Elevator guide rail mounting robot based on man-machine cooperation

Abstract

The invention relates to the field of elevator installation technical equipment, and provides an elevator guide rail installation robot based on man-machine cooperation, which comprises a lower working module, a screw rod lifting module and an upper working module, a first installation end of the lower working module is connected with a turbine screw rod assembly in the screw rod lifting module; the lead screw lifting module is installed at the first installation end of the upper working platform. In the working process, constructors are located in the elevator guide rail mounting robot, procedures with high labor intensity, high precision requirement and high safety risk are completed through the robot, procedures with high maneuverability and high flexibility are completed manually, and a series of elevator guide rail mounting tasks are completed through man-machine cooperation. The installation efficiency of the elevator guide rail can be greatly improved, the safety risk in the construction process is reduced, the safety is improved, and the consistency and reliability of the installation quality are ensured.

Description

Technical Field

[0001] The present invention relates to the field of elevator installation technical equipment, and particularly relates to an elevator guide rail installation robot based on human-machine collaboration. Background Art

[0002] At present, the research results of elevator guide rail operation robots worldwide mainly focus on the fields of guide rail detection, maintenance, and elevator guide rail installation auxiliary operations. For example, the elevator guide rail maintenance robot developed and designed by Dou Yan et al. from Changshu Institute of Technology, the world's first elevator robot installation system RISE designed and developed by Schindler Group in Switzerland, and the elevator guide rail installation auxiliary device designed by Maruyama, Yutaka, etc. of Toshiba Elevator in Japan. The main challenges in elevator guide rail installation operations are that traditional elevator guide rail installation methods have problems such as high labor intensity, low efficiency, high safety risks, and strong dependence on the technical level of installers; although the fully automatic elevator guide rail installation technology has advantages such as high efficiency and high precision, it still faces problems such as high cost, technical complexity, adaptability limitations, lack of flexibility, potential safety risks, market acceptance, regulatory constraints, and maintenance challenges.

[0003] The invention patent with the publication number CN115818403A discloses an elevator track replacement system and replacement method, which has advantages such as flexible clamping methods, diverse selection of clamped guide rails, and convenient mobile transportation. However, it is installed on the side wall of the elevator shaft, making it inconvenient for construction workers to take and replace the guide rails, and it cannot perform initial installation independently, which does not significantly help improve the workload of construction workers and does not improve the safety of construction workers when installing guide rails.

[0004] The invention patent with the publication number CN115321306A discloses an elevator guide rail installation structure, in which two positioning sleeve plates are embedded and installed on one side of the wall to support the moving hanging rail. However, during the installation process of the elevator guide rail, this design cannot automatically transport the hanging rail, and due to the long length of the hanging rail, it often requires multiple people to move and transport it, consuming more labor costs.

[0005] The invention patent with the publication number CN117208709A discloses an elevator guide rail installation device, including a reel wire release mechanism, a supporting wall mechanism, a sliding mechanism, a hanging rail conveying mechanism, a clamping mechanism, a horizontal measurement mechanism, and an automatic dropping installation tool mechanism, which can adapt to different shaft depths and widths, ensure installation quality, save the time for manual taking, and is fast and convenient. However, it does not improve the collaboration ability between construction workers and machines, still requires a third party to install the clamped rail, and does not improve the operation safety of construction workers.

[0006] The invention patent with the publication number CN118478344A discloses a guide rail type elevator shaft mechanical and electrical installation robot system and method, which includes a platform component, a control module, and an operation module, a lifting module, a support module, and a monitoring module fixed on the platform component. It has the advantages of high operation efficiency and quality, and flexible movement. However, all installation work is completed by machines, lacking the flexibility and adaptability to execute tasks. Summary of the Invention

[0007] To solve the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a human-machine collaborative elevator guide rail installation robot. The scaffolding-free platform is installed on the inner guide rail of the shaft through a splicable frame. Each part of the lower frame is installed on the scaffolding-free platform through splicing. The corresponding rail alignment module and rail clamping device are installed on the lower frame. The screw rod lifting module and the upper working module are installed on the lower frame through splicing. The corresponding rail alignment module and the multi-functional quick-change module are installed on the upper frame. The winch and the hoist are installed on the top floor of the shaft, which can greatly reduce the safety risks during the construction process and improve safety.

[0008] The present invention provides a human-machine collaborative elevator guide rail installation robot, which includes a lower working module, a screw rod lifting module, and an upper working module. The first installation end of the lower working module is connected to the turbine screw rod assembly in the screw rod lifting module. The screw rod lifting module is installed at the first installation end of the upper working module. The lower working module includes a mobile platform, a lower frame, a first rail alignment module, and a rail clamping device. The lower frame and the rail clamping device are installed at the first installation end of the mobile platform. The first rail alignment module is installed at the second installation end of the lower frame. The screw rod lifting module includes a first turbine screw elevator, a second turbine screw elevator, a third turbine screw elevator, a fourth turbine screw elevator, a first connecting block, a second connecting block, and a stepping motor. The upper working module includes an upper frame, a second rail alignment module, and a multi-functional quick-change module. The multi-functional quick-change module is embedded in the inner layer of the upper frame. The second rail alignment module is installed at the first installation end of the upper frame. Both the first rail alignment module and the second rail alignment module include a first linear module, a three-stage telescopic mechanism, a first connecting frame, a first slewing device, and a first rail clamp. The multi-functional quick-change module includes a second linear module, a four-stage telescopic mechanism, a second connecting frame, a second slewing device, a quick device, and an end function module.

[0009] Preferably, the first turbine screw elevator assembly, the second turbine screw elevator assembly, the third turbine screw elevator assembly, and the fourth turbine screw elevator assembly all include a flange base, a screw support, and a turbine screw elevator. The first installation end of the flange base is fixedly connected to the upper part of the screw support. The first installation end of the turbine screw elevator is installed at the second installation end of the flange base. Both the first connecting block and the second connecting block include a three-way converter and a connecting support fixedly connected.

[0010] Preferably, the first mounting end of the three-stage telescopic mechanism is connected to the slider of the first linear module through the first connecting frame. The first mounting end of the first slewing device is mounted on the second mounting end of the three-stage telescopic mechanism. The first rail clamp is mounted on the second mounting end of the slewing device. The rail clamping device includes a third linear module and a second rail clamp, and the second rail clamp is mounted on the third linear module. The three-stage telescopic mechanism includes a first upper platform, a first middle platform, a first lower platform, a first belt fixing device and a first belt.

[0011] Preferably, the first mounting end of the four-stage telescopic mechanism is connected to the slider of the second linear module through the second connecting frame. The first mounting end of the second slewing device is mounted on the second mounting end of the four-stage telescopic mechanism. The first mounting end of the quick device is mounted on the second mounting end of the second slewing device. The end function module is mounted on the second mounting end of the quick device. The four-stage telescopic mechanism includes a second lower platform, a middle-lower platform, a second middle platform, a second upper platform, a second belt mounting and fixing device, a second belt and a third belt.

[0012] Preferably, the rack of the first middle platform is meshed and connected with the driven gear of the first lower platform. Limiting notches are respectively arranged on the first side surface and the second side surface of the first middle platform. Guide shafts are mounted on the first side surface and the second side surface of the first upper platform. The first upper platform is mounted in the limiting notch of the first middle platform through the guide shafts so that the first upper platform and the first middle platform slide relatively.

[0013] Preferably, one first belt fixing device is respectively arranged on the two side surfaces of the first lower platform. The first ends of the two first belts are respectively mounted on the first belt fixing devices on both sides. The second ends of the two first belts respectively bypass the synchronous belt pulleys of the middle platform and are mounted on the belt fixing ends on both sides of the upper platform.

[0014] Preferably, the rack of the middle-lower platform is meshed and connected with the driven gear of the second lower platform. Limiting notches are respectively arranged on the first side surface and the second side surface of the inner side and the third side surface and the fourth side surface of the outer side of the second middle platform. Guide shafts are mounted on the first side surface and the second side surface of the middle-lower platform and the first side surface and the second side surface of the upper platform. The second upper platform is mounted in the limiting notch of the second middle platform through the guide shafts so that the second upper platform and the second middle platform slide relatively. The middle-lower platform is mounted in the limiting notch of the second middle platform through the guide shafts so that the second middle platform and the middle-lower platform slide relatively.

[0015] Preferably, two second belt fixing devices are respectively arranged on the two side surfaces of the second lower platform. The first ends of the two second belts are respectively mounted on the second belt fixing devices on both sides. The second ends of the second belts bypass the synchronous belt pulleys of the middle-lower platform and are respectively mounted on the belt fixing ends on both sides of the second middle platform. The first ends of the two third belts are respectively mounted on the belt fixing ends on both sides of the middle-lower platform. The second ends of the third belts respectively bypass the synchronous belt pulleys of the middle platform and are mounted on the belt fixing ends on both sides of the second upper platform.

[0016] Preferably, the mobile platform includes a scaffolding-free platform, a hoist, a steel wire rope, and a winch. The hoist is fixedly connected to the installation end above the scaffolding-free platform. Both ends of the steel wire rope are respectively connected to the hoist and the scaffolding-free platform. The winch and the hoist are installed at the top of the shaft. A limit snap ring is installed at the end of the quick device, and a limit slot matching the limit snap ring is installed at the front end of the end functional module.

[0017] Preferably, both the first lower platform and the second lower platform include a motor, a base plate, a driving gear, a first driven gear, a second driven gear, and a middle position switch. The motor is installed at the first installation end of the base plate. The driving gear is embedded in the inner layer of the base plate and connected to the motor. The first driven gear and the second driven gear are embedded in the inner layer of the base plate. The axes of the first driven gear and the second driven gear are meshed and connected on both sides of the driving gear in the same horizontal direction. The middle position switch is installed at the second installation end of the base plate.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] (1) The present invention can improve the installation efficiency of elevator guide rails, shorten the project cycle, combine the precise operation of the robot with the flexibility and judgment of human installers, realize the automation and intelligence of the elevator guide rail installation process, greatly improve the installation efficiency and ensure installation safety.

[0020] (2) The present invention can greatly reduce the safety risks during the construction process and improve safety. During the installation process, the installers work inside the lower frame of the lower working module, controlling the robot in real time and performing manual installation, greatly improving the safety of the construction personnel.

[0021] (3) The present invention can ensure the consistency and reliability of the installation quality, and hand over the processes with high labor demand, high labor intensity, high precision requirements, and high safety risks to the machine to complete; hand over the processes with strong mobility, high flexibility, and simplicity to humans to complete, which can reduce the workload of installers while ensuring the installation efficiency, and ensure the consistency and reliability of the installation quality during the installation process. Description of the Drawings

[0022] Figure 1 It is the overall structure diagram of the elevator guide rail installation robot based on human-machine cooperation of the present invention;

[0023] Figure 2 It is the partial structure diagram of the elevator guide rail installation robot based on human-machine cooperation of the present invention;

[0024] Figure 3 It is the structure diagram of the lower working module of the elevator guide rail installation robot based on human-machine cooperation of the present invention;

[0025] Figure 4 This is the structural diagram of the rail alignment module in the elevator guide rail installation robot based on human - machine cooperation of the present invention;

[0026] Figure 5 This is the structural diagram of the three - stage telescopic mechanism in the elevator guide rail installation robot based on human - machine cooperation of the present invention;

[0027] Figure 6 This is the structural diagram of the screw rod lifting module in the elevator guide rail installation robot based on human - machine cooperation of the present invention;

[0028] Figure 7 This is the structural diagram of the upper working module in the elevator guide rail installation robot based on human - machine cooperation of the present invention;

[0029] Figure 8 This is the structural node diagram of the upper frame of the upper working module in the elevator guide rail installation robot based on human - machine cooperation of the present invention;

[0030] Figure 9 This is the structural diagram of the multi - functional quick module in the elevator guide rail installation robot based on human - machine cooperation of the present invention;

[0031] Figure 10 This is the structural diagram of the four - stage telescopic structure in the elevator guide rail installation robot based on human - machine cooperation of the present invention;

[0032] Figure 11 This is the internal structural diagram of the lower platform in the elevator guide rail installation robot based on human - machine cooperation of the present invention. Detailed implementation manners

[0033] Hereinafter, the implementation manners of the present invention will be described with reference to the accompanying drawings.

[0034] Specifically, the present invention provides an elevator guide rail installation robot based on human - machine cooperation, which combines the precise operation of the robot with the flexibility and judgment of the installation worker. The heavy and laborious work is completed by the robot, and the light and flexible work is completed by the worker, so that only one installation worker can complete the elevator guide rail installation more efficiently, more safely and more precisely.

[0035] The present invention provides an elevator guide rail installation robot based on human - machine cooperation, as Figures 1 to 11 shown, the present invention includes a lower working module 1, a screw rod lifting module 2 and an upper working module 3. The lower working module 1 and the upper working module 3 are frame structures and are both spliceable frames provided with different installation nodes. The first end of the lower working module 1 is connected to the flange base 211 in the screw rod lifting module 2, and the first end of the upper working module 3 is connected to the first connection block 25 and the second connection block 26 in the screw rod lifting module 2.

[0036] As Figures 1 to 3As shown in the figure, the lower working module 1 includes a mobile platform 11, a lower frame 12, a first pair of rail modules 13, and a rail clamping device 14. The mobile platform 11 includes a scaffolding-free platform, a hoist, a steel wire rope, and a winch. The hoist is fixedly connected to the installation end on the upper part of the scaffolding-free platform. Both ends of the steel wire rope are respectively connected to the hoist and the scaffolding-free platform. The winch and the hoist are installed at the top of the shaft. The lower end of the lower frame 12 is fixedly connected to the first installation end of the scaffolding-free platform in the mobile platform 11. The size of the scaffolding-free platform in the horizontal direction can be adjusted according to the specific situation of the construction site. A splicing frame is provided inside the scaffolding-free platform, and the scaffolding-free platform can be connected and slide with the inner guide rail of the construction shaft.

[0037] The overall shape of the lower frame 12 is a rectangular structure. The lower frame 11 is provided with multiple vertical beams along the vertical direction for fixedly connecting with the scaffolding-free platform. Short cross beams are installed in the hollow part in the middle and lower parts to form a rectangular plane for placing construction tools. The outer surface at the upper end of the lower frame 12 is a plane for placing a rectangular platform. The rectangular platform is fixedly connected to the center of the upper end of the lower frame 12 through short vertical beams. The first pair of rail modules 13 of the lower frame 12 are installed on the side of the upper end plane of the lower frame 12 through a first linear module 131, and its axis direction is parallel to the side line of the lower frame 12; the rail clamping device 14 is fixedly connected to the outside of the scaffolding-free platform through a third linear module. The lower end of the rail clamp is connected to the slide block of the third linear module rail to realize the sliding of the rail clamp along the axis direction of the third linear module. The upper working module 3 includes an upper frame 31, a second pair of rail modules 32, and a multi-functional quick-change module 33.

[0038] As Figures 4 to 11As shown, the first pair of rail modules 13 and the second pair of rail modules 32 both include a first linear module 131, a three-stage telescopic mechanism 132, a first connecting frame 133, a first slewing device 134, and a first rail gripper 135. The multi-functional quick-change module 33 includes a second linear module 331, a four-stage telescopic mechanism 332, a second connecting frame 333, a second slewing device 334, a quick device 335, and an end functional module 336. The three-stage telescopic mechanism 132 includes a first upper platform 1323, a first middle platform 1322, a first lower platform 1321, a first belt fixing device 1324 on the first side, a first belt fixing device 1325 on the second side, and two first belts. The four-stage telescopic mechanism 332 includes a second lower platform 3321, a middle-lower platform 3322, a second middle platform 3323, a second upper platform 3324, second belt mounting and fixing devices on both sides, second belts on both sides, and third belts on both sides. Both the first lower platform 1321 and the second lower platform 3321 include a motor, a base plate, a driving gear, a first driven gear, a second driven gear, and a middle position switch. The motor is installed at the first installation end of the base plate. The driving gear is embedded in the inner layer of the base plate and connected to the motor. The first driven gear and the second driven gear are embedded in the inner layer of the base plate. The axes of the first driven gear and the second driven gear are meshed and connected on both sides in the same horizontal direction as the driving gear. The middle position switch is installed at the second installation end of the base plate.

[0039] The inner side of the lower end of the three-stage telescopic mechanism 132 of the first pair of rail modules 13 is fixedly connected to the slider in the first linear module 131. The first installation end of the three-stage telescopic mechanism 132 is connected to the slide rail slider of the first linear module 131, so as to keep the three-stage telescopic mechanism 132 balanced in the plane. The axis of the three-stage telescopic mechanism 132 is parallel to the side plane of the first linear module 131, so as to realize the sliding of the three-stage telescopic mechanism 132 in the axis direction of the first linear module 131. The first slewing device 134 is fixedly connected to the second installation end of the three-stage telescopic mechanism 132, that is, the upper platform installation end, through the first connecting frame 133. The lower end of the rail gripper 135 is fixedly connected to the upper end of the first slewing device 134, so as to realize the rotation of the rail gripper 135 in the plane.

[0040] The three-stage telescopic mechanism 132 can extend along the axial direction. The first lower platform 1321 is fixedly connected to the slider in the first linear module 131. The motor in the first lower platform 1321 is installed on the first side plane of the base plate. The driving gear is embedded in the inner layer of the base plate and connected to the motor. The axes of the first driven gear and the second driven gear are in the same horizontal plane as the axis of the driving gear, and are meshed and connected on both sides of the driving gear. The middle position switch is installed in the middle of the second side plane of the base plate. The first belt fixing devices 1324 and 1325 are respectively placed at the right ends of the first side plane and the second side plane of the first lower platform 1321. Through holes are arrayed on both sides of the upper end of the first lower platform 1321, and the guide shafts are fixed at both ends of the through holes. A meshing rack is assembled at the center of the lower side of the first middle platform 1322, which is meshed and connected with the first driven gear and the second driven gear. Limiting notches are provided at the upper end, the inner side and the outer side of the first middle platform 1322. Synchronous belt wheels are installed in the limiting notches at the upper end of the first middle platform 1322 at both ends of the limiting notches. The inner limiting notch is in clamping fit with the guide shafts at both ends of the first lower platform 1321, so as to realize the relative sliding of the first middle platform 1322 relative to the first lower platform 1321 along the axial direction. Arrayed through holes are provided on both sides of the first upper platform 1323 for installing guide shafts. The outer limiting notch of the first middle platform 1322 is in clamping fit with the guide shafts at both ends of the first upper platform 1323, so as to realize the relative sliding of the first upper platform 1323 relative to the first middle platform 1322 along the axial direction. The belt fixing ends are diagonally arranged at the inner side of the upper end of the first upper platform 1323 at the mating position with the upper end limiting clamping groove of the first middle platform 1322. The first ends of the first belts on both sides are respectively installed on the first belt fixing device 1324 on the first side and the first belt fixing device 1325 on the second side of the first lower platform 1321. The second ends of the first belts on both sides pass through the synchronous belt wheels of the middle platform 1322 and reach the upper end limiting notches of the middle platform 1322, and are installed on the belt fixing ends on both sides of the upper platform 1323.

[0041] The first ends of the first belts on both sides are installed on the first belt fixing devices of the first lower platform 1321, and the second ends pass through the upper end limiting notches of the first middle platform 1322 and are installed on the belt fixing ends on both sides of the first upper platform 1323. The first belts on both sides are symmetrically distributed, so as to realize the sliding of the first lower platform 1321 driving the first upper platform 1323. When the moving distance of the first middle platform 1322 is L, it will drive the first upper platform 1323 to move a distance of 2L, achieving the effect of differential expansion and contraction.

[0042] The screw rod lifting module 2 includes a first worm screw lift assembly 21, a second worm screw lift assembly 22, a third worm screw lift assembly 23, a fourth worm screw lift assembly 24, a first connection block 25, a second connection block 26 and a stepping motor assembly 27. The second, third and fourth worm screw lift assemblies 22, 23 and 24 have the same structure as the first worm screw lift assembly 21 and are distributed at the four corners of a rectangle, and are all fixedly connected to the upper end of the lower frame 12. The second connection block 26 has the same structure as the first connection block 25, and their axes are on the same horizontal line and are mirror-symmetrical. Specifically, the first worm screw lift assembly 21 mainly includes a flange base 211, a screw support 212 and a worm screw 213.

[0043] As Figure 1 and in combination with Figure 2 and Figure 7 shown, the inner side of the lower end of the upper frame 31 is fixedly connected to the screw rod lifting module 2. The first pair of rail modules 32 of the upper frame 31 are installed on the side of the upper plane of the upper frame 31 through a linear module, and their axis directions are parallel to the side line of the upper frame 31 and are in the same vertical plane as the axis of the pair of rail modules 13 in the lower working module 1. The multi-functional quick-change module 33 is installed on the side of the middle plane of the upper frame 31 through a second linear module 331, and its axis direction is parallel to the side line of the upper frame 31 and is in the same vertical plane as the axis of the second pair of rail modules 32 in the upper working module.

[0044] As Figure 1 , Figure 2 and Figure 8 shown, the outer shape of the upper frame 31 is a rectangular structure, and the connection method of the frame platform is bolt connection. The square tube connectors 311 are designed. The square tube connectors 311 are divided into double-pass, three-pass and four-pass to meet the assembly of frames of different shapes. Eight bolt nodes are set in each connection direction, and they are staggered in the up-down direction and left-right direction. The square tube connectors 311 are spliced together with the square tubes 314, between different square tubes 314 and between different square tube connectors 311 through inner sleeves 312 and bolts. At the same time, mounting plate connection nodes are provided on the square tube connectors 311 to splice the mounting plate connectors and the mounting plates. Many cross beams are provided on the outer surface of the upper frame 31 to ensure the stability of the frame structure, facilitate installation and dimension modification. The cross beams in the middle hollow part form a rectangular plane, and the upper side thereof is fixedly connected to the multi-functional quick-change module 33.

[0045] As Figure 9As shown, the inner side of the lower end of the four-stage telescopic mechanism 332 of the multi-functional quick-change module 33 is fixedly connected to the slider in the second linear module 331, and the outer side of the lower end of the four-stage telescopic mechanism 332 is connected to the slide rail slider of the second linear module 331, so as to keep the four-stage telescopic mechanism 332 balanced in the plane. The axis of the four-stage telescopic mechanism 332 is parallel to the side plane of the second linear module 331, so as to realize the sliding of the four-stage telescopic mechanism 332 in the axial direction of the second linear module 331. The second rotary device 334 is fixedly connected to the second upper platform installation end of the four-stage telescopic mechanism 332 through the second connecting frame 333. The lower end of the quick device 335 is fixedly connected to the upper end of the second rotary device 334, so as to realize the rotation of the quick module 335 in the plane. A limit snap ring is installed at the end of the quick device 335, which is connected to the front-end limit card slot of the end function module 336 in a matching manner, so as to realize the module conversion of the end function module 336 according to different working modes.

[0046] As Figure 10 and Figure 11As shown in the figure, the four-stage telescopic mechanism 332 can extend along the axial direction. The second lower platform 3321 is fixedly connected to the slider in the second linear module 331. The motor 33211 in the second lower platform 3321 is installed on the first side plane of the base plate 33212. The driving gear 33213 is embedded in the inner layer of the base plate 33212 and connected to the motor 33211. The axes of the first driven gear 33214 and the second driven gear 33215 are in the same horizontal plane as the axis of the driving gear 33213 and are meshed on both sides of the driving gear 33213. The middle position switch 33216 is installed at the middle position of the second side plane of the base plate 33212. A second belt fixing device is placed at each of the right ends of the first side plane and the second side plane of the second lower platform 3321. Through holes are arrayed on both sides of the upper end of the second lower platform 3321, and the guide shafts are fixed at both ends of the through holes; A meshing rack is assembled at the center of the lower side of the middle-lower platform 3322 and is meshed with the first driven gear 33214 and the second driven gear 33215. Limiting notch openings are provided on both sides of the upper end, lower end and the inner sides of both ends of the middle-lower platform 3322. Synchronous pulleys are installed between the upper-end and lower-end limiting notch openings at both ends of the limiting notch openings. The inner limiting notch openings are in clamping fit with the guide shafts at both ends of the lower platform 3321 to realize the relative sliding of the middle-lower platform 3322 relative to the second lower platform 3321 along the axial direction. Through holes are arrayed on both sides of the upper end of the middle-lower platform 3322, and the guide shafts are fixed at both ends of the through holes. Belt fixing ends are diagonally arranged at the mating positions of the upper end of the middle-lower platform 3322 and the lower-end limiting card slots of the second middle platform 3323; Limiting notch openings are provided on the upper end, inner sides and outer sides of both ends of the second middle platform 3323. Synchronous pulleys 33231 are installed between the upper-end and lower-end limiting notch openings at both ends of the limiting notch openings. The inner limiting notch openings are in clamping fit with the guide shafts at both ends of the middle-lower platform 3322 to realize the sliding of the second middle platform 3323 relative to the middle-lower platform 3322 along the axial direction. Belt fixing ends are diagonally arranged at the mating positions of the lower end of the second middle platform 3323 and the upper-end limiting card slots of the middle-lower platform 3322; Through holes are arrayed on both sides of the second upper platform 3324, and the guide shafts are fixed at both ends of the through holes. The outer limiting notch openings of the second middle platform 3323 are in clamping fit with the guide shafts at both ends of the second upper platform 3324 to realize the sliding of the second upper platform 3324 relative to the second middle platform 3323 along the axial direction. Belt fixing ends are arranged at the mating positions of the inner side of the upper end of the second upper platform 3324 and the upper-end limiting card slots of the second middle platform; The first ends of the two second belts are respectively installed on the third belt fixing device of the second lower platform 3321. The second ends of the two second belts respectively pass through the synchronous pulleys of the middle-lower platform 3322 to reach the upper-end limiting notch openings of the middle-lower platform 3322 and are installed on the belt fixing ends of the second middle platform 3323;The first ends of the third belts on both sides are installed at the belt fixing ends of the middle - lower platform 3322. The second ends of the two third belts pass through the synchronous belt pulleys of the second middle platform 3323 and reach the upper - end limiting notch of the second middle platform 3323, and are installed at the belt fixing ends of the second upper platform 3324.;

[0047] In specific applications, the first end of the second belt is installed at the third - belt fixing device of the second lower platform 3321, and the second end passes through the synchronous belt pulley of the middle - lower platform 3322 and reaches the upper - end limiting notch, and is installed at the belt fixing end of the second middle platform 1323. The two second belts on both sides are symmetrically arranged to realize the sliding of the lower platform 3321 driving the middle platform 3323; the first end of the third belt is installed at the belt fixing end of the middle - lower platform 3322, and the second end of the third belt passes through the synchronous belt pulley of the middle platform 3323 and reaches the upper - end limiting notch, and is installed at the belt fixing end of the upper platform 3324. The two third belts on both sides are symmetrically arranged to realize the sliding of the middle - lower platform 3322 driving the upper platform 3323. When the moving distance of the middle - lower platform 3322 is L, it will drive the middle platform 3323 to move a distance of 2L and the upper platform 3324 to move a distance of 3L, achieving the effect of differential expansion and contraction.

[0048] The following further describes a robot for installing elevator guide rails based on human - machine collaboration of the present invention in combination with embodiments:

[0049] The specific working process of the device of the present invention is as follows:

[0050] First, the construction workers conduct on - site investigation and requirement analysis of the construction site, carry out laser detection and lofting of the hoistway, construct the laser contour map of the hoistway, and the construction workers determine the installation reference of the bottom - layer guide rail and the installation marking points for each layer of the guide rail.

[0051] Then, the construction workers are responsible for the assembly of the robot equipment. The scaffolding - free platform is installed on the inner - side guide rail of the hoistway through a splicable frame. Each part of the lower frame 12 is installed on the scaffolding - free platform through splicing. The corresponding rail - aligning module 13 and the rail - clamping device 14 are installed on the lower frame 12. The screw - driven lifting module 2 and the upper working module 3 are installed on the lower frame 12 through splicing. The corresponding rail - aligning module 32 and the multi - functional quick - change module 33 are installed on the upper frame 31. The winch and the hoist are installed on the top layer of the hoistway.

[0052] Then, the construction workers enter the lower - working module 1 and the lower frame 12 inside. In the multi - functional quick - change module 33, the four - stage telescopic mechanism 332 adjusts the position and angle through the linear module 331 and the rotary module 334, extends along the axial direction to the required processing point, and the end - function module 336 drills holes at four positions of the counterweight and the car for the detected wall, and finely adjusts the position through the screw jack in the screw - driven lifting module 2 to determine the drilling height, avoiding the interference of the steel wire rope. After drilling the lower - side support bolt holes, the whole unit rises to drill the upper - side support bolt holes, completing the pre - work for the subsequent bolt installation.

[0053] Then, the overall height of the robot is adjusted by a winch to the height where the guide rail docking is located. The electric hoist lifts the guide rail to be installed with a sleeve guide rail bracket and a wall side bracket to the manual working area at the height where the lower frame 12 is located. Then, the construction workers control the machine to clamp and fix the guide rail to be installed through the rail clamping device 14 of the lower working module and the first rail alignment module 13. Then, the position and clearance of the sleeve guide rail bracket are adjusted manually. The construction workers are responsible for adjusting the position and welding of the car counterweight bracket, fixing the guide rail pressing plate bolts with bolts, and then lifting it to the machine working area.

[0054] Then, the upper working module 3 and the lower working module 1 reduce the relative distance through the screw rod lifting module 2. At this time, the first rail alignment module 32 in the upper working module 3 is on the same side as the first rail alignment module 13 in the lower working module 1. The first rail alignment module 32 in the upper working module 3 clamps the guide rail, the rail clamping device 14 releases the guide rail, and the first rail alignment module 13 in the lower working module 1 retains a part of the pre-tightening force, which plays a guiding role during the process of the electric hoist lifting the guide rail to the machine installation area. After the guide rail to be installed is lifted to a certain height, the screw rod lifting module 2 adjusts the relative positions of the lower working module 1 and the lower working module 3. After the relative positions are adjusted, the construction workers control the second rail alignment module 32 and the first rail alignment module 13 to move synchronously. The three-stage telescopic mechanism 132 adjusts the position and angle through the first linear module 131 and the first rotary device 134, and extends along the axis direction to the required position, which can realize the docking of the four guide rails of the car and the counterweight with the installed guide rail while avoiding the interference of the steel wire rope.

[0055] Then, the overall height of the robot is adjusted by a winch to the height where the guide rail docking is located, so that the multi-functional quick-change module 33 reaches the plane of the lower guide rail bracket, and the expansion bolts are pushed in.

[0056] Then, the construction workers control the multi-functional quick-change module 33 in the machine. The four-stage telescopic mechanism 332 adjusts the position and angle to the guide rail position through the second linear module 331 and the second rotary module 334, extends along the axis direction to the processing point, and the end function module 336 pushes in the expansion bolts. Then, the construction workers tighten the expansion bolts.

[0057] After the installation of the guide rail brackets at the four points is completed, the construction workers detect the perpendicularity and parallelism of the guide rails. If problems are found, the installation construction is carried out again. If there are no problems, the next section of the guide rail is installed and the above operations are repeated. Finally, it is welded and fixed uniformly to complete the installation.

[0058] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An elevator guide rail installation robot based on human-machine collaboration, characterized in that: It includes a lower working module, a screw lifting module and an upper working module. The first mounting end of the lower working module is connected to the turbine screw assembly in the screw lifting module. The screw lifting module is installed on the first mounting end of the upper working module. The lower working module includes a mobile platform, a lower frame, a first pair of rails module and a rail clamping device. The lower frame and the rail clamping device are installed on the first mounting end of the mobile platform, and the first pair of rails module is installed on the second mounting end of the lower frame; the screw lifting module includes a first turbine screw lift, a second turbine screw lift, a third turbine screw lift, a fourth turbine screw lift, a first connecting block, a second connecting block and a stepping motor; the upper working module includes an upper frame, a second pair of rails module and a multifunctional quick-change module. The multifunctional quick-change module is embedded in the inner layer of the upper frame, and the second pair of rails module is installed on the first mounting end of the upper frame; The first pair of rail modules and the second pair of rail modules both include a connected first linear module, a three-stage telescopic mechanism, a first connecting frame, a first rotating device and a first rail clamp; the multifunctional quick-change module includes a connected second linear module, a four-stage telescopic mechanism, a second connecting frame, a second rotating device, a quick device and an end function module.

2. The elevator guide rail installation robot based on human-machine collaboration according to claim 1, characterized in that: The first turbine screw lift assembly, the second turbine screw lift assembly, the third turbine screw lift assembly and the fourth turbine screw lift assembly each include a flange base, a screw support and a turbine screw lift; the first mounting end of the flange base is fixedly connected to the upper portion of the screw support; the first mounting end of the turbine screw lift is mounted on the second mounting end of the flange support; the first connecting block and the second connecting block each include a fixedly connected three-way converter and a connecting support.

3. The elevator guide rail installation robot based on human-machine collaboration according to claim 1, characterized in that: The first mounting end of the three-stage telescopic mechanism is connected to the slider of the first linear module through the first connecting frame, the first mounting end of the first rotary device is mounted on the second mounting end of the three-stage telescopic mechanism, the first rail clamp is mounted on the second mounting end of the rotary device, the rail clamp device includes a third linear module and a second rail clamp, and the second rail clamp is mounted on the third linear module; The three-stage telescopic mechanism comprises a first upper platform, a first middle platform, a first lower platform, a first belt fixing device and a first belt.

4. The elevator guide rail installation robot based on human-machine collaboration according to claim 1, characterized in that: The first mounting end of the four-stage telescopic mechanism is connected to the slider of the second linear module through the second connecting frame, the first mounting end of the second rotating device is installed on the second mounting end of the four-stage telescopic mechanism, the first mounting end of the quick device is installed on the second mounting end of the second rotating device, and the terminal function module is installed on the second mounting end of the quick device; the four-stage telescopic mechanism includes a second lower platform, a middle lower platform, a second middle platform, a second upper platform, a second belt mounting and fixing device, a second belt and a third belt.

5. The elevator guide rail installation robot based on human-machine collaboration according to claim 3, characterized in that: The rack of the first middle platform is meshed with the driven gear of the first lower platform. Limiting grooves are respectively provided on the first side and the second side of the first middle platform. Guide shafts are installed on the first side and the second side of the first upper platform. The first upper platform is installed on the limiting groove of the first middle platform through the guide shaft so that the first upper platform and the first middle platform can slide relative to each other.

6. The elevator guide rail installation robot based on human-machine collaboration according to claim 5, characterized in that: A first belt fixing device is respectively provided on the two side surfaces of the first lower platform, the first ends of the two first belts are respectively installed on the first belt fixing devices on both sides, and the second ends of the two first belts are respectively bypassed by the synchronous pulleys of the middle platform and installed on the belt fixing ends on both sides of the upper platform.

7. The elevator guide rail installation robot based on human-machine collaboration according to claim 4, characterized in that: The rack of the middle and lower platform is meshed with the driven gear of the second lower platform, and the first side surface and the second side surface inside the second middle platform and the third side surface and the fourth side surface outside are respectively provided with limiting slots, and the first side surface and the second side surface of the middle and lower platform and the first side surface and the second side surface of the upper platform are all installed with guide shafts, and the second upper platform is installed on the limiting slot of the second middle platform through the guide shaft so that the second upper platform and the second middle platform can slide relative to each other, and the middle and lower platform is installed on the limiting slot of the second middle platform through the guide shaft so that the second middle platform and the middle and lower platform can slide relative to each other.

8. The elevator guide rail installation robot based on human-machine collaboration according to claim 7, characterized in that: Two second belt fixing devices are respectively provided on the two side surfaces of the second lower platform, the first ends of the two second belts are respectively installed on the second belt fixing devices on both sides, the second ends of the second belts are respectively installed on the belt fixing ends on both sides of the second middle platform by passing through the synchronous pulleys of the middle and lower platform, the first ends of the two third belts are respectively installed on the belt fixing ends on both sides of the middle and lower platform, the second ends of the third belts are respectively installed on the belt fixing ends on both sides of the second upper platform by passing through the synchronous pulleys of the middle platform.

9. The elevator guide rail installation robot based on human-machine collaboration according to claim 1, characterized in that: The mobile platform includes a scaffolding-free platform, a hoist, a wire rope and a winch. The hoist and the upper mounting ends of the scaffolding-free platform are fixedly connected, and both ends of the wire rope are respectively connected to the hoist and the scaffolding-free platform. The winch and the hoist are installed at the top of the shaft; a limit clamp ring is installed at the end of the quick device, and a limit clamp groove matching the limit clamp ring is installed at the front end of the terminal function module.

10. The elevator guide rail installation robot based on human-machine collaboration according to claim 1, characterized in that: The first lower platform and the second lower platform each include a motor, a base plate, a driving gear, a first driven gear, a second driven gear and a mid-position switch. The motor is mounted on the first mounting end of the base plate, the driving gear is embedded in the inner layer of the base plate and connected to the motor, the first driven gear and the second driven gear are embedded in the inner layer of the base plate, the axes of the first driven gear and the second driven gear are meshed and connected with the driving gear on both sides of the same horizontal direction, and the mid-position switch is mounted on the second mounting end of the base plate.

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