An adjusting method and device for elevator guide rail butt joint

Abstract

The application discloses an adjusting method and device for butt joint of elevator guide rails, and the adjusting method comprises the following steps: the upper guide rail is clamped by adjusting a mechanical hand, and the position state image information of the upper guide rail and the lower guide rail is acquired by a visual snapshot mechanism; the deflection angle and the deflection distance between the butt joint end faces of the upper guide rail and the lower guide rail are acquired according to the position state image information; the regulation and control instruction is generated according to the deflection angle and the deflection distance, the adjusting mechanical hand is driven to adjust the upper guide rail to reach the butt joint pose state based on the regulation and control instruction; the pressure data of the adjusting mechanical hand on the upper guide rail in the butt joint pose state is detected by a sensing component, and the deflection pressure of the upper guide rail is obtained; and the vertical state of the upper guide rail is adjusted based on the deflection pressure of the upper guide rail. The adjusting method adjusts the pose of the upper guide rail based on the position of the lower guide rail, adjusts the vertical state by detecting the deflection pressure of the upper guide rail in the butt joint state, and improves the stability of the butt joint of the upper guide rail and the lower guide rail.

Description

TECHNICAL FIELD

[0001] The present application mainly relates to the elevator installation technical field, specifically relates to a kind of adjusting method and device for elevator guide rail butt joint. BACKGROUND

[0002] Elevator is vertical transport equipment serving between specified floor, in the installation process of elevator, multiple guide rails need to be butt jointed in vertical direction to form elevator guide rail meeting the operation of elevator, and the existing butt joint mode is to suspend upper guide rail above lower guide rail by hoisting machine to carry out butt joint, and the butt joint stability of upper guide rail and lower guide rail is adjusted by manual, which is prone to human operation error, so that the deflection amplitude of upper guide rail is too large after butt joint, and the stability of butt joint between upper guide rail and lower guide rail is affected. SUMMARY

[0003] The present application provides an adjusting method and device for elevator guide rail butt joint, the position of lower guide rail is used as the reference for adjusting the pose of upper guide rail, and the vertical state of upper guide rail is adjusted by detecting the deflection pressure of upper guide rail in butt joint state, so as to improve the stability of butt joint between upper guide rail and lower guide rail.

[0004] The present application provides an adjusting method for elevator guide rail butt joint, which comprises the following steps:

[0005] The position state image information of upper guide rail and lower guide rail is obtained by adjusting mechanical hand to clamp upper guide rail and by visual snapshot mechanism.

[0006] The deflection angle and deflection distance between the butt joint end face of upper guide rail and the butt joint end face of lower guide rail are obtained according to the position state image information.

[0007] The control instruction is generated according to the deflection angle and deflection distance, and the adjusting mechanical hand is driven to adjust upper guide rail to reach butt joint pose state based on the control instruction.

[0008] The pressure data of adjusting mechanical hand on upper guide rail in butt joint pose state is detected by sensing component to obtain the deflection pressure of upper guide rail.

[0009] The vertical state of upper guide rail is adjusted based on the deflection pressure of upper guide rail.

[0010] Further, the adjusting method further comprises:

[0011] The butt joint end face of upper guide rail is moved to pre-butt joint position by driving upper guide rail to descend by hoisting machine.

[0012] Further, the adjusting mechanical hand clamps upper guide rail, and the position state image information of upper guide rail and lower guide rail is obtained by visual snapshot mechanism, which comprises:

[0013] The driving adjustment robot opens and closes the upper guide rail clamping, and when the upper guide rail is in a force balance state, the position state image information of the upper guide rail and the lower guide rail is acquired through a visual snapshot mechanism.

[0014] Further, the deflection angle and the yaw distance between the docking end face of the upper guide rail and the docking end face of the lower guide rail according to the position state image information comprises:

[0015] The main control system acquires the position state image information, extracts the images of the upper guide rail and the lower guide rail according to the position state image information, and obtains the deflection angle and the yaw distance between the docking end face of the upper guide rail and the docking end face of the lower guide rail based on the position state analysis of the upper guide rail and the lower guide rail.

[0016] Further, the deflection angle and the yaw distance between the docking end face of the upper guide rail and the docking end face of the lower guide rail according to the position state image information further comprises:

[0017] The main control system extracts the contour of the docking end of the upper guide rail and the contour of the docking end of the lower guide rail in the position state image information;

[0018] The contour of the docking end of the lower guide rail is taken as a reference, the position difference between the contour of the docking end of the upper guide rail and the contour of the docking end of the lower guide rail is calculated, and the deflection angle and the yaw distance between the docking end face of the upper guide rail and the docking end face of the lower guide rail are obtained.

[0019] Further, the contour of the docking end of the lower guide rail is taken as a reference, the position difference between the contour of the docking end of the upper guide rail and the contour of the docking end of the lower guide rail is calculated, and the deflection angle and the yaw distance between the docking end face of the upper guide rail and the docking end face of the lower guide rail are obtained.

[0020] The contour edge line of the docking end of the lower guide rail is extracted as a reference line, the contour edge line of the docking end of the upper guide rail is extracted as a comparison line, and the yaw angle is calculated based on the comparison line and the reference line;

[0021] The contour center of the docking end of the lower guide rail is extracted as a yaw end point, the contour center of the docking end of the upper guide rail is extracted as a yaw starting point, and the yaw distance is calculated according to the yaw end point and the yaw starting point.

[0022] Further, the deflection angle and the yaw distance are generated according to the deflection angle and the yaw distance, and the upper guide rail is adjusted to reach the docking pose state based on the control instruction.

[0023] The rotation angle and the rotation direction of the upper guide rail are analyzed according to the deflection angle, and the pose of the upper guide rail is adjusted by rotating the adjustment robot based on the rotation angle and the rotation direction.

[0024] According to the deflection distance, a movement path between the upper rail butt joint end and the lower rail butt joint end is analyzed, and a control adjustment mechanism is regulated to drive the upper rail to deflect to a butt joint pose state based on the movement path.

[0025] Further, the pressure data of the upper rail in the butt joint pose state is detected by the sensing component to obtain the deflection pressure of the upper rail.

[0026] The pressure data of the adjustment mechanism is detected by the sensing component, and the deflection angle is combined to calculate the deflection pressure of the upper rail.

[0027] Further, the vertical state of the upper rail is adjusted based on the deflection pressure of the upper rail.

[0028] The deflection pressure of the upper rail is compared with a preset pressure threshold value, and if the deflection pressure is greater than the pressure threshold value, the vertical state of the upper rail is adjusted by the driving hoist.

[0029] The application also provides an adjustment device for elevator rail butt joint, which comprises:

[0030] The image acquisition module is used to hold the upper rail by the adjustment mechanism and acquire the position state image information of the upper rail and the lower rail by the visual snapshot mechanism.

[0031] The image analysis module is used to obtain the deflection angle and the deflection distance between the butt joint end face of the upper rail and the butt joint end face of the lower rail according to the position state image information.

[0032] The pose adjustment module is used to generate a control instruction according to the deflection angle and the deflection distance, and drive the adjustment mechanism to adjust the upper rail to reach the butt joint pose state based on the control instruction.

[0033] The pressure detection module is used to detect the pressure data of the upper rail in the butt joint pose state by the sensing component to obtain the deflection pressure of the upper rail.

[0034] The pressure adjustment module is used to adjust the vertical state of the upper rail based on the deflection pressure of the upper rail.

[0035] The application provides an adjustment method and device for elevator rail butt joint, which takes the position of the lower rail as a reference to adjust the pose of the upper rail, and adjusts the vertical state by detecting the deflection pressure of the upper rail in the butt joint state, thereby improving the accuracy and stability of the butt joint of the upper rail and the lower rail. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0037] Figure 1 is the adjustment method flow chart for elevator guide rail butt joint provided by the embodiment of the present application;

[0038] Figure 2 is the adjustment device schematic diagram for elevator guide rail butt joint in the embodiment of the present application. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0040] Embodiment one:

[0041] Figure 1 The adjustment method flow chart for elevator guide rail butt joint provided by the embodiment of the present application is shown, and the adjustment method comprises:

[0042] The mechanical hand is adjusted to clamp the upper guide rail, and the visual snapshot mechanism is used to acquire the position state image information of the upper guide rail and the lower guide rail.

[0043] Specifically, the adjustment method further comprises:

[0044] The hoisting machine is used to drive the upper guide rail to descend, and the butt joint end surface of the upper guide rail is moved to a pre-butt joint position. When the butt joint end surface of the upper guide rail is located at the pre-butt joint position, the butt joint end surface of the upper guide rail and the butt joint end surface of the lower guide rail are close to each other. The butt joint end surface of the upper guide rail is adjusted to the pre-butt joint position, so as to analyze and adjust the butt joint pose state of the upper guide rail and the lower guide rail.

[0045] Specifically, the mechanical hand is adjusted to clamp the upper guide rail, and the visual snapshot mechanism is used to acquire the position state image information of the upper guide rail and the lower guide rail.

[0046] The driving adjustment mechanical hand opens and closes to clamp the upper guide rail, when the upper guide rail is in a force balance state, the position state image information of the upper guide rail and the lower guide rail is acquired through the visual snapshot mechanism. The adjustment mechanical hand is provided with a left clamping jaw and a right clamping jaw, the adjustment mechanical hand is close to the butt joint end of the upper guide rail, and the clamping operation on the upper guide rail can be completed through the mutual cooperation between the left clamping jaw and the right clamping jaw.

[0047] Further, the upper guide rail is in a suspended state, when the adjustment mechanical hand clamps the upper guide rail in the force balance state, the upper guide rail can be ensured to be in a static state, thereby improving the accuracy and stability of the image information acquired by the visual snapshot mechanism.

[0048] Specifically, the position state image information of the upper guide rail and the lower guide rail is acquired through the visual snapshot mechanism, the visual snapshot mechanism can be provided with a plurality of snapshot points, the image of different directions of the upper guide rail and the lower guide rail is snapped, thereby acquiring the position state image information of multiple angles, so as to improve the accuracy of the position state analysis of the upper guide rail and the lower guide rail.

[0049] S12: according to the position state image information, the deflection angle and the yaw distance between the butt joint end face of the upper guide rail and the butt joint end face of the lower guide rail are acquired.

[0050] Specifically, the main control system acquires the position state image information of the upper guide rail and the lower guide rail based on the visual snapshot mechanism, and acquires the butt joint position state of the upper guide rail and the lower guide rail according to the position state image information.

[0051] Specifically, the main control system performs image processing on the position state image information, performs gray value processing on the image, and extracts the features of the outer contour of the upper guide rail and the lower guide rail, to obtain the relative position state information between the upper guide rail and the lower guide rail.

[0052] Further, the deflection angle and the yaw distance between the butt joint end face of the upper guide rail and the butt joint end face of the lower guide rail according to the position state image information comprises:

[0053] The main control system acquires the position state image information, extracts the image of the upper guide rail and the lower guide rail according to the position state image information, and acquires the deflection angle and the yaw distance between the butt joint end face of the upper guide rail and the butt joint end face of the lower guide rail based on the position state analysis of the upper guide rail and the lower guide rail, the main control system extracts the contour of the butt joint end of the upper guide rail and the contour of the butt joint end of the lower guide rail in the position state image information.

[0054] The contour of the butt joint end of the lower guide rail is taken as a reference, the position difference between the contour of the butt joint end of the upper guide rail and the contour of the butt joint end of the lower guide rail is calculated, and the deflection angle and the yaw distance between the butt joint end face of the upper guide rail and the butt joint end face of the lower guide rail are obtained.

[0055] Further, the master control system determines the relative position state between the upper guide rail and the lower guide rail according to the position state image information of different snapshot angles, so as to improve the accuracy of the relative position analysis of the upper guide rail and the lower guide rail.

[0056] Further, the master control system calculates the position difference between the profile of the upper guide rail butt joint end and the profile of the lower guide rail butt joint end, and obtains the deflection angle and the deflection distance between the butt joint end face of the upper guide rail and the butt joint end face of the lower guide rail.

[0057] Specifically, the master control system calculates the deflection angle and the deflection distance for each position state image information, records the deflection angle and the deflection distance data of different angles, and analyzes the deflection angle and the deflection distance between the upper guide rail and the lower guide rail in the three-dimensional space according to the deflection distance and the deflection data of different snapshot angles.

[0058] The profile edge line of the lower guide rail butt joint end is extracted as a reference line, and the profile edge line of the upper guide rail butt joint end is extracted as a comparison line. The deflection angle is calculated based on the comparison line and the reference line.

[0059] Further, the master control system extracts the profile edge line of the lower guide rail as a reference line and extracts the profile edge line of the upper guide rail butt joint end as a comparison line in the position state image information. The end point of the comparison line is coincided with the starting end point of the reference line, and the angle between the comparison line and the reference line is calculated, so as to obtain the deflection angle between the upper guide rail and the lower guide rail in the position state image information.

[0060] Further, in this embodiment, for each position state image information, the end point of the profile edge line of the lower guide rail far away from the adjusting mechanical hand is selected as the starting end point, so as to ensure that the direction of the deflection angle between the lower guide rail and the upper guide rail at different shooting angles is consistent, and the convenience of the deflection angle calculation of the upper guide rail and the lower guide rail is improved.

[0061] The profile center of the lower guide rail butt joint end is extracted as a deflection end point, and the profile center of the upper guide rail butt joint end is extracted as a deflection starting point. The deflection distance is calculated according to the deflection end point and the deflection starting point.

[0062] Specifically, the profile center of the lower guide rail butt joint end is extracted as a deflection end point, and the profile center of the upper guide rail butt joint end is extracted as a deflection starting point. The shortest line segment connecting the deflection end point and the deflection starting point is set as an ideal path. The ideal path is decomposed along the horizontal direction and the vertical direction, the movement path between the upper guide rail and the lower guide rail is obtained, and the deflection distance between the upper guide rail and the lower guide rail is obtained.

[0063] Further, the master control system obtains the yaw distance between the upper guide rail and the lower guide rail at different angles according to the position state image information of different snapshot angles, and calculates the yaw distance between the upper guide rail butt joint end and the lower guide rail butt joint end in the three-dimensional space in combination with the yaw distance between the upper guide rail and the lower guide rail at different angles.

[0064] Further, the master control system constructs a three-dimensional coordinate system between the upper guide rail and the lower guide rail, inputs the profile centers of the lower guide rail and the upper guide rail at different snapshot angles into the three-dimensional coordinate system, extracts the geometric center between the profile centers of the plurality of upper guide rails as a starting center, extracts the geometric center between the profile centers of the plurality of lower guide rails as an ending center, and calculates an initial adjustment path between the starting center and the ending center. The master control system corrects the initial adjustment path according to the movement path analyzed at different snapshot angles to obtain an adjustment movement path, thereby determining the yaw distance between the upper guide rail and the lower guide rail.

[0065] S13: generating a control instruction according to the yaw angle and the yaw distance, and driving the adjusting robot to adjust the upper guide rail to reach the butt joint pose state based on the control instruction.

[0066] Further, the generation of the control instruction according to the yaw angle and the yaw distance, and the driving of the adjusting robot to adjust the upper guide rail to reach the butt joint pose state based on the control instruction include:

[0067] analyzing the rotation angle and the rotation direction of the upper guide rail according to the yaw angle, and controlling the adjusting robot to rotate and adjust the pose of the upper guide rail based on the rotation angle and the rotation direction. The master control system generates an adjustment instruction of the yaw angle according to the rotation angle and the rotation direction of the upper guide rail, controls the adjusting robot to rotate and adjust the pose of the upper guide rail through the adjustment instruction, that is, drives the adjusting robot to rotate to drive the upper guide rail to yaw, so that the profile edge line of the butt joint end of the upper guide rail and the profile edge line of the butt joint end of the lower guide rail are located in the same horizontal plane.

[0068] analyzing the movement path between the butt joint end of the upper guide rail and the butt joint end of the lower guide rail according to the yaw distance, and controlling the adjusting robot to drive the upper guide rail to yaw to the butt joint pose state based on the movement path.

[0069] Specifically, the master control system generates a movement adjustment instruction according to the yaw distance between the upper guide rail and the lower guide rail, and controls the adjusting robot to work based on the movement adjustment instruction, so that the adjusting robot can drive the upper guide rail to move along the adjustment movement path, thereby making the end face of the butt joint end of the upper guide rail and the end face of the butt joint end of the lower guide rail meet, and the upper guide rail and the lower guide rail are in the butt joint pose state.

[0070] Further, the pose of the upper guide rail is fine-tuned by the adjusting manipulator, so that the butt joint end of the upper guide rail and the butt joint end of the lower guide rail can be attached, thereby meeting the butt joint requirements of the upper guide rail and the lower guide rail.

[0071] S14: The pressure data of the upper guide rail in the butt joint pose state is detected by the sensing component of the adjusting manipulator to obtain the yawing pressure of the upper guide rail.

[0072] Further, the pressure data of the upper guide rail in the butt joint pose state is detected by the sensing component of the adjusting manipulator to obtain the yawing pressure of the upper guide rail.

[0073] The yawing pressure of the upper guide rail is calculated by detecting the pressure data of the adjusting manipulator through the sensing component and combining the yawing angle. The left and right clamping jaws of the adjusting manipulator are both provided with the sensing component. When the adjusting manipulator clamps the upper guide rail, the sensing component on the left clamping jaw of the adjusting manipulator can detect the first pressure data of the upper guide rail on the left clamping jaw, and the sensing component on the right clamping jaw of the adjusting manipulator can detect the second pressure data of the upper guide rail on the right clamping jaw.

[0074] Specifically, the main control system compares and analyzes the first pressure data and the second pressure data, calculates the difference between the first pressure data and the second pressure data to obtain the pressure data difference, and decomposes the pressure data difference according to the direction of the pressure data difference and the yawing angle of the upper guide rail, so as to obtain the force condition of the adjusting manipulator in different directions, thereby determining the yawing pressure of the upper guide rail.

[0075] Further, the yawing movement direction of the upper guide rail can be determined by the yawing pressure of the upper guide rail, thereby determining the direction of the vertical state adjustment of the upper guide rail.

[0076] S15: The vertical state of the upper guide rail is adjusted based on the yawing pressure of the upper guide rail.

[0077] Specifically, the yawing pressure of the upper guide rail is compared with a preset pressure threshold value. If the yawing pressure is greater than the pressure threshold value, the vertical state of the upper guide rail is adjusted by the driving hoist, so that the yawing pressure of the upper guide rail is less than the pressure threshold value, and the upper guide rail and the lower guide rail can maintain a stable state after butt joint.

[0078] Further, the upper guide rail is swung around the butt joint end of the upper guide rail by the hoist according to the direction of the yawing pressure of the upper guide rail, and the swinging direction of the upper guide rail is the same as the direction of the yawing pressure of the upper guide rail, so that the upper guide rail can maintain a vertical state after butt joint.

[0079] Further, the direction of the deflection pressure of the upper guide rail is to the loosening clamping state of the adjusting manipulator, the deflection direction of the upper guide rail, and after the adjusting manipulator is loosened, the upper guide rail generates a deflection trend around the connecting position of the hoisting machine.

[0080] Specifically, the deflection pressure of the upper guide rail is detected by setting a pressure threshold, so that the upper guide rail does not have an excessively large deflection amplitude after docking, which leads to unstable connection of the upper guide rail and the lower guide rail.

[0081] The embodiment of the present application provides an adjusting method for elevator guide rail docking, which adjusts the pose of the upper guide rail based on the position of the lower guide rail, detects the deflection pressure of the upper guide rail in the docking state, and adjusts the vertical state, thereby improving the stability of the docking of the upper guide rail and the lower guide rail.

[0082] Embodiment two:

[0083] Figure 2 The adjusting device for elevator guide rail docking in the embodiment of the present application is shown, and the adjusting device comprises:

[0084] The image acquisition module 10 is used for clamping the upper guide rail by the adjusting manipulator, and acquiring the position state image information of the upper guide rail and the lower guide rail by the visual snapshot mechanism.

[0085] The adjusting manipulator is driven to open and close to clamp the upper guide rail, and when the upper guide rail is in a force balance state, the position state image information of the upper guide rail and the lower guide rail is acquired by the visual snapshot mechanism. The adjusting manipulator is provided with a left clamping jaw and a right clamping jaw, the adjusting manipulator is close to the docking end of the upper guide rail, and the clamping operation on the upper guide rail can be completed by the mutual cooperation between the left clamping jaw and the right clamping jaw.

[0086] Further, the upper guide rail is in a suspended state, and when the adjusting manipulator clamps the upper guide rail in a force balance state, it can ensure that the upper guide rail is in a static state, thereby improving the accuracy and stability of the image information acquired by the visual snapshot mechanism.

[0087] Specifically, the position state image information of the upper guide rail and the lower guide rail is acquired by the visual snapshot mechanism, the visual snapshot mechanism can be provided with a plurality of snapshot points, and the image snapshot of different directions of the upper guide rail and the lower guide rail is performed, so that the position state image information of multiple angles is acquired, thereby improving the accuracy of the position state analysis of the upper guide rail and the lower guide rail.

[0088] The image analysis module 20 acquires the deflection angle and the deflection distance between the docking end face of the upper guide rail and the docking end face of the lower guide rail according to the position state image information.

[0089] The master control system acquires the position state image information, extracts images of the upper guide rail and the lower guide rail according to the position state image information, and analyzes the position state of the upper guide rail and the lower guide rail to obtain the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail.

[0090] Further, the obtaining of the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail according to the position state image information further includes:

[0091] The master control system extracts the contour of the butt joint end of the upper guide rail and the contour of the butt joint end of the lower guide rail in the position state image information.

[0092] The contour of the butt joint end of the lower guide rail is taken as a reference to calculate the position difference between the contour of the butt joint end of the upper guide rail and the contour of the butt joint end of the lower guide rail, so as to obtain the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail.

[0093] Further, the contour of the butt joint end of the lower guide rail is taken as a reference to calculate the position difference between the contour of the butt joint end of the upper guide rail and the contour of the butt joint end of the lower guide rail, so as to obtain the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail.

[0094] The contour edge line of the butt joint end of the lower guide rail is extracted as a reference line, and the contour edge line of the butt joint end of the upper guide rail is extracted as a comparison line, and the yaw angle is calculated based on the comparison line and the reference line.

[0095] The contour center of the butt joint end of the lower guide rail is extracted as a yaw end point, and the contour center of the butt joint end of the upper guide rail is extracted as a yaw start point, and the yaw distance is calculated according to the yaw end point and the yaw start point.

[0096] The pose adjustment module 30 generates a control instruction according to the deflection angle and the yaw distance, and drives the adjusting robot to adjust the upper guide rail to the butt joint pose state based on the control instruction.

[0097] The rotation angle and the rotation direction of the upper guide rail are analyzed according to the deflection angle, and the adjusting robot is controlled to rotate and adjust the pose of the upper guide rail based on the rotation angle and the rotation direction.

[0098] The movement path between the butt joint end of the upper guide rail and the butt joint end of the lower guide rail is analyzed according to the yaw distance, and the adjusting robot is controlled to yaw the upper guide rail to the butt joint pose state based on the movement path.

[0099] The pressure detection module 40 detects the pressure data of the upper guide rail on the adjusting robot in the butt joint pose state through a sensing component, and obtains the yaw pressure of the upper guide rail.

[0100] The pressure data of the adjusting machine is detected by the sensing component, and the deflection pressure of the upper guide rail is calculated in combination with the deflection angle.

[0101] The pressure adjusting module 50 adjusts the vertical state of the upper guide rail based on the deflection pressure of the upper guide rail.

[0102] The deflection pressure of the upper guide rail is compared with a preset pressure threshold value, and if the deflection pressure is greater than the pressure threshold value, the vertical state of the upper guide rail is adjusted by driving the hoist.

[0103] The adjustment device for the butt joint of the elevator guide rail provided by the embodiments of the present application adjusts the pose state of the upper guide rail with the butt joint end of the lower guide rail as a reference, and adjusts the vertical state of the upper guide rail according to the deflection pressure of the upper guide rail, thereby improving the stability after the butt joint of the upper guide rail and the lower guide rail.

[0104] Those skilled in the art can understand all or part of the above-mentioned various methods of the embodiments.

[0105] In addition, the above describes in detail the adjustment method and device for the butt joint of the elevator guide rail provided by the embodiments of the present application, and the principle and implementation mode of the present application are described by using specific examples in this paper. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description should not be understood as a limitation of the present application.

Claims

1. A method for adjusting the interface of elevator guide rails, characterized in that, The adjustment method comprises: holding the upper guide rail by the adjusting manipulator, and acquiring position state image information of the upper guide rail and the lower guide rail by the visual snapshot mechanism; acquiring a deflection angle and a yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail according to the position state image information; generating a control instruction according to the deflection angle and the yaw distance, and driving the adjusting manipulator to adjust the upper guide rail to reach a butt joint pose state based on the control instruction; detecting pressure data of the adjusting manipulator on the upper guide rail in the butt joint pose state by a sensing component, and obtaining a yaw pressure of the upper guide rail; adjusting a vertical state of the upper guide rail based on the yaw pressure of the upper guide rail.

2. The adjustment method for the elevator guide rail butt joint according to claim 1, characterized in that, The adjustment method further comprises: lowering the upper guide rail by the lifting machine, and moving the butt joint end face of the upper guide rail to a pre-butt joint position.

3. The adjustment method for the elevator guide rail butt joint according to claim 1, characterized in that, The holding of the upper guide rail by the adjusting manipulator, and the acquisition of the position state image information of the upper guide rail and the lower guide rail by the visual snapshot mechanism comprise: driving the adjusting manipulator to open and close to hold the upper guide rail, and acquiring the position state image information of the upper guide rail and the lower guide rail by the visual snapshot mechanism when the upper guide rail is in a force balance state.

4. The adjustment method for elevator guide rail butt joint according to claim 1, characterized in that, The acquisition of the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail according to the position state image information comprises: acquiring the position state image information by the main control system, extracting images of the upper guide rail and the lower guide rail according to the position state image information, and obtaining the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail based on a position state analysis of the upper guide rail and the lower guide rail.

5. The adjustment method for the elevator guide rail butt joint according to claim 4, characterized in that, The acquisition of the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail according to the position state image information further comprises: extracting a profile of the butt joint end of the upper guide rail and a profile of the butt joint end of the lower guide rail in the position state image information by the main control system; taking the profile of the butt joint end of the lower guide rail as a reference, calculating a position difference between the profile of the butt joint end of the upper guide rail and the profile of the butt joint end of the lower guide rail, and obtaining the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail.

6. The adjustment method for the elevator guide rail butt joint according to claim 5, characterized in that, The taking of the profile of the butt joint end of the lower guide rail as the reference, the calculation of the position difference between the profile of the butt joint end of the upper guide rail and the profile of the butt joint end of the lower guide rail, and the obtaining of the deflection angle and the yaw distance between the butt joint end faces of the upper guide rail and the lower guide rail comprise: taking a profile edge line of the butt joint end of the lower guide rail as a reference line, taking a profile edge line of the butt joint end of the upper guide rail as a comparison line, and calculating the deflection angle based on the comparison line and the reference line; taking a profile center of the butt joint end of the lower guide rail as a yaw end point, taking a profile center of the butt joint end of the upper guide rail as a yaw start point, and calculating the yaw distance according to the yaw end point and the yaw start point.

7. The adjustment method for elevator guide rail butt joint according to claim 1, characterized in that, The generation of the control instruction according to the deflection angle and the yaw distance, and the driving of the adjusting manipulator to adjust the upper guide rail to reach the butt joint pose state based on the control instruction comprise: analyzing a rotation angle and a rotation direction of the upper guide rail according to the deflection angle, and controlling the adjusting manipulator to rotate to adjust the pose of the upper guide rail based on the rotation angle and the rotation direction; According to the deflection distance, a movement path between the upper rail butt joint end and the lower rail butt joint end is analyzed, and a regulating manipulator is controlled to drive the upper rail to deflect to a butt joint pose state based on the movement path.

8. The adjustment method for elevator guide rail butt joint according to claim 1, characterized in that, The pressure data of the regulating manipulator against the upper rail in the butt joint pose state is detected by the sensing component to obtain the deflection pressure of the upper rail. The pressure data of the regulating manipulator is detected by the sensing component, and the deflection pressure of the upper rail is calculated in combination with the deflection angle.

9. The adjustment method for the elevator guide rail butt joint according to claim 1, characterized in that, The vertical state of the upper rail is adjusted based on the deflection pressure of the upper rail. The deflection pressure of the upper rail is compared with a preset pressure threshold value, and if the deflection pressure is greater than the pressure threshold value, the vertical state of the upper rail is adjusted by the driving hoist.

10. An adjustment device for elevator guide rail butt joint, characterized in that, The adjusting device comprises: An image acquisition module is configured to hold the upper rail by the regulating manipulator and acquire position state image information of the upper rail and the lower rail by a visual snapshot mechanism; An image analysis module is configured to acquire a deflection angle and a deflection distance between butt joint end faces of the upper rail and the lower rail according to the position state image information; A pose adjustment module is configured to generate a control instruction according to the deflection angle and the deflection distance, and drive the regulating manipulator to adjust the upper rail to the butt joint pose state based on the control instruction; A pressure detection module is configured to detect pressure data of the regulating manipulator against the upper rail in the butt joint pose state by the sensing component to obtain the deflection pressure of the upper rail; A pressure adjustment module is configured to adjust the vertical state of the upper rail based on the deflection pressure of the upper rail.

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