Correcting robot for elevator guide rail and lifting working platform

Abstract

The invention discloses an elevator guide rail correction robot and a lifting working platform. The elevator guide rail correction robot comprises a base, a supporting assembly arranged on the base, a correction assembly, a clamping assembly and a detection assembly, and the detection assembly is used for obtaining the initial position and the butt joint position of an elevator guide rail; the clamping assembly comprises an X-axis clamping mechanism and a Y-axis clamping mechanism, and the elevator guide rail is clamped based on cooperation of the X-axis clamping mechanism and the Y-axis clamping mechanism. The correcting assembly is provided with a horizontal moving mechanism for driving the correcting robot to move and an RZ-axis rotating mechanism for driving the correcting robot to rotate; when the clamping assembly clamps the elevator guide rail, the elevator guide rail is driven to move to the butt joint position from the initial position based on the cooperation of the horizontal moving mechanism and the RZ-axis rotating mechanism. By arranging the multi-axis degree-of-freedom correction assembly and the clamping assembly matched with the X-axis direction and the Y-axis direction, the accuracy of clamping and moving adjustment of the correction robot on the elevator guide rails is improved, and the butt joint accuracy of the elevator guide rails is improved.

Description

Technical Field

[0001] The invention relates to the technical field of elevator installation, and in particular to a correction robot for elevator guide rails and a lifting work platform. Background Art

[0002] During the current docking installation process of elevator guide rails, it is necessary to use calibration equipment to calibrate the docking position of the elevator guide rail and the reference guide rail. Since the current calibration equipment mainly marks the installation position of the elevator guide rail through laser sensing equipment, and the installers manually perform the butt welding of the elevator guide rail and the reference guide rail according to the marked position, this elevator guide rail docking processing technology is prone to human operation errors.

[0003] The existing fully automatic guide rail docking equipment uses a manipulator to grab the guide rail, cooperate with the preset running path, and adjust the guide rail according to the marked docking position points. Since the manipulator of the docking equipment is restricted by the construction environment of the elevator shaft, the manipulator's activity area is limited, resulting in a decrease in the accuracy of the manipulator's installation position of the elevator guide rail, affecting the reliability of the guide rail elevator docking. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a correction robot for an elevator guide rail and a lifting work platform. By configuring an elevator correction robot with multi-axis motion freedom, precise position adjustment of the elevator guide rail can be achieved.

[0005] The present invention provides an elevator guide rail correction robot, the elevator guide rail correction robot comprises a base, a correction component arranged on the base, a clamping component and a detection component, the detection component is used to obtain an initial position of the elevator guide rail and a docking position of the elevator guide rail;

[0006] The clamping assembly includes an X-axis clamping mechanism and a Y-axis clamping mechanism for clamping the guide rail, and the elevator guide rail is clamped based on the cooperation of the X-axis clamping mechanism and the Y-axis clamping mechanism;

[0007] The correction assembly is equipped with a horizontal movement mechanism for driving the correction robot to move and an RZ axis rotation mechanism for driving the correction robot to rotate;

[0008] When the clamping assembly clamps the elevator guide rail, the guide rail is moved in a horizontal plane based on the horizontal moving mechanism, and the RZ-axis rotating mechanism is used to drive the elevator guide rail to move from an initial position to the docking position.

[0009] Further, the RZ axis rotation mechanism includes a first guide rail slider group transmitted along the X axis, a first substrate and a first bearing plate distributed along the Y axis, and the first guide rail slider group is configured at one end of the first substrate;

[0010] The first carrying plate and the first substrate are arranged in parallel, a first rotating base is provided on the first substrate, and one end of the first carrying plate is connected to the first substrate based on the first rotating base;

[0011] The first bearing plate is driven to rotate around the first rotating seat based on the first guide rail slider group.

[0012] Furthermore, the first guide rail and slider group includes a first driving motor, a first linear guide rail arranged axially along the X-axis, and a first slider slidably fitted in the first linear guide rail;

[0013] The other end of the first supporting plate is arranged on the first sliding block, and the first driving motor is connected to the first sliding block based on a screw drive. Driven by the first driving motor, the first sliding block can move in the X-axis direction along the first linear guide rail and drive one end of the first supporting plate to move in the X-axis direction.

[0014] Further, the clamping assembly includes: a second bearing plate arranged on the correction assembly, a Y-axis telescopic mechanism arranged on the second bearing plate, and an X-axis telescopic mechanism arranged on the bottom surface of the second bearing plate;

[0015] The X-axis telescopic mechanism is used to adjust the position of the elevator guide rail in the X-axis direction, and the Y-axis telescopic mechanism is used to clamp and fix the elevator guide rail in the Y-axis direction.

[0016] Furthermore, the Y-axis telescopic mechanism includes a first movable plate, and a first limiting arm and a second limiting arm are arranged on both sides of the first movable plate, and a limiting area for accommodating the guide rail is formed between the first limiting arm and the second limiting arm.

[0017] Furthermore, a locking arm is disposed on the first limiting arm, and one end of the locking arm is rotatably disposed on the first limiting arm;

[0018] The locking arms are arranged axially along the Z axis, and the limiting area is in an open state, or the locking arms are arranged axially along the X axis, and the limiting area is in a closed state.

[0019] Furthermore, the correction robot further comprises a leveling component, the leveling component is arranged on the base, and the correction component is arranged on the leveling component;

[0020] The leveling assembly includes an RX-axis leveling mechanism that rotates around the X-axis and an RY-axis leveling mechanism that rotates around the Y-axis, which are arranged below the correction assembly. The correction robot is driven to rotate around the X-axis based on the RX-axis leveling mechanism, and / or the correction robot is driven to rotate around the Y-axis based on the RY-axis leveling mechanism.

[0021] Furthermore, the correction robot further comprises a support assembly disposed below the base, the support assembly being used to support the base;

[0022] The support assembly includes: a support rod and a telescopic transmission screw rod, the telescopic transmission screw rod is inserted into the support rod, one end of the support rod is configured with a threaded connection part, and the support rod is threadedly connected with the telescopic transmission screw rod based on the threaded connection part to form a telescopic rod assembly.

[0023] Furthermore, the support assembly also includes a support mounting frame and a telescopic drive motor;

[0024] Two symmetrically distributed groups of telescopic rod assemblies are arranged in the support mounting frame, and the telescopic drive motor is arranged between the two groups of telescopic rod assemblies, and the telescopic drive motor synchronously drives the two groups of telescopic rod assemblies.

[0025] The present invention also provides a lifting work platform, the lifting work platform comprises a frame, a lifting assembly for driving the frame to lift, and an elevator guide rail correction robot arranged on the frame;

[0026] When the lifting assembly drives the frame to move up and down, the support assembly of the correction robot is retracted within the frame;

[0027] When the lifting assembly drives the frame to move to the construction position, the supporting assembly of the correction robot extends outside the frame.

[0028] The present invention provides an elevator guide rail correction robot and a lifting work platform. By configuring an elevator correction robot with multi-axis motion freedom, precise position adjustment of the elevator guide rail is achieved. Based on the leveling component of the correction robot, the working plane of the correction robot is adjusted to a horizontal state, thereby improving the accuracy of the correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 is a schematic structural diagram of an elevator guide rail correction robot according to an embodiment of the present invention;

[0031] Figure 2 is a schematic structural diagram of a support assembly in an embodiment of the present invention;

[0032] Figure 3 is a schematic structural diagram of a leveling assembly in an embodiment of the present invention;

[0033] Figure 4 is a schematic structural diagram of the RX axis rotation mechanism in an embodiment of the present invention;

[0034] Figure 5 is a schematic diagram of the structure of a correction component in an embodiment of the present invention;

[0035] Figure 6 is a structural schematic diagram of the RZ axis rotation mechanism in an embodiment of the present invention;

[0036] Figure 7 is a structural schematic diagram of a horizontal moving mechanism in an embodiment of the present invention;

[0037] Figure 8 is a schematic structural diagram of a clamping assembly in an embodiment of the present invention;

[0038] Fig. 9 is a structural schematic diagram of a clamping assembly from another perspective in an embodiment of the present invention;

[0039] Fig.10 It is a structural schematic diagram of a lifting work platform in an embodiment of the present invention;

[0040] Fig.11 It is a working flow chart of the elevator guide rail correction robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Embodiment 1:

[0043] Figure 1 A schematic structural diagram of an elevator guide rail correction robot in an embodiment of the present invention is shown, wherein the elevator guide rail correction robot comprises a base 60, a leveling component 20, a correction component 30, a clamping component 50 and a detection component 40 arranged in sequence from bottom to top, and the leveling component 20 is used to adjust the horizontal position of the correction robot so that the working plane of the correction robot can be maintained on a horizontal plane, thereby ensuring the working reliability of the correction robot.

[0044] Specifically, the detection component 40 is arranged at the front end of the clamping component 50 and the correction component 30, and the detection component 40 is used to obtain the initial position of the elevator guide rail and the docking position of the elevator guide rail, so that the correction component 30 can adjust the elevator guide rail to move to the accurate docking position. The detection sensor based on the detection component 40 identifies the position of the vertical line in the elevator shaft, and the laser sensor scans the position of the vertical line and the guide rail. By detecting the verticality, horizontality, coplanarity, symmetry and parallelism of the elevator guide rail, the elevator guide rail meets the industrial requirements for elevator track installation.

[0045] The detection component 40 includes a plurality of sensors arranged on the correction component 30. Based on the movement of the correction component 30 in the XY plane, the detection component 40 can obtain the posture state of the correction robot and mark the installation and docking position of the elevator guide rail to meet the installation and docking requirements of the elevator guide rail.

[0046] The correction component 30 is used to adjust the installation position of the elevator guide rail so that the elevator guide rail is in the correct assembly position. The position of the elevator guide rail can be quickly adjusted based on the correction component 30. The correction component 30 is configured with a horizontal movement mechanism that drives the correction robot to move and an RZ axis rotation mechanism 31 that drives the correction robot to rotate. When the clamping component 50 clamps the elevator guide rail, the guide rail can be moved in the horizontal plane based on the horizontal movement mechanism, and the position of the guide rail can be quickly adjusted in conjunction with the RZ axis rotation mechanism 31.

[0047] The clamping assembly 50 includes an X-axis clamping mechanism and a Y-axis clamping mechanism for clamping the guide rail. The elevator guide rail is clamped based on the cooperation of the X-axis clamping mechanism and the Y-axis clamping mechanism. After the installation position of the elevator guide rail is adjusted based on the correction assembly 30, the elevator guide rail can be clamped and fixed by the clamping assembly 50.

[0048] The leveling assembly 20 includes an RX-axis leveling mechanism that rotates around the X-axis and an RY-axis leveling mechanism that rotates around the Y-axis, which are arranged below the correction assembly 30. Based on the RX-axis leveling mechanism, the correction robot can be driven to rotate around the X-axis, and based on the RY-axis leveling mechanism, the correction robot can be driven to rotate around the Y-axis, thereby adjusting the parallelism of the correction robot in the XY plane to ensure that the working plane of the correction robot is on a horizontal plane.

[0049] By using a correction robot with multi-axis freedom, the movement flexibility of the correction robot can be improved, so that the correction robot can meet the correction needs of different positions, that is, the correction robot can be adapted to correction processing scenarios of different lifting platforms, such as the hanging basket platform of the elevator shaft, the elevator car top platform and other scenarios.

[0050] Specifically, the correction robot also includes a support assembly 10 arranged below the base 60, and the support assembly 10 is used to support the base 60, and the support assembly 10 is configured with a support rod 12 that can be extended along the Y-axis, so that the support rod 12 can support the correction robot in the elevator shaft, thereby improving the structural stability of the correction robot inside the elevator shaft, and ensuring that the correction robot can meet the positioning and correction operations of the assembly position of the elevator guide rail.

[0051] Furthermore, the position of the correction robot is locked based on the support assembly 10, so that the correction robot can meet the positioning and installation requirements at any position inside the elevator shaft, thereby improving the flexibility of use of the correction robot.

[0052] The embodiment of the present invention provides a correction robot for an elevator guide rail. The correction robot is configured on a construction lifting platform of an elevator shaft, and a base 60, a leveling component 20, a correction component 30, and a clamping component 50 are supported based on a support component 10. The correction robot is supported and fixed at any height position in the elevator shaft through the support component 10, thereby ensuring accurate correction operation of the correction robot. By configuring a leveling component 20 and a correction component 30 with multiple axes of freedom, the correction robot can adapt to the installation and correction requirements of elevator guide rails at different horizontal positions and angles.

[0053] Embodiment 2:

[0054] Figure 2 A schematic structural diagram of a support assembly 10 in an embodiment of the present invention is shown, wherein the support assembly 10 comprises: a support mounting frame, a support rod 12, a telescopic transmission screw 15 and a telescopic drive motor 11, wherein the telescopic transmission screw 15 is inserted into the support rod 12, and a threaded connection portion is disposed at one end of the support rod 12, and the support rod 12 is threadedly connected to the telescopic transmission screw 15 based on the threaded connection portion.

[0055] The telescopic transmission screw rod 15 is inserted and fitted in the support rod 12 to form a telescopic rod assembly. Two groups of symmetrically distributed telescopic rod assemblies are arranged in the support mounting frame, and the telescopic drive motor 11 is arranged between the two groups of telescopic rod assemblies. The telescopic drive motor 11 synchronously drives the two groups of telescopic rod assemblies, so that the two groups of telescopic rod assemblies can perform telescopic operations synchronously.

[0056] Specifically, a gear linkage mechanism 14 is arranged in the middle of the support mounting frame, and the gear linkage mechanism 14 includes a driving gear 141 and a driven gear 142. The driving gear 141 and the driven gear 142 are meshed with each other, and the telescopic drive motor 11 is drivingly connected to the driving gear 141. The two telescopic transmission screw rods 15 are symmetrically arranged on both sides of the driven gear 142. Any of the telescopic transmission screw rods 15 is fixedly connected to the driven gear 142, so that the driven gear 142 drives the telescopic transmission screw rod 15 to rotate.

[0057] Furthermore, a bearing is provided at the connection position between the telescopic transmission screw 15 and the driven gear 142, and the telescopic transmission screw 15 is connected to the support mounting frame based on the bearing, so that the telescopic transmission screw 15 can be fixed in the support mounting frame, and the telescopic transmission screw 15 can rotate in the support mounting frame based on the bearing, thereby meeting the telescopic working requirements of the telescopic rod assembly.

[0058] Specifically, the working principle of the support assembly 10 is: the correction robot is configured on the lifting construction platform of the elevator shaft, the position of the correction robot is adjusted by the lifting construction platform, and the telescopic drive motor 11 based on the support assembly 10 drives the two symmetrically distributed telescopic rod assemblies to work synchronously. Since the two groups of telescopic rod assemblies are symmetrically distributed and driven by the same telescopic drive motor 11, the support rods 12 of the two groups of telescopic rod assemblies can be extended outward synchronously, or the support rods 12 of the two groups of telescopic rod assemblies can be retracted inward synchronously.

[0059] The support rods 12 based on the two sets of telescopic rod assemblies extend outward synchronously, so that the support rods 12 can be against the inner wall of the elevator shaft. Based on the support rods 12 being against the inner wall of the elevator shaft, the correction robot can be firmly fixed in the elevator shaft, thereby improving the reliability of the correction robot in performing elevator guide rail correction work inside the elevator shaft.

[0060] Furthermore, an elastic clamping mechanism 13 is configured at the end of the support rod 12, and the elastic clamping mechanism 13 includes a receiving rod 131 arranged at the end of the support rod 12, a pressure plate 133 arranged at the end of the receiving rod 131, and a spring 132 located between the pressure plate 133 and the end of the support rod 12. The receiving rod 131 is inserted into the support rod 12, and the receiving rod 131 can telescopically move inside the support rod 12. When the support rod 12 extends outward, the pressure plate 133 can be connected with the inner wall of the elevator shaft. Based on the continuous outward extension of the support rod 12, the distance between the end of the support rod 12 and the pressure plate 133 is shortened, and the spring 132 is in a compressed state. Based on the spring 132, the rigid contact between the support rod 12 and the inner wall of the elevator shaft is converted into flexible contact, thereby reducing the risk of component extrusion damage in the support assembly 10.

[0061] Furthermore, the pressure plate 133 can increase the contact area between the support rod 12 and the inner wall of the elevator shaft, so that the support assembly 10 can meet the supporting effect for the correction robot.

[0062] Furthermore, a plurality of protrusions are arranged on the end surface of the pressure plate 133 which is connected to the inner wall of the elevator shaft. The contact friction between the pressure plate 133 and the inner wall of the elevator shaft is increased based on the plurality of protrusion structures, thereby improving the stability of the support assembly 10 in supporting and fixing the correction robot inside the elevator shaft.

[0063] Figure 3 A schematic structural diagram of a leveling assembly 20 in an embodiment of the present invention is shown, wherein the leveling assembly 20 comprises an RX-axis rotation mechanism 21 and an RY-axis rotation mechanism 22. The leveling assembly 20 is disposed on the base 60, and the RX-axis rotation mechanism 21 and the RY-axis rotation mechanism 22 are overlapped and configured along the Z-axis direction, and the RY-axis rotation mechanism 22 is disposed above the RX-axis rotation mechanism 21. Based on the mutual cooperation between the RX-axis rotation mechanism 21 and the RY-axis rotation mechanism 22, the working plane of the correction assembly 30 can be rotated and adjusted in the XY plane, thereby adjusting the working plane of the correction assembly 30 to a horizontal state, thereby improving the accuracy of the correction robot in correcting the elevator guide rails.

[0064] Specifically, Figure 4 A schematic structural diagram of the RX axis rotation mechanism 21 in an embodiment of the present invention is shown, wherein the RX axis rotation mechanism 21 comprises: an RX axis rotation drive motor 211, a horizontal slide rail assembly 214, an inclined slide 215, an inclined slide rail assembly 216, a deflection plate 218 and a screw transmission assembly 212; the RX axis rotation drive motor 211 is drivingly connected to the screw transmission assembly 212, the inclined slide 215 is arranged in the screw transmission assembly 212, and the inclined slide 215 is slidably fitted on the horizontal slide rail assembly 214, and the screw transmission assembly 212 is driven to work based on the RX axis rotation drive motor 211, thereby driving the inclined slide 215 to move on the horizontal slide rail assembly 214.

[0065] Furthermore, the screw transmission assembly 212 and the horizontal slide rail assembly 214 are arranged along the Y axis, that is, the inclined slide 215 can be driven by the RX axis rotation drive motor 211 to move in the Y axis direction.

[0066] Specifically, the inclined slide rail assembly 216 is configured on the inclined slide table 215, and the inclined slide rail assembly 216 is slidably matched with a tilted slider, and the RX-axis rotation mechanism 21 is provided with a support seat 213 for supporting the flip plate, one side of the flip plate is rotationally connected to the support seat 213, and the other side of the flip plate is rotationally connected to the inclined slider, that is, the flip plate can rotate around the connection position of the support seat 213, and the flip plate can also rotate around the connection position of the tilted slider.

[0067] Furthermore, the working principle of the RX-axis rotation mechanism 21 is as follows: the RX-axis rotation driving motor 211 drives the tilting slide 215 to move on the horizontal slide rail, thereby driving the tilting slider to move horizontally along the Y-axis, and the tilting slider can move on the tilting guide rail assembly of the tilting slide 215. Based on the rotational connection between the flip plate and the tilting slider, the flip plate can be flipped along with the movement of the tilting slider, and relative rotation is synchronously formed between the flip plate and the support seat 213. Based on the composite movement between the tilting slide 215, the tilting slider, the tilting guide rail assembly and the flip plate, the flip plate can be deflected and rotated around the X-axis.

[0068] Specifically, the RY-axis rotation mechanism 22 has the same structural design and operating principle as the RX-axis rotation mechanism 21, which will not be described in detail here.

[0069] The RX-axis rotation mechanism 21 and the RY-axis rotation mechanism 22 drive the correction component 30 of the correction robot to flip in the XY plane, so as to adjust the working plane of the correction component 30 to be in a horizontal state.

[0070] Figure 5 A schematic structural diagram of a correction component 30 in an embodiment of the present invention is shown, wherein the correction component 30 is provided with a horizontal moving mechanism for driving the clamping component 50 to move and an RZ-axis rotation mechanism 31 for driving the clamping component 50 to rotate, wherein the horizontal moving mechanism includes a first X-axis moving mechanism 33 and a first Y-axis moving mechanism 32, and based on the cooperation among the first X-axis moving mechanism 33, the first Y-axis moving mechanism 32 and the RZ-axis rotation mechanism 31, the correction component 30 can meet the requirements of translation operation within the XY plane and swing operation within the XY plane, thereby meeting the requirements of correction use.

[0071] Specifically, Figure 6 A schematic structural diagram of the RZ-axis rotation mechanism 31 in an embodiment of the present invention is shown, wherein the RZ-axis rotation mechanism 31 includes a first guide rail slider group 311 for transmission along the X-axis direction, a first substrate 312 distributed along the Y-axis direction, and a first supporting plate 314, wherein the first guide rail slider group 311 is arranged at one end of the first substrate 312.

[0072] The first supporting plate 314 and the first substrate 312 are arranged in parallel, and a first rotating base 313 is provided on the first substrate 312. One end of the first supporting plate 314 is connected to the first substrate 312 based on the first rotating base 313, and the first substrate 312 and the first supporting plate 314 can achieve relative rotation based on the first rotating base 313, that is, the first supporting plate 314 can rotate around the first rotating base.

[0073] Furthermore, the first guide rail slider group 311 includes a first driving motor 3111, a first linear guide rail 3112 arranged axially along the X-axis, and a first slider 3113 slidably fitted on the first linear guide rail 3112, the other end of the first supporting plate 314 is arranged on the first slider 3113, and the first driving motor 3111 is connected to the first slider 3113 based on a screw drive. Based on the drive of the first driving motor 3111, the first slider 3113 can move in the X-axis direction along the first linear guide rail 3112, thereby driving one end of the first supporting plate 314 to move in the X-axis direction.

[0074] Furthermore, a slide rail adjustment mechanism 315 is arranged between the first supporting plate 314 and the first slider 3113, and the slide rail adjustment mechanism 315 includes a Y-axis adjustment guide rail 3152 arranged on the first supporting plate 314 and an adjustment slider 3151 arranged on the first slider 3113, and the adjustment slider 3151 is slidably engaged on the Y-axis adjustment guide rail 3152, so that when the first driving motor 3111 drives the first slider 3113 to slide along the X-axis, the first supporting plate 314 can move axially in the X-axis direction based on the traction of the first slider 3113, and adaptively move and adjust in the Y-axis direction based on the slide rail adjustment mechanism 315, so that the first supporting plate 314 can swing and rotate based on the first rotating base 313, that is, one end of the first supporting plate 314 rotates around a fixed axis based on the first rotating base 313, and the arc motion trajectory of the other end of the first supporting plate 314 is converted into horizontal movement in the X-axis and Y-axis directions, thereby realizing the rotation adjustment of the RZ axis.

[0075] Specifically, Figure 7 A structural schematic diagram of the horizontal moving mechanism in an embodiment of the present invention is shown, wherein the horizontal moving mechanism is arranged on the first supporting plate 314. In this embodiment, the first Y-axis moving mechanism 32 is arranged on the first supporting plate 314, and the first X-axis moving mechanism 33 is arranged on the first Y-axis moving mechanism 32, so that the overall structural center of gravity of the correction assembly 30 is moved downward, thereby improving the structural stability of the coordination between the RZ-axis rotation mechanism 31 and the horizontal moving mechanism.

[0076] Specifically, the first Y-axis moving mechanism 32 includes: a second drive motor 321 and a first electric slide 322 arranged along the Y-axis; the first X-axis moving mechanism 33 includes: a third drive motor 331 and a second electric slide 332 arranged along the X-axis, the clamping assembly 50 is configured on the moving slide of the second electric slide 332, so that the clamping assembly 50 can be adjusted on the second electric slide 332, and the second electric slide 332 is set on the moving slide of the first electric slide 322. Based on the cooperation between the first Y-axis moving mechanism 32 and the first X-axis moving mechanism 33, the movement adjustment of the locking assembly in the XY plane can be realized.

[0077] Furthermore, through the cooperation of the RZ-axis rotation mechanism 31 and the horizontal movement mechanism, the correction component 30 can quickly adjust the position of the elevator guide rail horizontally.

[0078] Specifically, Figure 8 FIG. 5 shows a schematic structural diagram of a clamping assembly 50 in an embodiment of the present invention. Fig. 9 A structural schematic diagram of the clamping assembly 50 from another perspective in an embodiment of the present invention is shown, wherein the clamping assembly 50 includes: a second bearing plate 53 arranged on the movable slide of the second electric slide 332, a Y-axial telescopic mechanism 51 arranged on the second bearing plate 53, and an X-axial telescopic mechanism 52 arranged on the bottom surface of the second bearing plate 53, wherein the X-axial telescopic mechanism 52 is used to adjust the position of the elevator guide rail in the X-axis direction, and the Y-axial telescopic mechanism 51 is used to clamp and fix the elevator guide rail in the Y-axis direction, so that the clamping assembly 50 can meet the requirements of clamping and positioning of the elevator guide rail.

[0079] Furthermore, a positioning block is provided at the front end of the second supporting plate 53, and based on the correction component 30, the clamping component 50 is driven to move and swing on the XY plane, so that the positioning block of the clamping component 50 can be attached to the side wall of the elevator guide rail to meet the correction of the position of the elevator guide rail, thereby ensuring that the elevator guide rail is in the accurate assembly position.

[0080] Specifically, the Y-axis telescopic mechanism 51 includes a first movable plate 512, and a first limiting arm 5121 and a second limiting arm 5122 are arranged on both sides of the first movable plate 512, and a limiting area for accommodating the guide rail is formed between the first limiting arm 5121 and the second limiting arm 5122, and the position of the guide rail is limited based on the limiting area of ​​the Y-axis telescopic mechanism 51.

[0081] Furthermore, a locking arm 5123 is arranged on the first limiting arm 5121, one end of the locking arm 5123 is rotatably set on the first limiting arm 5121, the locking arm 5123 is arranged axially along the Z-axis, and the locking arm 5123 is perpendicular to the first limiting arm 5121, or the locking arm 5123 is arranged axially along the X-axis, and the locking arm 5123 is perpendicular to the first limiting arm 5121, and a matching groove is provided at the end of the second limiting arm 5122. When the locking arm 5123 is arranged along the X-axis, the other end of the locking arm 5123 is engaged and clamped in the matching groove, so that the limiting area of ​​the Y-axis telescopic mechanism 51 is in a closed state.

[0082] Specifically, the Y-axis telescopic mechanism 51 also includes: a fourth drive motor 511, a first screw transmission group 513 and a second guide rail slider group 514 arranged along the Y-axis direction, the fourth drive motor 511 is driven and connected to the first screw transmission group 513, and the first movable plate 512 is arranged on the first screw transmission group 513, so that the first movable plate 512 can move on the first screw transmission group 513 based on the drive of the fourth drive motor 511.

[0083] Furthermore, the second guide rail slider group 514 is arranged on the second supporting plate 53, and the first movable plate 512 is connected to the second supporting plate 53 based on the second guide rail slider group 514, so that the first movable plate 512 can move along the Y-axis direction on the second supporting plate 53. Based on the second guide rail slider group 514, the movement direction of the first movable plate 512 can be restricted, and the stability of the moving matching structure of the first movable plate 512 can be improved.

[0084] Specifically, the X-axis telescopic mechanism 52 includes: a fifth drive motor 521, a second movable plate 523, a second screw transmission group and a third guide rail slider group 522 arranged along the X-axis direction. The fifth drive motor 521 is driven and connected to the second screw transmission group, and the second movable plate 523 is arranged on the second screw transmission group, so that the second movable plate 523 can move on the second screw transmission group based on the drive of the fifth drive motor 521.

[0085] Furthermore, the third guide rail slider group 522 is arranged between the second movable plate 523 and the second supporting plate 53, so that the second movable plate 523 can move along the X-axis direction under the drive of the fifth driving motor 521.

[0086] Furthermore, the second movable plate 523 is provided with a push plate 524, and the second movable plate 523 partially extends outside the second bearing plate 53, so that the push plate 524 can be pressed against the side wall of the elevator guide rail based on the X-axis telescopic mechanism.

[0087] Based on the cooperation between the Y-axis telescopic mechanism 51 and the X-axis telescopic mechanism, the movement of the elevator guide rail in the Y-axis direction and the X-axis direction can be limited, so that the elevator guide rail can be clamped and fixed, thereby improving the accuracy of the elevator guide rail installation.

[0088] An embodiment of the present invention provides a correction robot for an elevator guide rail. By configuring an elevator correction robot with multi-axis motion freedom, precise position adjustment of the elevator guide rail is achieved. Based on the leveling component 20 of the correction robot, the working plane of the correction robot is adjusted to a horizontal state, thereby improving the accuracy of the correction.

[0089] Embodiment three:

[0090] Fig.10 A structural schematic diagram of a lifting work platform in an embodiment of the present invention is shown, wherein the lifting work platform includes a frame 200, a lifting assembly 300 for driving the frame 200 to lift and lower, and the elevator guide rail correction robot 100 arranged on the frame 200. Based on the frame 200 cooperating with the lifting assembly 300, the lifting movement in the elevator shaft can be met, and the correction robot 100 can be driven to move to a suitable construction position in the elevator shaft, thereby meeting the construction and processing requirements.

[0091] Furthermore, the calibration robot 100 can be configured within the frame 200 so that the calibration robot 100 can meet the requirements of docking with the elevator guide rails, and the calibration robot 100 can be configured on the top of the frame 200 so that the calibration robot 100 can meet the component installation requirements at the top of the elevator car.

[0092] When the lifting component 300 drives the frame 200 to move up and down, the support component of the correction robot 100 is retracted in the frame 200. The support component is arranged in the frame 200. When the lifting component 300 drives the frame 200 to move up and down, the support component is prevented from interfering with the lifting operation of the frame 200.

[0093] When the lifting assembly 300 drives the frame 200 to move to the construction position, the support assembly of the correction robot 100 extends outside the frame 200. When the frame 200 is in the construction position for docking with the elevator guide rail, the support assembly extends outward and abuts against the inner wall of the elevator shaft to fix the position of the correction robot 100 and avoid shaking of the correction robot 100.

[0094] Furthermore, since the support assembly extends outward from the frame 200 , the support assembly supports the inner wall of the elevator shaft, thereby preventing the frame 200 from shaking and interfering with the correction operation of the correction robot 100 .

[0095] Embodiment 4:

[0096] Fig.11 A schematic diagram of the calibration workflow of the elevator guide rail calibration robot in an embodiment of the present invention is shown, and the calibration workflow of the elevator guide rail calibration robot includes:

[0097] S101: Acquire calibration data.

[0098] Before performing the calibration work of the calibration robot, a reference vertical line is configured in the elevator shaft, and a first set of guide rails is configured at the bottom of the elevator shaft according to the installation process requirements of the elevator. The installation position of the first set of guide rails is adjusted according to the reference vertical line, and the first set of guide rails is fixed to the bottom of the elevator shaft, so that the first set of elevator guide rails is configured as the reference guide rails.

[0099] Specifically, the calibration robot is lowered to the position height of the reference guide rail, and the reference guide rail is scanned by the detection component of the calibration robot, so that the calibration robot obtains the position data of the reference guide rail and marks it as calibration data.

[0100] Specifically, the correction robot is lowered to the position height of the reference guide rail, and the support assembly of the correction robot is extended so that the support rods of the support assembly are against the side wall of the elevator shaft. The correction robot can be fixed at the position of the elevator shaft corresponding to the reference guide rail, and the data such as the horizontal height position and parallelism position of the reference guide rail are recorded based on the detection assembly of the correction robot.

[0101] Furthermore, after the calibration robot acquires calibration data at the reference guide rail position, the support assembly is driven to contract and the calibration robot is raised to an installation position for docking with the guide rail.

[0102] S102: Determine the construction location.

[0103] The correction robot is driven to move up and down in the elevator shaft by the construction lifting platform of the elevator shaft, and the position of the correction robot is adjusted to the installation position of the elevator guide rail and the reference guide rail. The support rod of the support assembly of the correction robot is supported against the inner wall of the elevator shaft, so that the correction robot can be located at the installation position where the elevator guide rail is docked. The docking position of the elevator guide rail is adjusted by the correction robot, so that the elevator guide rail can be located at the accurate installation position, thereby meeting the docking requirements of the elevator guide rail and the reference guide rail.

[0104] The stop area of ​​the correction robot is set according to the docking position of the reference guide rail and the elevator guide rail, so that the working area of ​​the correction robot covers the docking area of ​​the reference guide rail and the elevator guide rail, thereby enabling the correction robot to meet the requirements of elevator guide rail docking.

[0105] S103: Adjust and correct the robot posture.

[0106] The correction robot stops at the construction position, and based on the horizontality of the working plane of the clamping assembly of the correction robot, the horizontal position state of the correction robot is obtained by means of a level bubble set on the correction robot, and the working plane of the correction assembly of the correction robot is driven to rotate axially around the X-axis by the leveling assembly, or the working plane of the correction assembly of the correction robot is driven to rotate axially around the Y-axis by the leveling assembly, so that the working plane of the correction assembly of the correction robot can be in a horizontal state.

[0107] Specifically, the main control system of the correction robot obtains the inclination of the working plane of the correction component according to the indicated horizontality of the level bubble, and divides the inclination into a first deflection angle around the X-axis and a second deflection angle around the Y-axis, so that the leveling component can adjust the working plane of the correction component to be parallel to the XY plane, thereby ensuring that the working plane of the correction component of the correction robot can meet the installation requirements of the elevator guide rail docking.

[0108] Furthermore, when the working plane of the correction component is adjusted by the leveling component, the horizontality data of the level bubble is acquired in real time, thereby ensuring that the working plane of the correction component can be in a horizontal state.

[0109] S104: Acquire docking information.

[0110] After adjusting the horizontal position of the correction robot, the docking information between the elevator guide rail and the reference guide rail is realized through the detection component of the correction robot, the detection component is driven by the correction component to detect the docking position of the elevator guide rail, the guide rail position of the elevator guide rail and the reference guide rail position are obtained, the docking position of the elevator guide rail is calculated based on the reference guide rail position, the moving path of the elevator guide rail is planned according to the guide rail position of the elevator guide rail and the docking position, the elevator guide rail is clamped based on the clamping component of the correction robot, and the elevator guide rail can be moved to the docking position in cooperation with the correction component.

[0111] Furthermore, the detection component of the correction robot can determine the docking position of the motor guide rail according to the reference guide rail position, and set the correction size of the clamping space of the clamping component according to the reference guide rail position; by moving the elevator guide rail to the docking position, the clamping position of the clamping component on the elevator guide rail in the Y-axis direction and the X-axis direction can be adjusted based on the correction size of the clamping component; by adjusting the X-axis telescopic mechanism and the Y-axis telescopic mechanism of the clamping component, the clamping space of the clamping component can meet the clamping requirements of the elevator guide rail, and the elevator guide rail is adjusted to the correct docking position.

[0112] S105: Adjust the elevator guide rail position.

[0113] Specifically, the correction component drives the Y-axis telescopic mechanism of the clamping component to approach the electrode guide rail, and makes the elevator guide rail located in the clamping space of the Y-axis telescopic mechanism. The correction component drives the clamping component to move, and the clamping component drives the elevator guide rail to move, so that the elevator guide rail can quickly move from the initial position to the docking position.

[0114] Furthermore, when the elevator guide rail is in the docking position, the push block of the X-axis telescopic mechanism of the clamping assembly is adjusted to fit against the side wall of the elevator guide rail, so that the elevator guide rail can be maintained in a stable position. The Y-axis telescopic mechanism is adjusted so that the positioning block fits against the front side of the elevator guide rail, and the locking arm fits against the rear side of the elevator guide rail, thereby clamping and fixing the elevator guide rail and ensuring that the elevator guide rail is in the correct docking position.

[0115] S106: Guide rail welding.

[0116] The position of the elevator guide rail is corrected based on the correction robot, and the reference guide rail and the elevator guide rail are welded by the staff or the welding robot, so that the elevator guide rail and the reference guide rail can be accurately docked and welded. When the elevator guide rail and the reference guide rail are welded and fixed, the clamping state of the clamping assembly is released, the clamping assembly is driven to reset, and the support assembly is driven to contract, so that the correction robot can perform the correction operation of docking the next section of the guide rail.

[0117] Furthermore, the elevator guide rail that has been butt-welded is used as a new reference guide rail, and the guide rail butt-jointing operation steps are repeated, thereby achieving butt-jointing installation of the elevator guide rail.

[0118] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0119] In addition, the embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An elevator guide rail calibration robot, characterized in that: The elevator guide rail correction robot comprises a base, a support assembly arranged under the base, a correction assembly arranged on the base, a clamping assembly and a detection assembly, wherein the detection assembly is used to obtain the initial position of the elevator guide rail and the docking position of the elevator guide rail; The support assembly is used to carry the base and realize the position fixation of the calibration robot; The clamping assembly includes an X-axis clamping mechanism and a Y-axis clamping mechanism for clamping the guide rail, and the elevator guide rail is clamped based on the cooperation of the X-axis clamping mechanism and the Y-axis clamping mechanism; The correction assembly is equipped with a horizontal movement mechanism for driving the correction robot to move and an RZ axis rotation mechanism for driving the correction robot to rotate; When the clamping assembly clamps the elevator guide rail, the guide rail is moved in a horizontal plane based on the horizontal moving mechanism, and the RZ-axis rotating mechanism is used to drive the elevator guide rail to move from an initial position to the docking position.

2. The elevator guide rail calibration robot according to claim 1, characterized in that: The RZ axis rotation mechanism comprises a first guide rail slider group for transmission along the X axis, a first substrate and a first carrier plate distributed along the Y axis, wherein the first guide rail slider group is arranged at one end of the first substrate; The first carrying plate and the first substrate are arranged in parallel, a first rotating base is provided on the first substrate, and one end of the first carrying plate is connected to the first substrate based on the first rotating base; The first bearing plate is driven to rotate around the first rotating seat based on the first guide rail slider group.

3. The elevator guide rail calibration robot according to claim 2, characterized in that: The first guide rail and slider group includes a first driving motor, a first linear guide rail arranged axially along the X-axis, and a first slider slidably fitted in the first linear guide rail; The other end of the first supporting plate is arranged on the first sliding block, and the first driving motor is connected to the first sliding block based on a screw drive. Driven by the first driving motor, the first sliding block can move in the X-axis direction along the first linear guide rail and drive one end of the first supporting plate to move in the X-axis direction.

4. The elevator guide rail calibration robot according to claim 1, characterized in that: The clamping assembly comprises: a second bearing plate arranged on the correction assembly, a Y-axis telescopic mechanism arranged on the second bearing plate, and an X-axis telescopic mechanism arranged on the bottom surface of the second bearing plate; The X-axis telescopic mechanism is used to adjust the position of the elevator guide rail in the X-axis direction, and the Y-axis telescopic mechanism is used to clamp and fix the elevator guide rail in the Y-axis direction.

5. The elevator guide rail calibration robot according to claim 4, characterized in that: The Y-axis telescopic mechanism comprises a first movable plate, a first limiting arm and a second limiting arm are arranged on both sides of the first movable plate, and a limiting area for accommodating the guide rail is formed between the first limiting arm and the second limiting arm.

6. The elevator guide rail calibration robot according to claim 5, characterized in that: The first limiting arm is provided with a locking arm, and one end of the locking arm is rotatably disposed on the first limiting arm; The locking arms are arranged axially along the Z axis, and the limiting area is in an open state, or the locking arms are arranged axially along the X axis, and the limiting area is in a closed state.

7. The elevator guide rail calibration robot according to claim 1, characterized in that: The correction robot further comprises a leveling component, wherein the leveling component is arranged on the base, and the correction component is arranged on the leveling component; The leveling assembly includes an RX-axis leveling mechanism that rotates around the X-axis and an RY-axis leveling mechanism that rotates around the Y-axis, which are arranged below the correction assembly. The correction robot is driven to rotate around the X-axis based on the RX-axis leveling mechanism, and / or the correction robot is driven to rotate around the Y-axis based on the RY-axis leveling mechanism.

8. The elevator guide rail calibration robot according to claim 1, characterized in that: The support assembly includes: a support rod and a telescopic transmission screw rod, the telescopic transmission screw rod is inserted into the support rod, one end of the support rod is configured with a threaded connection part, and the support rod is threadedly connected with the telescopic transmission screw rod based on the threaded connection part to form a telescopic rod assembly.

9. The elevator guide rail calibration robot according to claim 8, characterized in that: The support assembly also includes a support mounting frame and a telescopic drive motor; Two symmetrically distributed groups of telescopic rod assemblies are arranged in the support mounting frame, and the telescopic drive motor is arranged between the two groups of telescopic rod assemblies, and the telescopic drive motor synchronously drives the two groups of telescopic rod assemblies.

10. A lifting work platform, characterized in that: The lifting work platform comprises a frame, a lifting assembly for driving the frame to lift, and an elevator guide rail correction robot according to any one of claims 1 to 9 arranged on the frame; When the lifting assembly drives the frame to move up and down, the support assembly of the correction robot is retracted within the frame; When the lifting assembly drives the frame to move to the construction position, the supporting assembly of the correction robot extends outside the frame.

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