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CN-121516683-B - Guide rail bracket spacing adjusting device for elevator and method thereof

CN121516683BCN 121516683 BCN121516683 BCN 121516683BCN-121516683-B

Abstract

The invention relates to a guide rail bracket spacing adjusting device for an elevator and a method thereof, belonging to the technical field of elevator installation and maintenance, and comprising a measuring trolley which climbs along a guide rail and is provided with a short-range laser sensor array, a forward-looking distance sensor and an inclination sensor which are driven by an actuator; the invention realizes the co-evolution of measurement and avoidance, namely the existence of the forward-looking distance sensor provides a pre-judging capability for a control algorithm, so that avoidance actions can be actively and early carried out, and the invention is a physical basis for realizing intellectualization of the algorithm.

Inventors

  • CHEN ZHAOWEN
  • ZHANG HONG
  • ZHANG JIAN

Assignees

  • 福建技术师范学院

Dates

Publication Date
20260508
Application Date
20260114

Claims (7)

  1. 1. A guide rail bracket spacing adjustment method for an elevator, comprising: S1, setting a measuring trolley (100), wherein the measuring trolley (100) is arranged along an elevator guide rail, the measuring trolley (100) comprises a bearing frame (110), a stepping motor (130) connected with the bearing frame (110), an encoder (131) connected with the stepping motor (130), a short-range laser displacement sensor array (200) which is arranged on the bearing frame (110) and driven by a miniature linear actuator (210), a forward-looking distance sensor (300) arranged at the front end of the travelling direction of the measuring trolley (100) and a double-shaft MEMS inclination sensor (400), and the detection point of the forward-looking distance sensor (300) is ahead of the short-range laser displacement sensor array (200) in the travelling direction of the measuring trolley (100); S2, driving the stepping motor (130) to enable the measuring trolley (100) to vertically climb along the guide rail, and synchronously collecting original distance data of the short-range laser displacement sensor array (200), stroke data of the encoder (131) and attitude data of the biaxial MEMS inclination sensor (400); S3, detecting a guide rail bracket on the guide rail through the front view distance sensor (300), recording travel data of the encoder (131) at present as a starting position when the guide rail bracket is detected, and driving the micro linear actuator (210) to retract the short-range laser displacement sensor array (200); S4, after the front view distance sensor (300) passes through the guide rail bracket, recording the current travel data of the encoder (131) as a termination position, and driving the miniature linear actuator (210) to restore the short-range laser displacement sensor array (200) to a measurement position; S5, correcting the original distance data according to the attitude data, reconstructing the guide rail profile of the guide rail bracket shielding area by using corrected effective distance data between the starting position and the ending position through an interpolation algorithm, and further generating an adjustment scheme of the guide rail bracket; In the step S1, a preset safety distance is arranged between the forward looking distance sensor (300) and the short-range laser displacement sensor array (200), and the preset safety distance is set according to the total time required for the control system to respond and drive the miniature linear actuator (210) to completely withdraw the sensor array under the condition that the measuring trolley (100) climbs at the maximum speed and the trigger signal is detected from the forward looking distance sensor (300); In the step S5, the step of correcting the original distance data according to the posture data includes calculating a posture correction coefficient according to real-time pitch and roll angles synchronously acquired by the dual-axis MEMS inclination sensor (400) through a trigonometric function relationship, and multiplying each original distance data by the posture correction coefficient at the corresponding moment.
  2. 2. The method according to claim 1, wherein in the step S5, the interpolation algorithm is a polynomial fitting or B-spline interpolation algorithm.
  3. 3. The method for adjusting the distance between guide rail brackets of an elevator according to claim 2, wherein the measuring trolley (100) further comprises two sets of driving roller sets (120) symmetrically installed on the inner wall of the bearing frame (110), and a compression spring is arranged between the driving roller sets (120) and the inner wall of the bearing frame (110) to provide a pre-tightening force pressing against the guide rail side.
  4. 4. The method for adjusting the distance between guide rail brackets of an elevator according to claim 2, wherein the micro-linear actuator (210) is an electromagnetic voice coil motor and the forward looking distance sensor (300) is a laser correlation sensor.
  5. 5. A guide rail bracket spacing adjustment device for an elevator, applied to the guide rail bracket spacing adjustment method for an elevator as claimed in any one of claims 1 to 4, characterized by comprising: a load-bearing frame (110) whose opening is designed so that it can partly encompass the elevator guide rail; the driving mechanism is arranged on the bearing frame (110) and is used for driving the device to move along the guide rail and recording the moving stroke; a short-range laser displacement sensor array (200) for acquiring distance data of the guide rail working surface; A miniature linear actuator (210) connected with the bearing frame (110) and the short-range laser displacement sensor array (200) and used for driving the short-range laser displacement sensor array (200) to extend or retract; And the forward vision distance sensor (300) is arranged at the front end of the advancing direction of the bearing frame (110), and the detection point of the forward vision distance sensor is advanced to the short-range laser displacement sensor array (200) and is used for detecting the guide rail bracket on the guide rail in advance.
  6. 6. The guide rail bracket spacing adjustment device for an elevator according to claim 5, wherein the drive mechanism comprises: A stepper motor (130) fixedly mounted to the carrier frame (110); An encoder (131) connected to the stepper motor (130) for accurately recording the displacement stroke; And the driving roller group (120) is attached to the side surface of the guide rail and is connected with the stepping motor (130) through a driving belt (132).
  7. 7. The guide rail bracket spacing adjustment device for an elevator according to claim 6, further comprising a dual-axis MEMS tilt sensor (400) fixedly mounted on the load frame (110) for monitoring the pitch and roll attitude angles of the device in real time.

Description

Guide rail bracket spacing adjusting device for elevator and method thereof Technical Field The invention relates to the field of elevator installation and maintenance, in particular to a guide rail bracket spacing adjusting device for an elevator and a method thereof. Background The installation accuracy of the elevator guide rail, in particular the verticality thereof, is a core index for determining the running stability and safety of the elevator. The traditional guide rail precision measurement relies on modes such as manual steel wire drawing and surface beating, and is low in efficiency and easy to influence by human factors. In recent years, some automatic measuring systems using laser ranging have appeared, and the automatic measuring systems generally acquire three-dimensional coordinates of a surface of a guide rail from a fixed position such as a bottom of a hoistway by a rotary scanning method, so as to calculate a perpendicularity deviation of the guide rail. The premise of the application of this type of technology is that no shielding exists on the sight path of the measuring laser. However, in a real installation environment, the elevator guide rail is secured to the hoistway wall by a series of rail brackets, which brackets and their connectors, such as the pressure bars, are periodically, but often non-standard, present on the guide rail work surface, directly obstructing the measuring line of sight. The existing fixed scanning scheme can face two difficult dilemmas in the real scene that if trying to measure complete data, a bracket is inevitably mistakenly identified as the surface of a guide rail, so that the measurement result is seriously distorted, if a blank area is reserved for avoiding the bracket, a large number of data blind areas are caused, a continuous and effective guide rail profile cannot be formed, and the basis for accurate adjustment is lost. Particularly, when the spacing of the brackets is irregular due to field construction, the open loop measurement method based on fixed step scanning is thoroughly disabled, the brackets cannot be prejudged and avoided, the contradiction between the integrity and the accuracy of the measurement data is greatly amplified, and the final measurement result does not have the value of guiding the field construction. Therefore, how to intelligently plan a measurement path in a complex environment filled with structural shields with uncertain positions, obtain effective data maximally, and provide reliable decision basis for adjusting the distance between each guide rail bracket is a technical problem to be solved in the art. The above information disclosed in the above background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention The invention aims to provide a guide rail bracket spacing adjusting device for an elevator and a method thereof, which are used for solving the problems in the background art, and specifically, the technical scheme of the invention comprises the following steps: S1, setting a measuring trolley, wherein the measuring trolley is arranged along an elevator guide rail, the measuring trolley comprises a bearing frame, a stepping motor connected with the bearing frame, an encoder connected with the stepping motor, a short-range laser displacement sensor array which is arranged on the bearing frame and driven by a miniature linear actuator, a forward-looking distance sensor and a double-shaft MEMS inclination sensor, the forward-looking distance sensor is arranged at the front end of the measuring trolley in the advancing direction, and the detection point of the forward-looking distance sensor is ahead of the short-range laser displacement sensor array in the advancing direction of the measuring trolley; S2, driving the stepping motor to enable the measuring trolley to vertically climb along the guide rail, and synchronously collecting original distance data of the short-range laser displacement sensor array, stroke data of the encoder and attitude data of the double-shaft MEMS inclination sensor; S3, detecting a guide rail bracket on the guide rail through the front view distance sensor, recording the current travel data of the encoder as a starting position when the guide rail bracket is detected, and driving the miniature linear actuator to retract the short-range laser displacement sensor array; s4, after the front view distance sensor passes through the guide rail bracket, recording travel data of the current encoder as a termination position, and driving the micro linear actuator to restore the short-range laser displacement sensor array to a measurement position; S5, correcting the original distance data according to the attitude data, reconstructing the guide rail profile of the guide rail bracket shielding area by usin