Elevator guide rail mounting robot

Abstract

The invention provides an elevator guide rail mounting robot, and relates to the technical field of elevator mounting. The operation module, the station module and the brake guide module are sequentially distributed in the vertical direction; the operation module comprises a top beam, and a drilling mechanism and a guide rail clamping mechanism which are mounted on the top beam; the station module is provided with an operation space for containing operators, and the longitudinal adjusting module is used for driving the top beam to move in the vertical direction relative to the station module. In the structure of the brake guide module, the support beam is connected with the station module; the first sliding guide shoe is mounted on the supporting beam and is configured to be in sliding connection with an elevator guide rail; the pedal braking mechanism is used for clamping or loosening the elevator guide rail; the elevator is used for driving the elevator guide rail mounting robot to move in the vertical direction. According to the elevator guide rail mounting robot, the labor intensity of operators can be effectively reduced, and the mounting efficiency and safety of the elevator guide rail are improved.

Description

Technical Field

[0001] This invention relates to the field of elevator installation technology, and more specifically, to an elevator guide rail installation robot. Background Technology

[0002] As a key load-bearing component for elevator operation, the installation accuracy of elevator guide rails directly affects the safety, stability, and long-term reliability of elevator operation. Currently, elevator guide rail installation is still mainly done manually, and the work process includes multiple steps such as guide rail handling, docking, bracket positioning, drilling, bolt tightening, and guide alignment.

[0003] However, due to the narrow shaft space, high working position, and high density of repetitive labor, traditional operation methods generally have significant problems such as high labor intensity, low installation efficiency, and construction personnel being exposed to high-risk environments. Summary of the Invention

[0004] The problem addressed by this invention is how to reduce the labor intensity of operators and improve the installation efficiency and safety of elevator guide rails.

[0005] To address the aforementioned problems, this invention provides an elevator guide rail installation robot, comprising a work module, a longitudinal adjustment module, a workstation module, a braking and guiding module, and a hoist. The work module, workstation module, and braking and guiding module are sequentially distributed vertically. The work module includes a top beam and a drilling mechanism and a guide rail clamping mechanism mounted on the top beam. The workstation module has a workspace for accommodating operators and is connected to the top beam via the longitudinal adjustment module, which drives the top beam to move vertically relative to the workstation module. The braking and guiding module includes a support beam, a first sliding guide shoe, and a pedal braking mechanism. The support beam is connected to the workstation module. The first sliding guide shoe is mounted on the support beam and configured to slide in connection with the elevator guide rail. The pedal braking mechanism clamps or releases the elevator guide rail. The hoist drives the elevator guide rail installation robot to move vertically.

[0006] Optionally, the operating module further includes multiple telescopic support mechanisms; the telescopic support mechanisms are installed on the top beam; at least one movable end of the telescopic support mechanism is configured to move toward or towards the wall of the elevator shaft on a first side of the support beam; at least one movable end of the telescopic support mechanism is configured to move toward or towards the wall of the elevator shaft on a second side of the support beam; at least one movable end of the telescopic support mechanism is configured to move toward or towards the wall of the elevator shaft on a third side of the support beam; at least one movable end of the telescopic support mechanism is configured to move toward or towards the wall of the elevator shaft on a fourth side of the support beam.

[0007] Optionally, the workstation module includes a base and a column mounted on the base; the longitudinal adjustment module is a worm gear screw jack, the fixed end of which is connected to the column, and a portion of the fixed end extends into the interior of the column; the movable end of the worm gear screw jack is connected to the top beam.

[0008] Optionally, the elevator guide rail installation robot also includes an interface module; the interface module includes a connecting seat, the connecting seat has a through hole in the vertical direction, the top and bottom ends of the connecting seat are respectively connected to the fixed end of the worm gear screw jack and the column, and a portion of the fixed end of the worm gear screw jack passes through the through hole.

[0009] Optionally, the interface module further includes a connecting beam; two adjacent connecting seats are connected by the connecting beam. The elevator guide rail installation robot also includes a main rail installation auxiliary device; the main rail installation auxiliary device includes a side auxiliary wheel, a main auxiliary wheel and an auxiliary bracket; the auxiliary bracket is rotatably connected to the connecting beam; the side auxiliary wheel and the main auxiliary wheel are rotatably mounted on the auxiliary bracket and their rotation axes are perpendicular to each other; when the auxiliary bracket rotates relative to the connecting beam to a first position, the side auxiliary wheel and the main auxiliary wheel are configured to contact the two adjacent end faces of the elevator guide rail respectively.

[0010] Optionally, the pedal braking mechanism includes a pedal fixing plate, a pedal, a transmission mechanism, a brake mounting seat, and a brake; the pedal fixing plate is connected to the support beam and passes through the base within the working space; the pedal is rotatably mounted on the portion of the pedal fixing plate located within the working space; the first sliding guide shoe is connected to the support beam via the brake mounting seat; the brake includes a fixed arm and a rotating arm; the fixed arm is mounted on the brake mounting seat; the rotating arm is rotatably mounted on the brake mounting seat; the pedal is used to drive the rotating arm to rotate via the transmission mechanism and cooperates with the fixed arm to clamp the elevator guide rail.

[0011] Optionally, the brake further includes a first limiting rod disposed on the rotating arm; the transmission mechanism includes a first rope, a cantilever, a brake shaft, and a deflector plate; the brake shaft is rotatably disposed on the brake mounting seat; the cantilever is disposed on the circumferential outer wall of the brake shaft; one end of the first rope is connected to the pedal, and the other end is connected to the brake shaft through the cantilever; the deflector plate is connected to the brake shaft and extends radially along the brake shaft; the deflector plate is provided with a sliding groove, and the first limiting rod is slidably disposed in the sliding groove.

[0012] Optionally, the pedal braking mechanism further includes an elastic reset member, which is provided between the pedal and the pedal fixing plate; and / or, the elastic reset member is provided between the rotating arm and the brake mounting seat.

[0013] Optionally, the hoist is located within the working space and is rotatably connected to the pedal fixing plate; and the hoist is suspended in the elevator shaft by a second rope.

[0014] Optionally, the braking guide module further includes a second sliding guide shoe; the second sliding guide shoe is connected to the support beam and configured to slide in connection with the elevator guide rail; And / or, the workstation module further includes a guardrail and a safety door, the guardrail being connected to the column and / or the base; the safety door being rotatably connected to the column; the guardrail, the base, and the safety door together form the working space; And / or, the elevator guide rail installation robot also includes a control module, which is electrically connected to the drilling mechanism, the guide rail clamping mechanism, the longitudinal adjustment module, the hoist, and the telescopic support mechanism.

[0015] Compared with related technologies, the beneficial effects of the present invention are as follows: After the operator enters the workspace of the workstation module, personal safety is effectively guaranteed. After the hoist is started, the entire machine can move vertically within the elevator shaft. At this time, the sliding guide shoe slides along the sliding surface of the installed elevator guide rail under the constraint of the support beam, providing lateral guiding constraint and ensuring stable operation of the entire machine. After reaching the target installation height, the operator operates the pedal braking mechanism to clamp the guide rail, thereby reducing the load on the hoist and decreasing the probability of the entire machine falling unexpectedly due to hoist malfunction. Subsequently, by operating the longitudinal adjustment module, the position of the working module can be adjusted, allowing the drilling mechanism to complete precise positioning and drilling. Then, the hoist is restarted, and the entire machine moves vertically, causing the guide rail clamping mechanism to clamp the elevator guide rail and transport it to the installation position for support. This reduces displacement of the elevator guide rail during the tightening process, making it easier for the operator to tighten the elevator guide rail. In summary, the elevator guide rail installation robot of this embodiment can effectively reduce the labor intensity of operators and improve the installation efficiency and safety of elevator guide rails. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the elevator guide rail installation robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the working module at the first mounting surface in an embodiment of the present invention; Figure 3This is a schematic diagram of the working module at the second mounting surface in an embodiment of the present invention; Figure 4 This is a schematic diagram of the workstation module according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the layout of the elevator guide rail installation robot according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the main rail installation auxiliary device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the braking guide module according to an embodiment of the present invention; Figure 8 This is a partial schematic diagram of the braking guide module according to an embodiment of the present invention; Figure 9 This is a diagram illustrating the usage state of the elevator guide rail installation robot according to an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 100. Working Module; 101. Top Beam; 102. Drilling Mechanism; 103. Guide Rail Clamping Mechanism; 104. Telescopic Support Mechanism; 200. Longitudinal Adjustment Module; 300. Workstation Module; 301. Working Space; 302. Base; 303. Column; 304. Guardrail; 305. Safety Gate; 400. Braking Guide Module; 401. Support Beam; 402. First Sliding Guide Shoe; 403. Pedal Braking Mechanism; 4031. Pedal Fixing Plate; 4032. Pedal; 4033. Transmission Mechanism; 40331. First Rope; 40332. Cantilever; 40 333, Brake shaft; 40334, Actuating plate; 4034, Brake mounting seat; 4035, Brake; 40351, Fixed arm; 40352, Rotating arm; 40353, First limit rod; 4036, Elastic reset component; 404, Second sliding guide shoe; 405, Diagonal brace; 500, Hoist; 600, Interface module; 601, Connecting seat; 602, Connecting beam; 700, Main rail installation auxiliary device; 701, Auxiliary bracket; 702, Side auxiliary wheel; 703, Main auxiliary wheel; 800, Elevator guide rail; 900, Elevator shaft; 110, Second rope. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0019] In the accompanying drawings, the X-axis represents the horizontal direction and is designated as the front-to-back position, with the positive direction of the X-axis representing the front and the negative direction representing the rear. The Y-axis represents the left-to-right position, with the positive direction representing the right and the negative direction representing the left. The Z-axis represents the vertical direction, i.e., the up-down position, with the positive direction representing the top and the negative direction representing the bottom. It should be noted that the aforementioned representations of the X, Y, and Z axes are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention.

[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0021] In the description of this application, it should be understood that the terms "height", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] In related technologies, elevator shafts are typically rectangular enclosed spaces, with elevator guide rails installed on their left, right, and rear inner walls to form a rigid guiding reference for elevator operation. Due to the limited cross-sectional dimensions of the shaft, the narrow working space, the large vertical height, and the lack of reliable anchoring points and horizontal working platforms on site, traditional manual installation methods face multiple technical bottlenecks: operators must spend long periods suspended or climbing on mobile scaffolding to complete drilling, tapping, guide rail handling, and verticality correction, resulting in extremely high labor intensity, low installation efficiency, and significant safety hazards.

[0023] To address the aforementioned problems, the elevator guide rail 800 installation robot of this embodiment includes a work module 100, a longitudinal adjustment module 200, a workstation module 300, a braking and guiding module 400, and a hoist 500. The work module 100, workstation module 300, and braking and guiding module 400 are sequentially distributed vertically. The work module 100 includes a top beam 101 and a drilling mechanism 102 and a guide rail clamping mechanism 103 mounted on the top beam 101. The workstation module 300 has a workspace 301 accommodating operators, and the workstation module 300 is connected to the longitudinal adjustment module 200. The top beam 101 is connected to the longitudinal adjustment module 200, which drives the top beam 101 to move vertically relative to the workstation module 300. The braking guide module 400 includes a support beam 401, a first sliding guide shoe 402, and a pedal braking mechanism 403. The support beam 401 is connected to the workstation module 300. The first sliding guide shoe 402 is installed on the support beam 401 and is configured to slide in connection with the elevator guide rail 800. The pedal braking mechanism 403 is used to clamp or release the elevator guide rail 800. The hoist 500 is used to drive the elevator guide rail 800 installation robot to move vertically.

[0024] Specifically, such as Figure 1 As shown, the top beam 101 is a frame structure with a first mounting surface and a second mounting surface spaced vertically inside; the drilling mechanism 102 includes an XY sliding table and an electric drill driven by the XY sliding table; the guide rail clamping mechanism 103 includes an XY sliding table and a cylinder clamp driven by the XY sliding table. The number and position of the drilling mechanism 102 and the guide rail clamping mechanism 103 are determined according to the number of elevator guide rails 800. One elevator guide rail 800 requires one drilling mechanism 102 and one guide rail clamping mechanism 103 for transportation and installation; Figure 2 As shown, four drilling mechanisms 102 are installed on the upper first mounting surface, with the working ends of two drilling mechanisms 102 corresponding to the left and right sides of the elevator shaft 900, respectively, and the working ends of the other two drilling mechanisms 102 corresponding to the rear of the elevator shaft 900; as shown Figure 3 As shown, four guide rail clamping mechanisms 103 are installed on the lower second mounting surface, with the working ends of two of the guide rail clamping mechanisms 103 corresponding to the rear of the elevator shaft 900.

[0025] like Figure 1 As shown, the longitudinal adjustment module 200 connects the top beam 101 of the working module and the operation module 100. It is mainly used to drive the top beam 101 to move vertically relative to the work station module 300, so as to accurately adjust the position of the operation module 100 for subsequent drilling operations, etc.

[0026] like Figure 1As shown, the workstation module 300 is located below the work module 100 and has a work space 301. The size of the work space 301 is determined according to actual needs and must at least meet the needs of a single person standing and turning around.

[0027] like Figure 1 As shown, the braking guide module 400 is located below the workstation module 300, and includes a support beam 401, a first sliding guide shoe 402, and a pedal braking mechanism 403. The support beam 401 is I-shaped, with its upper beam connected to the workstation module 300. The lower beam has first sliding guide shoes 402 installed at both ends along its extension direction, and can be slidably connected to the elevator guide rail 800 through the first sliding guide shoes 402. The sliding method between the two is a sliding method of groove + guide rail. The pedal braking mechanism 403 is triggered by the operator stepping on it and is used to clamp or release the elevator guide rail 800. The hoist 500 is used to drive the elevator guide rail 800 installation robot to move in the vertical direction.

[0028] In this optional embodiment, after the operator enters the workspace 301 of the workstation module 300, personal safety can be effectively guaranteed. After the hoist 500 is started, the entire machine can move vertically within the elevator shaft 900. At this time, the sliding guide shoe slides along the sliding surface of the installed elevator guide rail 800 under the constraint of the support beam 401, and provides lateral guiding constraint to ensure the stable operation of the entire machine. After reaching the target installation height, the operator operates the pedal braking mechanism 403 to clamp the guide rail, thereby reducing the load on the hoist 500 and thus reducing... The probability of the entire machine falling unexpectedly due to a malfunction of the small hoist 500 is mitigated. Subsequently, by operating the longitudinal adjustment module 200, the position of the working module 100 can be adjusted, allowing the drilling mechanism 102 to complete precise positioning and drilling. Then, the hoist 500 is restarted, causing the entire machine to move vertically. This prompts the guide rail clamping mechanism 103 to clamp the elevator guide rail 800, transporting and supporting the elevator guide rail 800 to the installation position. This reduces displacement of the elevator guide rail 800 during the tightening process, making it easier for operators to tighten the elevator guide rail 800. In summary, the elevator guide rail 800 installation robot of this embodiment can effectively reduce the labor intensity of operators and improve the installation efficiency and safety of the elevator guide rail 800.

[0029] Optionally, the operation module 100 further includes a plurality of telescopic support mechanisms 104; the telescopic support mechanisms 104 are mounted on the top beam 101; at least one movable end of the telescopic support mechanism 104 is configured to move toward or towards the wall of the elevator shaft 900 on a first side of the support beam 401; at least one movable end of the telescopic support mechanism 104 is configured to move toward or towards the wall of the elevator shaft 900 on a second side of the support beam 401; at least one movable end of the telescopic support mechanism 104 is configured to move toward or towards the wall of the elevator shaft 900 on a third side of the support beam 401; at least one movable end of the telescopic support mechanism 104 is configured to move toward or towards the wall of the elevator shaft 900 on a fourth side of the support beam 401.

[0030] Specifically, the telescopic support mechanism 104 can be a two-stage synchronous hydraulic cylinder structure, an electrically driven ball screw type, or a pneumatic telescopic rod structure; this application embodiment does not limit this. The number of telescopic support mechanisms 104 is specifically limited and depends on actual needs. Figure 2 , 3 As shown, there are multiple telescopic support mechanisms 104, which are installed on the top beam 101. The telescopic ends of two telescopic support mechanisms 104 correspond to the front and rear sides of the elevator shaft 900, respectively. The telescopic ends of two telescopic support mechanisms 104 correspond to the left side of the elevator shaft 900, respectively, and the telescopic ends of two telescopic support mechanisms 104 correspond to the right side of the elevator shaft 900, respectively.

[0031] In this embodiment, before the working module 100 is adjusted into place and the drilling mechanism 102 performs drilling operations, all telescopic support mechanisms 104 are activated. The telescopic ends of some telescopic support mechanisms 104 abut against the left side of the elevator shaft 900, the telescopic ends of some telescopic support mechanisms 104 abut against the right side of the elevator shaft 900, and the telescopic ends of some telescopic support mechanisms 104 abut against the rear of the elevator shaft 900. In this way, the multiple telescopic support mechanisms 104 interact with each other, which can realize the center alignment of the working module 100 and stably support the working module 100 in the elevator shaft 900. Thus, when the drilling mechanism 102 performs drilling operations, the shaking caused by vibration can be effectively reduced, thereby affecting the drilling effect.

[0032] Optionally, the workstation module 300 includes a base 302 and a column 303 disposed on the base 302; the longitudinal adjustment module 200 is a worm gear screw jack, the fixed end of the worm gear screw jack is connected to the column 303, and part of the fixed end extends into the interior of the column 303; the moving end of the worm gear screw jack is connected to the top beam 101.

[0033] Specifically, such as Figure 4As shown, the base 302 is rectangular in shape, and each of its four corners is provided with a column 303; each column 303 and the top beam 101 are connected by a longitudinal adjustment module 200; the longitudinal adjustment module 200 is a worm gear screw jack, the fixed end of which is rigidly connected to the top of the corresponding column 303, and the lower extension of the worm gear screw jack is inserted into the column 303; the moving end of the worm gear screw jack is rigidly connected to the top beam 101.

[0034] In this embodiment, since the column 303 is fixed on the base 302 to form a rigid support, the fixed end of the worm gear screw jack is "embedded" inside the column 303, which enables the column 303 and the fixed end of the worm gear screw jack to be reliably connected and fixed in the axial direction, thereby reducing the influence of deflection.

[0035] Furthermore, the workstation module 300 also includes a guardrail 304 and a safety door 305. The guardrail 304 is connected to the column 303 and / or the base 302; the safety door 305 is rotatably connected to the column 303; the guardrail 304, the base 302 and the safety door 305 together form a working space 301.

[0036] Optionally, the elevator guide rail 800 installation robot also includes an interface module 600; the interface module 600 includes a connecting seat 601, the connecting seat 601 is provided with a through hole in the vertical direction, the top and bottom ends of the connecting seat 601 are respectively connected to the fixed end of the worm gear screw jack and the column 303, and the fixed end of the worm gear screw jack passes through the through hole.

[0037] Specifically, the connecting seat 601 is an integral forged structure with a square cylindrical shape. The hole wall is precision bored and honed to ensure a clearance fit between the fixed end housing of the worm gear screw jack and the connecting seat 601. The top of the connecting seat 601 is provided with a flange, which is connected to the flange of the fixed end of the worm gear screw jack by high-strength bolts. Similarly, the bottom of the connecting seat 601 is provided with a flange, which is connected to the flange at the top of the column 303 by high-strength bolts.

[0038] In this embodiment, the connecting seat 601 serves as a rigid transition component, which can uniformly transfer the installation load of the fixed end of the worm gear screw jack to the column 303 through a large contact area; its through hole structure allows the jack housing to be directly embedded in the inner cavity of the connecting seat 601, forming a "tube-in-tube" coaxial constraint, which greatly improves the bending stiffness.

[0039] Optionally, the interface module 600 further includes a connecting beam 602; two adjacent connecting seats 601 are connected by the connecting beam 602; the elevator guide rail 800 installation robot also includes a main rail installation auxiliary device 700; the main rail installation auxiliary device 700 includes a side auxiliary wheel 702, a main auxiliary wheel 703 and an auxiliary bracket 701; the auxiliary bracket 701 is rotatably connected to the connecting beam 602; the side auxiliary wheel 702 and the main auxiliary wheel 703 are rotatably mounted on the auxiliary bracket 701, and their rotation axes are perpendicular to each other; when the auxiliary bracket 701 rotates relative to the connecting beam 602 to the first position, the side auxiliary wheel 702 and the main auxiliary wheel 703 are configured to contact the two adjacent end faces of the elevator guide rail 800 respectively.

[0040] Specifically, such as Figure 5 As shown, the connecting beam 602 of the interface module 600 is a rectangular steel pipe, which is set between two adjacent connecting seats 601. Thus, the entire interface module 600 is a frame structure, with connecting seats 601 at each of the four corners; Figure 5 , 6 As shown, the auxiliary support 701 and the connecting beam 602 are rotatably connected by a rotating shaft, with the rotation axis parallel to the X-axis. The side auxiliary wheel 702 and the main auxiliary wheel 703 are both solid polyurethane wheels, which are rotatably mounted on the auxiliary support 701 via a rotating shaft. The rotation axis of the side auxiliary wheel 702 is parallel to the X-axis, and the rotation axis of the main auxiliary wheel 703 is parallel to the Y-axis. That is, the rotation axes of the side auxiliary wheel 702 and the main auxiliary wheel 703 are perpendicular to each other. At the same time, the auxiliary support 701 is provided with a limiting baffle, and the connecting beam 602 is located on the rotation path of the limiting baffle. When the auxiliary support 701 rotates to the first position (i.e., both wheels simultaneously contact the adjacent end faces of the guide rail), the limiting baffle contacts the connecting beam 602, thereby restricting the auxiliary support 701 from continuing to rotate.

[0041] In this embodiment, after the elevator guide rail 800 is in place, the operator manually drives the auxiliary support 701 to rotate relative to the connecting beam 602 until the side auxiliary wheel 702 is in contact with the side end face of the guide rail and the main auxiliary wheel 703 is in contact with the upper end face of the guide rail, forming an "L-shaped" end face support. At this time, the elevator guide rail 800 can be moved up and down to assist in guiding the elevator guide rail 800.

[0042] Optionally, the pedal braking mechanism 403 includes a pedal fixing plate 4031, a pedal 4032, a transmission mechanism 4033, a brake mounting seat 4034, and a brake 4035; the pedal fixing plate 4031 is connected to the support beam 401 and passes through the base 302 within the working space 301; the pedal 4032 is rotatably mounted on the portion of the pedal fixing plate 4031 located in the working space 301; the first sliding guide shoe 402 is connected to the support beam 401 via the brake mounting seat 4034; the brake 4035 includes a fixed arm 40351 and a rotating arm 40352; the fixed arm 40351 is mounted on the brake mounting seat 4034; the rotating arm 40352 is rotatably mounted on the brake mounting seat 4034; the pedal 4032 is used to drive the rotating arm 40352 to rotate via the transmission mechanism 4033 and cooperate with the fixed arm 40351 to clamp the elevator guide rail 800.

[0043] Specifically, such as Figure 7 As shown, the support beam 401 is I-shaped, with its upper end rigidly connected to the pedal fixing plate 4031, and its lower end rigidly connected to the brake mounting seat 4034 at both ends along the extension direction; the upper part of the pedal fixing plate 4031 extends through the base 302 of the work station module 300 and into the working space 301; the pedal 4032 is rotatably connected to the pedal fixing plate 4031 via a rotating shaft; the first sliding guide shoe 402 is rigidly connected to the brake mounting seat 4034; the first sliding guide shoe 402 is provided with a first sliding groove and is slidably connected to the elevator guide rail 800 through the first sliding groove; as shown... Figure 8 As shown, in the structure of brake 4035, fixed arm 40351 is rigidly connected to brake mounting base 4034; rotating arm 40352 is rotatably mounted on brake mounting base 4034; pedal 4032 is driven to rotate arm 40352 through transmission mechanism 4033. Pedal 4032 is used to drive rotating arm 40352 to rotate through transmission mechanism 4033 and cooperate with fixed arm 40351 to clamp elevator guide rail 800.

[0044] In this embodiment, when the operator steps on the pedal 4032, the pedal 4032 rotates relative to the pedal fixing plate 4031. Through the transmission mechanism 4033, the rotating arm 40352 can be driven to rotate around the axis until its working surface and the working surface of the fixing arm 40351 jointly clamp the two sides of the elevator guide rail 800, thereby reducing the load on the hoist 500 and reducing the probability of the hoist 500 malfunctioning and causing the whole machine to fall unexpectedly. After the pedal 4032 is released, the force applied to the rotating arm 40352 disappears, the rotating arm 40352 no longer clamps the guide rail, and the whole machine can be raised and lowered normally.

[0045] Furthermore, in order to maintain a good clamping effect, the clamping surfaces of the fixed arm 40351 and the rotating arm 40352 of the brake 4035 are provided with anti-slip structures, including but not limited to anti-slip coatings, strip protrusions or dots.

[0046] Optionally, the brake 4035 further includes a first limiting rod 40353, which is disposed on the rotating arm 40352; the transmission mechanism 4033 includes a first rope 40331, a cantilever 40332, a brake shaft 40333, and a toggle plate 40334; the brake shaft 40333 is rotatably disposed on the brake mounting seat 4034; the cantilever 40332 is disposed on the circumferential outer wall of the brake shaft 40333; one end of the first rope 40331 is connected to the pedal 4032, and the other end is connected to the brake shaft 40333 through the cantilever 40332; the toggle plate 40334 is connected to the brake shaft 40333 and extends radially along the brake shaft 40333; the toggle plate 40334 is provided with a sliding groove, and the first limiting rod 40353 is slidably disposed in the sliding groove.

[0047] Specifically, such as Figure 8 As shown, the first limiting rod 40353 is disposed on the rotating arm 40352, and its length extends along the Y-axis direction; as Figure 7 As shown, in the structure of the transmission mechanism 4033, the brake shaft 40333 extends along the Y-axis direction, and its two ends are rotatably connected to two brake mounting seats 4034 connected to the support beam 401 respectively; the cantilever 40332 is disposed on the circumferential outer wall of the brake shaft 40333; the upper end of the first rope 40331 is connected to the end of the pedal 4032 away from the stepping surface, and the other end of the lower end of the first rope 40331 is connected to the cantilever 40332; the two ends of the brake shaft 40333 are respectively connected to two actuating plates 40334, and the actuating plates 40334 extend radially along the brake shaft 40333; the actuating plates 40334 are provided with a long strip groove, and the first limiting rod 40353 is slidably disposed in the groove.

[0048] In this embodiment, as the pedal 4032 drives the brake shaft 40333 to rotate via the first rope 40331 and the cantilever 40332, the actuating plate 40334 rotates synchronously with it. Under the action of the sliding groove, the actuating plate 40334 can cause the rotating arm 40352 shaft of the brake 4035 to rotate via the first limiting rod 40353, so as to clamp the elevator guide rail 800; thus, the effective braking of the brake 4035 can be achieved.

[0049] Optionally, the pedal braking mechanism 403 further includes an elastic reset member 4036, which is provided between the pedal 4032 and the pedal fixing plate 4031; and / or, the elastic reset member 4036 is provided between the rotating arm 40352 and the brake mounting seat 4034.

[0050] Specifically, the elastic reset element 4036 is a tension spring or an elastic rubber body; such as Figure 7 As shown, a tension spring is provided between the pedal 4032 and the pedal fixing plate 4031. One end of the tension spring is hooked to the pedal fixing plate 4031 via a hook, and the other end is hooked to the pedal 4032 via a hook. Similarly, a tension spring is provided between the rotating arm 40352 and the brake mounting seat 4034. One end of the tension spring is hooked to the bottom end of the rotating arm 40352 via a hook, and the other end is hooked to the brake mounting seat 4034 via a hook.

[0051] In this embodiment, when the operator releases the pedal 4032, the elastic reset member 4036 between the pedal 4032 and the pedal fixing plate 4031 releases the stored elastic potential energy, driving the pedal 4032 to rotate counterclockwise; at the same time, the elastic reset member 4036 between the rotating arm 40352 and the brake mounting seat 4034 pushes the rotating arm 40352 to swing clockwise, and the two work together to ensure that the brake 4035 quickly and completely disengages from the elevator guide rail 800.

[0052] Optionally, the hoist 500 is located in the working space 301 and is rotatably connected to the pedal fixing plate 4031; and the hoist 500 is suspended in the elevator shaft 900 by the second rope 110.

[0053] In this embodiment, the hoist 500 is located within the working space 301, which not only facilitates disassembly and assembly but also allows operators to easily observe the status of the hoist 500. Meanwhile, the lower end of the hoist 500 body can be rotatably connected to the top of the pedal fixing plate 4031 via a slewing bearing. At the same time, the hoist 500 is suspended in the elevator shaft 900 via the second rope 110 and can be raised and lowered along the second rope 110. Thus, while the entire machine is being raised and lowered, the two are rotatably connected, allowing the hoist 500 body to freely deflect around the vertical axis, thereby eliminating at least part of the horizontal pulling force.

[0054] Optionally, the braking guide module 400 further includes a second sliding guide shoe 404; the second sliding guide shoe 404 is connected to the support beam 401 and is configured to slide in connection with the elevator guide rail 800.

[0055] like Figure 7 As shown, the second sliding guide shoe 404 is located above the first sliding guide shoe 402 and is rigidly connected to the support beam 401; the second sliding guide shoe 404 is provided with a second sliding groove and is slidably connected to the elevator guide rail 800 through the second sliding groove. In this embodiment, the first sliding guide shoe 402 and the second sliding guide shoe 404 work together in the vertical direction, thus achieving stable guidance of the whole machine on the elevator guide rail 800.

[0056] Optionally, the braking guide module 400 also includes a plurality of diagonal braces 405, one end of which is connected to the lower end of the support beam 401, and the other end is connected to the base 302.

[0057] In this embodiment, the diagonal brace 405 enables the brake guide module 400 and the base 302 to form a more stable support, thereby playing a load-bearing role.

[0058] Optionally, the elevator guide rail 800 installation robot also includes a control module, which is electrically connected to the drilling mechanism 102, the guide rail clamping mechanism 103, the longitudinal adjustment module 200, the hoist 500, and the telescopic support mechanism 104.

[0059] Specifically, the control module is an industrial PLC controller with a built-in EtherCAT master station. It is connected to the drilling mechanism 102, the guide rail clamping mechanism 103, the worm gear screw jack, the hoist 500, the telescopic support mechanism 104, and all sensors (including tilt angle, pressure, displacement, etc.) via shielded cables. Operators can input commands to the control module through input devices such as the operation panel to achieve various operations.

[0060] The elevator guide rail 800 installation method of this invention uses the elevator guide rail 800 installation robot as described above, and includes the following steps: S100: The elevator guide rail 800 installation robot assembles and positions the elevator in the 900-level pit of the elevator shaft; In this step, the elevator guide rail 800 installation robot installs the elevator guide rails 800 from bottom to top. Specifically, first, the elevator guide rails 800 are installed on the left and right sides of the bottom pit of the elevator shaft 900. Then, the braking guide module 400 is installed between the two elevator guide rails 800. Next, the workstation module 300, the longitudinal adjustment module 200, and the operation module 100 are installed sequentially upwards. Finally, the hoist 500 is installed and suspended from the elevator shaft 900 by the second rope 110. The effect is as follows: Figure 9 As shown.

[0061] S200: Construction personnel enter the work station; S300: Start the elevator guide rail 800 to install the robot, and use the hoist 500 to lift the entire robot to the target working height; S400: Start the longitudinal adjustment module 200 to adjust the working module 100 to the drilling position; start the drilling mechanism 102 to drill; start the hoist 500 to move the guide rail clamping mechanism 103 to the clamping position; start the guide rail clamping mechanism 103 to clamp the elevator guide rail 800; start the hoist 500 again to clamp the guide rail clamping mechanism 103 to the docking position. S500: Auxiliary operation for bolt tightening or bracket installation of elevator guide rail 800; S600: Repeat steps S300 to S500 until the elevator guide rails 800 on all floors are installed.

[0062] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An elevator guide rail installation robot, characterized in that, The system includes a working module (100), a longitudinal adjustment module (200), a workstation module (300), a braking and guiding module (400), and a hoist (500). The working module (100), the workstation module (300), and the braking and guiding module (400) are arranged vertically in sequence. The working module (100) includes a top beam (101) and a drilling mechanism (102) and a guide rail clamping mechanism (103) mounted on the top beam (101). The workstation module (300) has a working space (301) for accommodating operators, and the workstation module (300) is connected to the top beam (101) through the longitudinal adjustment module (200). The longitudinal adjustment module (200) is used to drive the top beam (101) to move vertically relative to the workstation module (300); the braking guide module (400) includes a support beam (401), a first sliding guide shoe (402) and a pedal braking mechanism (403); the support beam (401) is connected to the workstation module (300); the first sliding guide shoe (402) is installed on the support beam (401) and is configured to slide in connection with the elevator guide rail (800); the pedal braking mechanism (403) is used to clamp or release the elevator guide rail (800); the hoist (500) is used to drive the elevator guide rail installation robot to move vertically.

2. The elevator guide rail installation robot according to claim 1, characterized in that, The operating module (100) further includes a plurality of telescopic support mechanisms (104); the telescopic support mechanisms (104) are installed on the top beam (101); at least one of the telescopic support mechanisms (104) is configured to move toward the first side of the support beam (401) or the wall of the elevator shaft (900); at least one of the telescopic support mechanisms (104) is configured to move toward the second side of the support beam (401) or the wall of the elevator shaft (900); at least one of the telescopic support mechanisms (104) is configured to move toward the third side of the support beam (401) or the wall of the elevator shaft (900); at least one of the telescopic support mechanisms (104) is configured to move toward the fourth side of the support beam (401) or the wall of the elevator shaft (900).

3. The elevator guide rail installation robot according to claim 2, characterized in that, The workstation module (300) includes a base (302) and a column (303) disposed on the base (302); the longitudinal adjustment module (200) is a worm gear screw jack, the fixed end of the worm gear screw jack is connected to the column (303), and part of the fixed end extends into the interior of the column (303); the movable end of the worm gear screw jack is connected to the top beam (101).

4. The elevator guide rail installation robot according to claim 3, characterized in that, It also includes an interface module (600); the interface module (600) includes a connecting seat (601), the connecting seat (601) is provided with a through hole in the vertical direction, the top and bottom ends of the connecting seat (601) are respectively connected to the fixed end of the worm gear screw jack and the column (303), and part of the fixed end of the worm gear screw jack passes through the through hole.

5. The elevator guide rail installation robot according to claim 4, characterized in that, The interface module (600) further includes a connecting beam (602); two adjacent connecting seats (601) are connected by the connecting beam (602); It also includes a main rail installation auxiliary device (700); the main rail installation auxiliary device (700) includes a side auxiliary wheel (702), a main auxiliary wheel (703) and an auxiliary bracket (701); the auxiliary bracket (701) is rotatably connected to the connecting beam (602); the side auxiliary wheel (702) and the main auxiliary wheel (703) are rotatably mounted on the auxiliary bracket (701), and their rotation axes are perpendicular to each other; when the auxiliary bracket (701) rotates relative to the connecting beam (602) to a first position, the side auxiliary wheel (702) and the main auxiliary wheel (703) are configured to contact the two adjacent end faces of the elevator guide rail (800) respectively.

6. The elevator guide rail installation robot according to claim 3, characterized in that, The pedal braking mechanism (403) includes a pedal fixing plate (4031), a pedal (4032), a transmission mechanism (4033), a brake mounting seat (4034), and a brake (4035); the pedal fixing plate (4031) is connected to the support beam (401) and passes through the base (302) within the working space (301); the pedal (4032) is rotatably mounted on the portion of the pedal fixing plate (4031) located in the working space (301); the first sliding guide shoe (402) passes through the brake mounting seat. (4034) is connected to the support beam (401); the brake (4035) includes a fixed arm (40351) and a rotating arm (40352); the fixed arm (40351) is mounted on the brake mounting seat (4034); the rotating arm (40352) is rotatably mounted on the brake mounting seat (4034); the pedal (4032) is used to drive the rotating arm (40352) to rotate through the transmission mechanism (4033) and cooperate with the fixed arm (40351) to clamp the elevator guide rail (800).

7. The elevator guide rail installation robot according to claim 6, characterized in that, The brake (4035) further includes a first limiting rod (40353), which is disposed on the rotating arm (40352); the transmission mechanism (4033) includes a first rope (40331), a cantilever (40332), a brake shaft (40333), and a deflector plate (40334); the brake shaft (40333) is rotatably disposed on the brake mounting seat (4034); the cantilever (40332) is disposed on the brake shaft (40331). The circumferential outer wall of the first rope (40331); one end of the first rope (40331) is connected to the pedal (4032), and the other end is connected to the brake shaft (40333) through the cantilever (40332); the actuating plate (40334) is connected to the brake shaft (40333) and extends radially along the brake shaft (40333); the actuating plate (40334) is provided with a sliding groove, and the first limiting rod (40353) is slidably disposed in the sliding groove.

8. The elevator guide rail installation robot according to claim 7, characterized in that, The pedal braking mechanism (403) further includes an elastic reset member (4036), which is provided between the pedal (4032) and the pedal fixing plate (4031); and / or, the elastic reset member (4036) is provided between the rotating arm (40352) and the brake mounting seat (4034).

9. The elevator guide rail installation robot according to claim 6, characterized in that, The hoist (500) is located in the working space (301) and is rotatably connected to the pedal fixing plate (4031), and the hoist (500) is suspended in the elevator shaft (900) by the second rope (110).

10. The elevator guide rail installation robot according to claim 3, characterized in that, The braking guide module (400) further includes a second sliding guide shoe (404); the second sliding guide shoe (404) is connected to the support beam (401) and is configured to be slidably connected to the elevator guide rail (800); And / or, the workstation module (300) further includes a guardrail (304) and a safety door (305), the guardrail (304) being connected to the column (303) and / or the base (302); the safety door (305) being rotatably connected to the column (303); the guardrail (304), the base (302) and the safety door (305) together form the working space (301); And / or, it also includes a control module, which is electrically connected to the drilling mechanism (102), the guide rail clamping mechanism (103), the longitudinal adjustment module (200), the hoist (500), and the telescopic support mechanism (104), respectively.

Images