the weight bearing platform (20); S3: The palletizing robot leaves the elevator compartment and performs an elevator load test; S4. Repeat steps S2 and S3 to complete the elevator load test as needed; S5. The rectangular coordinate slider module equipped with the weight clamp (40) moves the weight (80) in the elevator compartment back to the weight bearing platform (20), wherein the weight (80) is preferentially placed in an area on the weight bearing platform (20) away from the outwardly extendable end of the rectangular coordinate slider module.

2. The method for utilizing a palletizing and carrying robot to assist in elevator load detection according to claim 1, characterized in that: The support portion (34) has a support portion moving base (35) for driving the support portion (34) to move horizontally.

3. The method for utilizing a palletizing and carrying robot to assist in elevator load detection according to claim 1, characterized in that: The rectangular coordinate slider module includes a longitudinal bracket (31), a transverse bracket (32), and a vertical bracket (33). The longitudinal brackets (31) are symmetrically arranged on both sides of the weight bearing platform (20). The longitudinal brackets (31) are connected to the weight bearing platform (20) through a support portion (34). The transverse bracket (32) is movably connected between the two longitudinal brackets (31) and can move along the longitudinal brackets (31). The vertical bracket (33) is movably connected to the transverse bracket (32) and can move in the horizontal direction and the vertical direction relative to the transverse bracket (32). The weight clamp (40) is fixed to the bottom of the vertical bracket (33).

4. The method for utilizing a palletizing and carrying robot to assist in elevator load detection according to claim 1, characterized in that: The support portion (34) is a lifting platform arranged on both sides of the weight bearing platform (20), and the lifting platform enables the longitudinal bracket (31) to move in the vertical direction.

5. The method for utilizing a palletizing and carrying robot to assist in elevator load detection according to claim 3, wherein: The longitudinal bracket (31) is provided with a positioning slider (50), and the transverse bracket (32) is movably connected to the longitudinal bracket (31) via the positioning slider (50); the transverse bracket (32) is provided with a positioning slider (50), and the vertical bracket (33) is movably connected to the transverse bracket (32) via the positioning slider (50).

6. The method for utilizing a palletizing and carrying robot to assist in elevator load detection according to claim 5, characterized in that: The positioning slide block (50) is provided with bayonet holes (51) on two opposite surfaces thereof for connecting with the longitudinal bracket (31), the transverse bracket (32), or the vertical bracket (33).

7. The method for utilizing a palletizing and carrying robot to assist in elevator load detection according to claim 3, characterized in that: The horizontal bracket (32) is provided with a sliding motor (60) at one end thereof, and the vertical bracket (33) is provided with a lifting motor (70) at the top end thereof.

8. The method for utilizing a palletizing and carrying robot to assist in elevator load detection according to claim 1, characterized in that: The support portion (34) is provided with a reinforcing rib (36) on the side surface of the upper portion thereof.

9. The method for utilizing a palletizing and carrying robot to assist in elevator load detection according to claim 1, characterized in that: The weight bearing platform (20) is provided with a raised portion (21) for limiting the position of the weight (80).

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