An automatic docking adjustment device, system and method for guide rails installed in an elevator

Abstract

The present invention relates to an automatic docking and adjustment device, system and method for guide rails installed in an elevator, wherein the automatic docking and adjustment device for guide rails includes a clamping mechanism, a position adjustment mechanism and an angle adjustment mechanism; the clamping mechanism includes a first clamping arm, a second clamping arm and a clamping drive mechanism; the angle adjustment mechanism includes a synchronous belt and a synchronous belt drive mechanism; the synchronous belt has a first clamping portion located on one side of the first clamping arm and a second clamping portion located on one side of the second clamping arm; when the first clamping arm and the second clamping arm are closed, the first clamping portion and the second clamping portion clamp the guide rail and drive the upper guide rail to rotate and adjust the angle posture when the synchronous belt is running. The automatic docking and adjustment device for guide rails of the present invention can realize precise adjustment of the position and posture of the guide rails during the installation process of the elevator, so that the upper and lower guide rails can be docked with high precision.

Description

Technical Field

[0001] The present invention relates to an elevator installation device and method, and in particular to an automatic docking and adjustment device, system and method for guide rails installed in an elevator. Background Art

[0002] During the elevator installation and construction process, there will be various high-rise and high-speed elevators, whose main guide rails generally weigh 24kg / m or heavier. The transportation and installation of the guide rails are very time-consuming and labor-intensive. In addition, the installation quality requirements of high-rise and high-speed elevator guide rails are higher and the construction difficulty is greater.

[0003] Typically, during construction, plumb lines are placed in the shaft. Two symmetrical plumb lines are used for each main track, four for each main track, and two for the auxiliary track. Six plumb lines are laid out according to standard dimensions, with the upper ends secured to the top of the shaft. The lines are then laid from top to bottom to the bottom of the shaft, and plumb bobs are hung at the bottom of the plumb lines to tighten them. This forms the installation reference line for the entire guide rail. Guide rails are typically installed one by one from bottom to top, and the installed rails are secured to the shaft's inner wall via brackets. The lowest guide rail is installed in the pit, manually installed, and then gradually installed upwards. Manual hoisting and docking of guide rails usually involves using a wire rope to lift the guide rail through a winch, so that the lower end of the guide rail is slightly higher than the upper end of the lower guide rail. The guide rail hoisting rope is slowly released, and a worker holds the lower end of the upper guide rail for alignment control. The upper guide rail slowly approaches the upper end of the lower guide rail and continues to be lowered until it docks with the lower guide rail. Usually, the lower guide rail is already fixed to the inner wall of the hoistway, and the upper guide rail is in a shaking state during the installation process. Since shaking of the installation platform and guide rail is inevitable during the installation process, the hoistway size of high-rise high-speed elevators is large, and the longer the wire rope of the suspension platform, the shaking is more obvious, and the construction is more difficult. In addition, the male and female docking interfaces of the docking end faces may have abnormal conditions (for example: the end face is stuck with mud and sand, or the end face has burrs due to rust or collision), which makes the installation and docking of the guide rails more difficult. Especially during the guide rail docking process, the position and posture of the guide rails need to be slightly adjusted to ensure the installation accuracy of the guide rails. Accurate adjustment of the guide rail position and posture during on-site construction is a technical difficulty in the elevator guide rail installation process. Summary of the Invention

[0004] The present invention aims to overcome the deficiencies of the prior art and provide an automatic docking and adjustment device for guide rails installed in an elevator. The automatic docking and adjustment device for guide rails can accurately adjust the position and posture of the guide rails during the elevator installation process, so that the upper and lower guide rails can be docked with high precision.

[0005] The second object of the present invention is to provide a guide rail automatic docking adjustment system including the above-mentioned guide rail automatic docking adjustment device.

[0006] The second object of the present invention is to provide a guide rail automatic docking and adjustment method using the above-mentioned guide rail automatic docking and adjustment system.

[0007] The technical solution of the present invention for solving the problems of the prior art is:

[0008] 18. The automatic docking and adjustment device for guide rails installed in an elevator, comprising a clamping mechanism for clamping an upper guide rail to be installed, a position adjustment mechanism for driving the clamping mechanism to move in three-dimensional space to adjust the position of the upper guide rail, and an angle adjustment mechanism for adjusting the angular posture of the upper guide rail; the clamping mechanism comprises a first clamping arm, a second clamping arm, and a clamping drive mechanism for driving the first clamping arm and the second clamping arm to open or close; the angle adjustment mechanism comprises a synchronous belt arranged on the inner sides of the first clamping arm and the second clamping arm, and a synchronous belt drive mechanism for driving the synchronous belt to circulate; the synchronous belt extends along the inner sides of the first clamping arm and the second clamping arm to form a circulating closed structure, and the synchronous belt has a first clamping portion located on one side of the first clamping arm and a second clamping portion located on one side of the second clamping arm; when the first clamping arm and the second clamping arm are closed, the first clamping portion and the second clamping portion clamp the upper guide rail and drive the upper guide rail to rotate and adjust the angular posture when the synchronous belt is running.

[0009] Preferably, the position adjustment mechanism includes a bracket, an X-axis adjustment mechanism arranged on the bracket for driving the clamping mechanism to move along the X-axis to adjust the upper guide rail in the X-axis direction, a Y-axis adjustment mechanism for driving the clamping mechanism to move along the Y-axis to adjust the upper guide rail in the Y-axis direction, and a Z-axis drive mechanism for driving the clamping mechanism to move along the Z-axis to dock the lower end surface of the upper guide rail with the upper end surface of the lower guide rail.

[0010] Preferably, the ends of the first clamping arm and the second clamping arm away from the upper guide rail are hinged to each other; the clamping drive mechanism includes an X-axis drive seat, a clamping motor arranged on the X-axis drive seat and a screw transmission mechanism, wherein the screw in the screw transmission mechanism is a bidirectional screw, and the two sets of screw nuts in the screw transmission mechanism are respectively arranged on the outside of the first clamping arm and the second clamping arm; the first clamping arm and the second clamping arm are provided with avoidance grooves at positions corresponding to the bidirectional screw, and the avoidance grooves extend along the length direction of the first clamping arm and the second clamping arm.

[0011] Preferably, a spring is provided at a position between the first clamping arm and the second clamping arm in the bidirectional screw, and the screw nut contacts the outer sides of the first clamping arm and the second clamping arm; the elastic force of the spring causes the first clamping arm and the second clamping arm to open.

[0012] Preferably, the synchronous belt drive mechanism includes a mounting seat arranged on the X-axis drive seat, an angle adjustment motor arranged on the mounting seat and a synchronous belt transmission mechanism, wherein the synchronous belt transmission mechanism includes a driving pulley, three sets of driven pulleys and the synchronous belt wrapped around the driving pulley and the three sets of driven pulleys, wherein the angle adjustment motor is mounted on the mounting seat; the driving pulley is connected to the main shaft of the angle adjustment motor; two sets of driven pulleys are respectively mounted on the ends of the first clamping arm and the second clamping arm close to the upper guide rail; another set of driven pulleys is mounted on the mounting seat and is located on the angle bisector of the isosceles triangle formed by the clamping mechanism; the driving pulley is also located on the angle bisector; the synchronous belt is sequentially wrapped around the driving pulley and the three sets of driven pulleys.

[0013] Preferably, the X-axis adjustment mechanism includes a Y-axis drive seat and an X-axis motor arranged on the Y-axis drive seat, wherein the X-axis motor is connected to the X-axis drive seat through a screw transmission mechanism; an X-axis guide mechanism for moving the X-axis drive seat along the X-axis direction is provided between the X-axis drive seat and the Y-axis drive seat; the Y-axis adjustment mechanism includes a Z-axis drive seat and a Y-axis motor arranged on the Z-axis drive seat, wherein the Y-axis motor is connected to the Y-axis drive seat through a screw transmission mechanism; a Y-axis guide mechanism for moving the Y-axis drive seat along the Y-axis direction is provided between the Y-axis drive seat and the Z-axis drive seat; the Z-axis drive mechanism includes a Z-axis motor arranged on the bracket, and the Z-axis motor is connected to the Z-axis drive seat through a screw transmission mechanism; a Z-axis guide mechanism for moving the Z-axis drive seat along the Z-axis direction is provided between the Z-axis drive seat and the bracket.

[0014] An automatic docking and adjustment system for guide rails installed in an elevator comprises a lifting platform arranged on the inner wall of an elevator shaft, an intelligent recognition device arranged on the lifting platform for performing image recognition on the end faces of an upper guide rail and a lower guide rail to be docked, and the guide rail automatic docking and adjustment device for adjusting the position of the upper guide rail so that the lower end face of the upper guide rail can dock with the upper end face of the lower guide rail.

[0015] Preferably, the guide rail automatic docking and adjustment device also includes a guide seat arranged on the lifting platform; the guide seat is located below the clamping mechanism and is located between the first clamping arm and the second clamping arm; a vertically penetrating guide groove is provided on the guide seat, and the upper guide rail and lower guide rail to be docked pass through the guide groove.

[0016] Preferably, it also includes an intelligent detection device for detecting the positional relationship between the center line of the guide rail surface of the upper guide rail and the installation reference line.

[0017] A method for automatically docking and adjusting guide rails installed in an elevator comprises the following steps:

[0018] S1. According to the requirements of the elevator installation specifications, place the steel wire sample line as the installation reference line of the elevator guide rail;

[0019] S2. Install and secure the guide rail at the bottom of the elevator shaft; then use a winch to lower the upper guide rail to be installed from the top of the elevator shaft.

[0020] S3. When hoisted to the docking position, the clamping mechanism in the guide rail automatic docking adjustment device will clamp the lower end of the upper guide rail; the intelligent recognition device will take photos of the lower end surface of the upper guide rail and the upper end surface of the lower guide rail to ensure that there are no quality problems on the lower end surface of the upper guide rail and the upper end surface of the lower guide rail to be docked. Otherwise, they need to be repaired to meet the quality requirements before continuing the docking;

[0021] S4, automatically measuring the end face positions of the upper guide rail and the lower guide rail through the intelligent recognition device, and taking the upper end face of the lower guide rail as the docking target position, so that the lower end face of the upper guide rail gradually approaches the upper end face of the lower guide rail until the docking is completed; in this process, the X-axis adjustment mechanism, Y-axis adjustment mechanism and angle adjustment mechanism in the guide rail automatic docking adjustment device drive the clamping mechanism to perform translation in the X-axis and Y-axis directions and cause the upper guide rail to rotate clockwise or counterclockwise around the Z-axis to ensure that the positions of the lower end face of the upper guide rail and the upper end face of the lower guide rail are completely consistent; and when the intelligent recognition device detects that there is a height difference between the upper guide rail and the lower guide rail, the Z-axis drive mechanism drives the clamping mechanism to perform vertical movement to adjust the height position of the upper guide rail so that the lower end face of the upper guide rail and the upper end face of the lower guide rail are in contact with each other;

[0022] S5. Fix the upper guide rail and the lower guide rail with bolts to complete the docking installation of the upper guide rail and the lower guide rail.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The guide rail automatic docking and adjustment device of the present invention can realize precise adjustment of the guide rail position and posture during the elevator installation process, which not only includes adjustment in the X-axis, Y-axis and Z-axis directions, but also can adjust the installation angle of the upper guide rail to be installed through the angle adjustment mechanism, so that the upper and lower guide rails can be docked with high precision.

[0025] 2. The guide rail automatic docking adjustment device of the present invention is opened or closed by the clamping mechanism, so that the first clamping arm and the second clamping arm on the first clamping arm and the second clamping arm in the clamping mechanism in the synchronous belt clamp the upper guide rail, thereby relying on the circular motion of the synchronous belt and the friction force of the contact surface between the synchronous belt and the upper guide rail to apply torque to the upper guide rail, causing the upper guide rail to rotate clockwise or counterclockwise around the Z axis, thereby realizing the adjustment of the installation angle of the upper guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1-Figure 4 Schematic diagrams of the structure of the automatic docking and adjustment device for guide rails installed in an elevator of the present invention from four different perspectives.

[0027] Figure 5-Figure 6 Schematic diagrams of the structure of the automatic docking and adjustment device for guide rails installed in an elevator of the present invention from two different perspectives (with the mounting base removed).

[0028] Figure 7 This is a schematic diagram of the three-dimensional structure of the automatic docking and adjustment system for guide rails installed in an elevator of the present invention.

[0029] Figure 8 This is a schematic diagram of the locations of the functional modules on the lifting platform.

[0030] Figure 9 This is a schematic diagram of the three-dimensional structure of the guide rail automatic docking and adjustment device.

[0031] Figure 10 This is a schematic diagram of the three-dimensional structure of the guide rail automatic docking and adjustment device (including the upper guide rail and the lower guide rail). DETAILED DESCRIPTION

[0032] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0033] Example 1

[0034] See also Figures 1-10The guide rail automatic docking adjustment device for elevator installation of the present invention comprises a clamping mechanism 1 for clamping the upper guide rail 13 to be installed, a position adjustment mechanism for driving the clamping mechanism 1 to move in three-dimensional space to adjust the position of the upper guide rail 13, and an angle adjustment mechanism for adjusting the angular posture of the upper guide rail 13; the clamping mechanism 1 comprises a first clamping arm 103, a second clamping arm 104, and a clamping drive mechanism for driving the first clamping arm 103 and the second clamping arm 104 to open or close; the angle adjustment mechanism comprises a clamping mechanism provided on the first clamping arm 103 and the second clamping arm 104 The inner synchronous belt 201 and the synchronous belt driving mechanism for driving the synchronous belt 201 to circulate; the synchronous belt 201 extends along the inner side of the first clamping arm 103 and the second clamping arm 104 to form a circular closed structure, and the synchronous belt 201 has a first clamping part located on one side of the first clamping arm 103 and a second clamping part located on one side of the second clamping arm 104; when the first clamping arm 103 and the second clamping arm 104 are closed, the first clamping part and the second clamping part clamp the upper guide rail 13 and drive the upper guide rail 13 to rotate and adjust the angle posture when the synchronous belt 201 is running.

[0035] See also Figures 1-10 The position adjustment mechanism includes a bracket, an X-axis adjustment mechanism 3 arranged on the bracket for driving the clamping mechanism 1 to move along the X-axis to adjust the upper guide rail 13 in the X-axis direction, a Y-axis adjustment mechanism 4 for driving the clamping mechanism 1 to move along the Y-axis to adjust the upper guide rail 13 in the Y-axis direction, and a Z-axis driving mechanism 5 for driving the clamping mechanism 1 to move along the Z-axis to dock the lower end surface of the upper guide rail 13 with the upper end surface of the lower guide rail 12.

[0036] See also Figures 1-10The ends of the first clamping arm 103 and the second clamping arm 104 away from the upper guide rail 13 are hinged to each other; the clamping drive mechanism includes an X-axis drive seat 302, a clamping motor 101 arranged on the X-axis drive seat 302, and a screw transmission mechanism, wherein the screw in the screw transmission mechanism is a bidirectional screw 106, and the two sets of screw nuts 102 in the screw transmission mechanism are respectively arranged on the outside of the first clamping arm 103 and the second clamping arm 104; the first clamping arm 103 and the second clamping arm 104 are provided with avoidance grooves at positions corresponding to the bidirectional screw 106, and the avoidance grooves extend along the length direction of the first clamping arm 103 and the second clamping arm 104. In this embodiment, a spring 105 is provided at a portion of the bidirectional screw 106 located between the first clamping arm 103 and the second clamping arm 104. The screw nut 102 contacts the outer sides of the first clamping arm 103 and the second clamping arm 104. The elastic force of the spring 105 causes the first clamping arm 103 and the second clamping arm 104 to open. The bidirectional screw 106 is driven to rotate by the clamping motor 101, thereby driving the screw nuts 102 located on the outer sides of the first clamping arm 103 and the second clamping arm 104 to move toward or in opposite directions. When the screw nuts 102 on both sides move toward each other, the first clamping arm 103 and the second clamping arm 104 are in a closed state. When the screw nuts 102 on both sides move in opposite directions, the first clamping arm 103 and the second clamping arm 104 open under the elastic force of the spring 105.

[0037] See also Figures 1-10 The synchronous belt drive mechanism includes a mounting seat 203 arranged on the X-axis drive seat 302, an angle adjustment motor 202 arranged on the mounting seat 203, and a synchronous belt transmission mechanism, wherein the synchronous belt transmission mechanism includes a driving pulley 203, three sets of driven pulleys 204, and the synchronous belt 201 wrapped around the driving pulley 203 and the three sets of driven pulleys 204, wherein the angle adjustment motor 202 is installed on the mounting seat 203; the driving pulley 203 and the angle adjustment motor 202 are ... The main shaft of the degree adjustment motor 202 is connected; two sets of driven pulleys 204 are respectively mounted on the ends of the first clamping arm 103 and the second clamping arm 104 close to the upper guide rail 13; another set of driven pulleys 204 is mounted on the mounting seat 203 and is located on the angle bisector of the isosceles triangle formed by the clamping mechanism 1; the driving pulley 203 is also located on the angle bisector; the synchronous belt 201 is sequentially wrapped around the driving pulley 203 and the three sets of driven pulleys 204.

[0038] Through the above-mentioned arrangement, when it is necessary to adjust the angle of the upper guide rail 13, it is necessary to drive the upper guide rail 13 to rotate around the Z-axis. Therefore, after the first clamping arm 103 and the second clamping arm 104 clamp the bottom of the upper guide rail 13, the angle adjustment motor 202 can be used to drive the synchronous belt 201 to rotate clockwise or counterclockwise, thereby driving the application of torque to the lower side of the upper guide rail 13, causing the lower end of the upper guide rail 13 to rotate clockwise or counterclockwise around the Z-axis, so that the lower end surface of the upper guide rail 13 is aligned with the upper end surface of the lower guide rail 12.

[0039] See also Figures 1-10 The X-axis adjustment mechanism 3 includes a Y-axis drive seat 402 and an X-axis motor 301 disposed on the Y-axis drive seat 402, wherein the X-axis motor 301 is connected to the X-axis drive seat 302 via a screw transmission mechanism; an X-axis guide mechanism (such as a slider and rail mechanism) is disposed between the X-axis drive seat 302 and the Y-axis drive seat 402 for moving the X-axis drive seat 302 along the X-axis direction. Through the above arrangement, the X-axis motor 301 drives the X-axis drive seat 302 to move along the X-axis direction via the screw transmission mechanism, thereby causing the clamping mechanism 1 mounted on the X-axis drive seat 302 and the upper guide rail 13 clamped by the clamping mechanism 1 to translate along the X-axis direction.

[0040] See also Figures 1-10 The Y-axis adjustment mechanism 4 includes a Z-axis drive seat 502 and a Y-axis motor 401 disposed on the Z-axis drive seat 502, wherein the Y-axis motor 401 is connected to the Y-axis drive seat 402 via a screw transmission mechanism; a Y-axis guide mechanism (e.g., a slider rail mechanism) is disposed between the Y-axis drive seat 402 and the Z-axis drive seat 502 for moving the Y-axis drive seat 402 along the Y-axis direction. Through the above arrangement, the Y-axis motor 401 drives the Y-axis drive seat 402 to move along the Y-axis direction via the screw transmission mechanism, thereby causing the clamping mechanism 1 indirectly mounted on the Y-axis drive seat 402 and the upper guide rail 13 clamped by the clamping mechanism 1 to translate along the Y-axis direction.

[0041] See also Figures 1-10The Z-axis driving mechanism 5 includes a Z-axis motor 501 arranged on the bracket, and the Z-axis motor 501 is connected to the Z-axis driving seat 502 through a screw transmission mechanism; a Z-axis guide mechanism (for example, including a guide rod and a guide sleeve) is provided between the Z-axis driving seat 502 and the bracket for moving the Z-axis driving seat 502 along the Z-axis direction; through the above arrangement, the Z-axis motor 501 drives the Z-axis driving seat 502 to move along the Z-axis direction through the screw transmission mechanism, thereby prompting the clamping mechanism 1 indirectly installed on the Z-axis driving seat 502 and the upper guide rail 13 clamped by the clamping mechanism 1 to translate along the Z-axis direction.

[0042] See also Figures 1-10 The working principle of the automatic docking and adjustment device for guide rails installed in an elevator of the present invention is:

[0043] When working, first of all, it is necessary to place the steel wire sample line as the installation reference line of the entire elevator guide rail in accordance with the requirements of the elevator installation specifications; then the guide rail at the lower end of the elevator shaft is installed and fixed by manual installation; then the guide rail to be installed is sent down from the upper end of the elevator shaft by the winch; when hoisted to the docking position, the clamping mechanism 1 in the guide rail automatic docking adjustment device of the present invention clamps the upper guide rail 13, that is, the two sides of the upper guide rail 13 are respectively clamped by the first clamping part and the second clamping part in the synchronous belt 201; then, the position of the upper guide rail 13 in the X-axis, Y-axis and Z-axis directions is adjusted by the position adjustment mechanism, and the synchronous belt 201 can be driven to circulate through the angle adjustment mechanism, and the friction between the synchronous belt 201 and the upper guide rail 13 is used to apply torque to the upper guide rail 13, so that the upper guide rail 13 rotates along the Z-axis, thereby realizing the adjustment of the angle of the upper guide rail 13.

[0044] Example 2

[0045] See also Figures 1-10 The automatic docking and adjustment system for guide rails installed in an elevator of the present invention includes a lifting platform 9 arranged on the inner wall of the elevator shaft, an intelligent recognition device 7 arranged on the lifting platform 9 for performing image recognition on the end face of the guide rail to be docked, and the guide rail automatic docking and adjustment device for adjusting the position of the upper guide rail 13 so that the lower end face of the upper guide rail 13 can be docked with the upper end face of the lower guide rail 12.

[0046] See also Figures 1-10The guide rail automatic docking adjustment device also includes a guide seat 6 arranged on the lifting platform 9, and the guide seat 6 is located below the clamping mechanism 1 and between the first clamping arm 103 and the second clamping arm 104; a vertically penetrating guide groove is provided on the guide seat 6, and the upper guide rail 13 to be docked passes through the guide groove; by setting the above-mentioned guide seat 6, it is possible to achieve preliminary positioning of the upper guide rail 13, so that the upper guide rail 13 is aligned with the lower guide rail 12 in the general direction, and then the upper guide rail 13 is calibrated for the second time through the X-axis adjustment mechanism 3, the Y-axis adjustment mechanism 4, the Z-axis adjustment mechanism and the angle adjustment mechanism, so as to ensure perfect docking between the upper and lower guide rails.

[0047] See also Figures 1-10 , support devices are respectively provided on the four sides of the lifting platform 9, and the support devices include support rods 10 provided at both ends of the lifting platform 9 and a support driving mechanism 8 for driving the support rods 10 at both ends to extend outward to support the inner wall of the elevator shaft; through the above arrangement, before calibrating the guide rails, the support rods 10 on both sides are driven to extend outward by the support driving mechanism 8, so that the support rods 10 on both sides are respectively supported on the two symmetrical inner walls of the elevator shaft, thereby realizing the positioning of the lifting platform 9. In this way, when the guide rail automatic calibration device calibrates the upper guide rail 13 to complete the docking of the upper and lower guide rails 12, the error will not increase due to the shaking of the lifting platform 9, which is conducive to improving the docking accuracy.

[0048] See also Figures 1-10 The intelligent recognition device 7 includes an OCR image collector arranged on the mounting seat 203, and the OCR image collector is used to collect images of the end faces of the guide rails to be connected between the upper guide rail 13 and the lower guide rail 12, and identify and analyze the images through the control system to determine whether there are quality problems.

[0049] See also Figures 1-10The present invention also includes an intelligent detection device 11 for detecting the positional relationship between the centerline of the guide rail surface of the upper guide rail 13 and the installation reference line. After the guide rail automatic calibration device automatically docks the guide rails and locks the guide plate, the positional relationship between the centerline of the guide rail surface and the installation reference line is measured using a ruler. The error is calculated and the guide rail automatic calibration device adjusts the position until the error meets the specification requirements, and then the guide rail is fixed to the guide rail bracket. The ruler measurement can use a common mechanical measuring ruler in the industry, or an infrared laser sensor, etc. Specifically, the guide rail installation reference lines are measured to ensure that the upper guide rail 13 is located exactly between the two installation reference lines. If there is any deviation, the guide rail automatic calibration device automatically adjusts the upper guide rail 13 by twisting and moving it to ensure that the upper guide rail 13 is in the set ideal position. A ruler or laser infrared sensor can be used to measure the distance between the vertical lines of the guide rail. After the guide rail position is adjusted, the guide rail needs to be connected to the guide rail bracket that fixes the guide rail. It is generally initially fixed with screws and waits for further fine-tuning.

[0050] See also Figures 1-10 The method for automatically docking and adjusting guide rails installed in an elevator of the present invention comprises the following steps:

[0051] S1. According to the requirements of the elevator installation specifications, place the steel wire sample line as the installation reference line of the elevator guide rail;

[0052] S2. Install and secure the guide rail at the bottom of the elevator shaft; then use a winch to lower the upper guide rail 13 to be installed from the top of the elevator shaft.

[0053] S3. When hoisted to the docking position, the clamping mechanism 1 in the guide rail automatic docking adjustment device will clamp the lower end of the upper guide rail 13; the intelligent recognition device 7 will take photos of the lower end surface of the upper guide rail 13 and the upper end surface of the lower guide rail 12 to ensure that there are no quality problems with the lower end surface of the upper guide rail 13 and the upper end surface of the lower guide rail 12 to be docked. Otherwise, they need to be repaired to meet the quality requirements before continuing to dock;

[0054] S4, automatically measures the end face positions of the upper guide rail 13 and the lower guide rail 12 through the intelligent recognition device 7, and takes the upper end face of the lower guide rail 12 as the docking target position, so that the lower end face of the upper guide rail 13 gradually approaches the upper end face of the lower guide rail 12 until the docking is completed; in this process, the X-axis adjustment mechanism 3, the Y-axis adjustment mechanism 4 and the angle adjustment mechanism in the guide rail automatic docking adjustment device drive the clamping mechanism 1 to perform translation in the X-axis and Y-axis directions and cause the upper guide rail 13 to rotate clockwise or counterclockwise around the Z-axis to ensure that the positions of the lower end face of the upper guide rail 13 and the upper end face of the lower guide rail 12 are completely consistent; and when the intelligent recognition device 7 detects that there is a height difference between the upper guide rail 13 and the lower guide rail 12, the Z-axis drive mechanism 5 drives the clamping mechanism 1 to perform vertical movement to adjust the height position of the upper guide rail 13 so that the lower end face of the upper guide rail 13 and the upper end face of the lower guide rail 12 are in contact with each other;

[0055] S5. Fix the upper guide rail 13 and the lower guide rail 12 with bolts to complete the docking installation of the upper guide rail 13 and the lower guide rail 12.

[0056] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. An automatic docking and adjustment device for guide rails installed in an elevator, characterized in that: The invention comprises a clamping mechanism for clamping the upper guide rail to be installed, a position adjustment mechanism for driving the clamping mechanism to move in three-dimensional space to adjust the position of the upper guide rail, and an angle adjustment mechanism for adjusting the angular posture of the upper guide rail; the clamping mechanism comprises a first clamping arm, a second clamping arm, and a clamping drive mechanism for driving the first clamping arm and the second clamping arm to open or close; The angle adjustment mechanism includes a synchronous belt arranged on the inner side of the first clamping arm and the second clamping arm and a synchronous belt driving mechanism for driving the synchronous belt to circulate; the synchronous belt extends along the inner side of the first clamping arm and the second clamping arm to form a circular closed structure, and the synchronous belt has a first clamping part located on one side of the first clamping arm and a second clamping part located on one side of the second clamping arm; when the first clamping arm and the second clamping arm are closed, the first clamping part and the second clamping part clamp the upper guide rail and drive the upper guide rail to rotate and adjust the angle posture when the synchronous belt is running.

2. The automatic docking and adjustment device for guide rails installed in an elevator according to claim 1, characterized in that: The position adjustment mechanism includes a bracket, an X-axis adjustment mechanism arranged on the bracket for driving the clamping mechanism to move along the X-axis to adjust the upper guide rail in the X-axis direction, a Y-axis adjustment mechanism for driving the clamping mechanism to move along the Y-axis to adjust the upper guide rail in the Y-axis direction, and a Z-axis driving mechanism for driving the clamping mechanism to move along the Z-axis to dock the lower end surface of the upper guide rail with the upper end surface of the lower guide rail.

3. The automatic docking and adjustment device for guide rails installed in an elevator according to claim 2, characterized in that: The ends of the first clamping arm and the second clamping arm away from the upper guide rail are hinged to each other; the clamping drive mechanism includes an X-axis drive seat, a clamping motor arranged on the X-axis drive seat and a screw transmission mechanism, wherein the screw in the screw transmission mechanism is a bidirectional screw, and the two sets of screw nuts in the screw transmission mechanism are respectively arranged on the outside of the first clamping arm and the second clamping arm; the first clamping arm and the second clamping arm are provided with avoidance grooves at positions corresponding to the bidirectional screw, and the avoidance grooves extend along the length direction of the first clamping arm and the second clamping arm.

4. The automatic docking and adjustment device for guide rails installed in an elevator according to claim 3, characterized in that: A spring is provided at a portion of the bidirectional screw rod between the first clamping arm and the second clamping arm, and the screw rod nut contacts the outer sides of the first clamping arm and the second clamping arm; the elastic force of the spring causes the first clamping arm and the second clamping arm to open.

5. The automatic docking and adjustment device for guide rails installed in an elevator according to claim 4, characterized in that: The synchronous belt drive mechanism includes a mounting seat arranged on the X-axis drive seat, an angle adjustment motor arranged on the mounting seat and a synchronous belt transmission mechanism, wherein the synchronous belt transmission mechanism includes a driving pulley, three sets of driven pulleys and the synchronous belt wrapped around the driving pulley and the three sets of driven pulleys, wherein the angle adjustment motor is mounted on the mounting seat; the driving pulley is connected to the main shaft of the angle adjustment motor; two sets of driven pulleys are respectively mounted on the ends of the first clamping arm and the second clamping arm close to the upper guide rail; another set of driven pulleys is mounted on the mounting seat and is located on the angle bisector of the isosceles triangle formed by the clamping mechanism; the driving pulley is also located on the angle bisector; the synchronous belt is sequentially wrapped around the driving pulley and the three sets of driven pulleys.

6. The automatic docking and adjustment device for guide rails installed in an elevator according to claim 5, characterized in that: The X-axis adjustment mechanism includes a Y-axis drive seat and an X-axis motor arranged on the Y-axis drive seat, wherein the X-axis motor is connected to the X-axis drive seat through a screw transmission mechanism; an X-axis guide mechanism for moving the X-axis drive seat along the X-axis direction is provided between the X-axis drive seat and the Y-axis drive seat; the Y-axis adjustment mechanism includes a Z-axis drive seat and a Y-axis motor arranged on the Z-axis drive seat, wherein the Y-axis motor is connected to the Y-axis drive seat through a screw transmission mechanism; a Y-axis guide mechanism for moving the Y-axis drive seat along the Y-axis direction is provided between the Y-axis drive seat and the Z-axis drive seat; the Z-axis drive mechanism includes a Z-axis motor arranged on the bracket, and the Z-axis motor is connected to the Z-axis drive seat through a screw transmission mechanism; a Z-axis guide mechanism for moving the Z-axis drive seat along the Z-axis direction is provided between the Z-axis drive seat and the bracket.

7. An automatic docking and adjustment system for guide rails installed in an elevator using the automatic docking and adjustment device for guide rails installed in an elevator according to any one of claims 1 to 6, characterized in that: It includes a lifting platform arranged on the inner wall of the elevator shaft, an intelligent recognition device arranged on the lifting platform for performing image recognition on the end faces of the upper guide rail and the lower guide rail to be docked, and the guide rail automatic docking adjustment device for adjusting the position of the upper guide rail so that the lower end face of the upper guide rail can be docked with the upper end face of the lower guide rail.

8. The automatic docking and adjustment system for guide rails installed in an elevator according to claim 7, characterized in that: The guide rail automatic docking and adjustment device also includes a guide seat arranged on the lifting platform; the guide seat is located below the clamping mechanism and between the first clamping arm and the second clamping arm; a vertically penetrating guide groove is provided on the guide seat, and the upper guide rail and the lower guide rail to be docked pass through the guide groove.

9. The automatic docking and adjustment system for guide rails installed in an elevator according to claim 7, characterized in that: It also includes an intelligent detection device for detecting the positional relationship between the center line of the guide rail surface of the upper guide rail and the installation reference line.

10. A guide rail automatic docking adjustment method for the guide rail automatic docking adjustment device installed in an elevator according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. According to the requirements of the elevator installation specifications, place the steel wire sample line as the installation reference line of the elevator guide rail; S2. Install and secure the guide rail at the bottom of the elevator shaft; then use a winch to lower the upper guide rail to be installed from the top of the elevator shaft. S3. When hoisted to the docking position, the clamping mechanism in the guide rail automatic docking adjustment device will clamp the lower end of the upper guide rail; the intelligent recognition device will take photos of the lower end surface of the upper guide rail and the upper end surface of the lower guide rail to ensure that there are no quality problems on the lower end surface of the upper guide rail and the upper end surface of the lower guide rail to be docked. Otherwise, they need to be repaired to meet the quality requirements before continuing the docking; S4, automatically measuring the end face positions of the upper guide rail and the lower guide rail through the intelligent recognition device, and taking the upper end face of the lower guide rail as the docking target position, so that the lower end face of the upper guide rail gradually approaches the upper end face of the lower guide rail until the docking is completed; in this process, the X-axis adjustment mechanism, Y-axis adjustment mechanism and angle adjustment mechanism in the guide rail automatic docking adjustment device drive the clamping mechanism to perform translation in the X-axis and Y-axis directions and cause the upper guide rail to rotate clockwise or counterclockwise around the Z-axis to ensure that the positions of the lower end face of the upper guide rail and the upper end face of the lower guide rail are completely consistent; and when the intelligent recognition device detects that there is a height difference between the upper guide rail and the lower guide rail, the Z-axis drive mechanism drives the clamping mechanism to perform vertical movement to adjust the height position of the upper guide rail so that the lower end face of the upper guide rail and the upper end face of the lower guide rail are in contact with each other; S5. Fix the upper guide rail and the lower guide rail with bolts to complete the docking installation of the upper guide rail and the lower guide rail.

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