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CN-121974228-A - Automatic clamping and positioning device and method for elevator guide rail based on laser lofting

CN121974228ACN 121974228 ACN121974228 ACN 121974228ACN-121974228-A

Abstract

The invention provides an automatic clamping and positioning device and method for an elevator guide rail based on laser lofting, and relates to the technical field of special equipment. The automatic clamping and positioning device for the elevator guide rail comprises a rail clamping and positioning mechanism, a laser receiving target plate and a camera device, wherein the laser receiving target plate is connected with the rail clamping and positioning mechanism, the laser receiving target plate comprises a reference target point positioned at the center of the laser receiving target plate and is used for receiving a rail laser sample line beam from the top of an elevator hoistway to form a sample point, the camera device is used for forming positioning information from image information containing the sample point and the reference target point in real time, and the controller is respectively in communication connection with the camera device and the rail clamping and positioning mechanism and is used for controlling the rail clamping and positioning mechanism to move according to the positioning information so as to enable the sample point to coincide with the reference target point.

Inventors

  • LI BUSHENG
  • ZHAO YANZHI
  • ZHANG CHUNJIE
  • MA RUIBAO
  • ZHANG YINGLONG

Assignees

  • 一重集团大连工程技术有限公司
  • 中国第一重型机械股份公司
  • 燕山大学

Dates

Publication Date
20260505
Application Date
20260206

Claims (8)

  1. 1. Automatic clamping and positioning device of elevator guide rail based on laser lofting, its characterized in that includes: A rail clamping and positioning mechanism (100); The laser receiving target plate comprises a reference target point positioned at the center of the laser receiving target plate and is used for receiving a track laser spline beam from the top of an elevator hoistway (A) to form a sampling point, and the camera device is used for forming positioning information from image information containing the sampling point and the reference target point in real time; And the controller is respectively in communication connection with the image pickup device and the track clamping and positioning mechanism (100) and is used for controlling the track clamping and positioning mechanism (100) to move according to the positioning information so as to enable the sample point to coincide with the reference target point.
  2. 2. The automatic clamping and positioning device for elevator guide rails based on laser lofting according to claim 1, wherein the rail clamping and positioning mechanism (100) comprises a base (110) and a first horizontal cross sliding table (120) connected with the base (110), a first clamp holder (130) connected with the first horizontal cross sliding table (120), the first clamp holder (130) is used for clamping an elevator main rail, the laser receiving target plate comprises a first receiving target plate (200), the camera device comprises a first camera device (300), the first receiving target plate (200) and the first camera device (300) are both connected with a first base (131) of the first clamp holder (130), and the controller is in communication connection with the first horizontal cross sliding table (120) and a first driving structure (132) of the first clamp holder (130).
  3. 3. The automatic clamping and positioning device for the elevator guide rail based on laser lofting according to claim 2, wherein the rail clamping and positioning mechanism (100) further comprises a second horizontal cross sliding table connected with the base (110), a second clamp connected with the second horizontal cross sliding table, the second clamp is used for clamping the elevator auxiliary rail, the laser receiving target plate comprises a second receiving target plate, the image pickup device comprises a second image pickup device, the second receiving target plate and the second image pickup device are both connected with a second base of the second clamp, and the controller is in communication connection with the second horizontal cross sliding table and a second driving structure of the second clamp.
  4. 4. The automatic clamping and positioning device for the elevator guide rail based on laser lofting according to claim 2, wherein the rail clamping and positioning mechanism (100) further comprises a supporting wall assembly (400) connected with the base (110), the supporting wall assembly (400) comprises a front supporting wall device (410), a rear supporting wall device (420), a side supporting wall device (430) and supporting wall structural members (440), the front supporting wall device (410), the rear supporting wall device (420) and the side supporting wall device (430) are distributed along the periphery of the base (110), the supporting wall structural members (440) are arranged at the output end of the front supporting wall device (410), and the controller is respectively in communication connection with the front supporting wall device (410), the rear supporting wall device (420) and the side supporting wall device (430).
  5. 5. The automatic clamping and positioning device for elevator guide rails based on laser lofting according to claim 2, wherein the rail clamping and positioning mechanism (100) further comprises a protective assembly (500), the protective assembly (500) comprises a protective support (510) and a protective plate (520), the bottom of the protective support (510) is connected with the base (110), and the top of the protective support (510) is connected with the protective plate (520).
  6. 6. The automatic clamping and positioning device for elevator guide rails based on laser lofting according to claim 5, wherein the rail clamping and positioning mechanism (100) further comprises a lifting platform (600) connected with the base (110), a lifter (700) connected with the lifting platform (600), a through hole is arranged at the central position of the protection plate (520), and a steel wire rope (710) of the lifter (700) penetrates through the through hole and is fixed at the top of the elevator hoistway (a).
  7. 7. The automatic clamping and positioning device for elevator guide rails based on laser lofting according to claim 1, further comprising a force sensor in communication with the controller for monitoring the clamping force of the rail clamping and positioning mechanism (100) on the elevator rail in real time.
  8. 8. Method for automatic clamping and positioning of elevator guide rails, characterized in that it is based on an automatic clamping and positioning device for elevator guide rails based on laser loft according to any of claims 1-7, comprising the steps of: S1, erecting a laser emitter at the top of an elevator hoistway (A) according to an elevator installation construction diagram, starting the laser emitter to project a track laser sample line beam downwards, and finishing laser lofting operation; s2, installing and fixing a rail clamping and positioning mechanism (100) on a lifting platform (600) in the elevator hoistway (A); S3, driving the lifting platform (600) to run along the vertical direction of the elevator hoistway (A), and conveying the track clamping and positioning mechanism (100) to a preset height corresponding to the track section to be installed currently and hovering; s4, activating a supporting wall assembly (400) under the instruction of a controller, and firmly supporting and fixing the track clamping and positioning mechanism (100) in the elevator hoistway (A); S5, under the coordinated control of the controller, the track clamping and positioning mechanism (100) performs reliable clamping on the track section to be installed; S6, under the instruction of the controller, the image pickup device performs image acquisition on the laser receiving target plate, acquires the relative position information of a real-time sample point formed by laser sample line beams and a reference target point, extracts coordinates of the real-time sample point and the reference target point through an image processing algorithm, calculates deviation, and generates positioning information for positioning adjustment; And S7, based on the positioning information, the controller sends a control instruction to the track clamping and positioning mechanism (100) to drive the track clamping and positioning mechanism to execute fine adjustment in the horizontal direction until the position deviation of the track section to be installed is converged to be within an allowable range, so that the high-precision installation and positioning of the track section to be installed are completed.

Description

Automatic clamping and positioning device and method for elevator guide rail based on laser lofting Technical Field The invention relates to the technical field of special equipment, in particular to an automatic clamping and positioning device and method for an elevator guide rail based on laser lofting. Background Currently, elevator guide rail installation work generally relies on traditional manual methods. During construction, an operator firstly erects a laser emitter or hangs a steel wire to carry out benchmark lofting at the bottom of an elevator shaft, and then carries out carrying, preliminary positioning and fixing of a guide rail by means of a high-altitude lifting platform in a narrow shaft with insufficient light. Because the space of the well is limited, personnel need to repeatedly carry out the handling, butt joint and supporting operation of the guide rail, the labor intensity is extremely high, and potential safety hazards such as high-altitude falling and object striking are faced. More prominently, in order to meet the precision requirement, construction must go through a plurality of times of circulation, namely, firstly roughly fixing the guide rail bracket, then manually measuring and judging deviation, then loosening the bolt for fine adjustment, and finally re-fastening. Each adjustment requires moving the lifting platform, repositioning personnel and repeating the measurement process, resulting in time consuming and lengthy calibration links, significantly extending the overall construction period. Disclosure of Invention The invention solves the problem of how to improve the construction efficiency of the elevator track. In order to solve the above problems, in a first aspect, the present invention provides an automatic clamping and positioning device for an elevator guide rail based on laser lofting, including: the track clamping and positioning mechanism; The laser receiving target plate comprises a reference target point positioned at the center of the laser receiving target plate and is used for receiving a track laser sample line beam from the top of an elevator hoistway to form a sample point, and the camera device is used for forming positioning information from image information containing the sample point and the reference target point in real time; And the controller is respectively in communication connection with the image pick-up device and the track clamping and positioning mechanism and is used for controlling the track clamping and positioning mechanism to move according to the positioning information so as to enable the sample point to coincide with the reference target point. Optionally, track clamping and positioning mechanism include the base and with the first horizontal cross slip table that the base is connected, with the first holder that the first horizontal cross slip table is connected, first holder is used for centre gripping elevator main track, the laser is received the target plate and is included first receiving target plate, camera device includes first camera device, first receiving target plate with first camera device all with the first base connection of first holder, the controller with first horizontal cross slip table the first drive structure communication connection of first holder. Optionally, the track clamping and positioning mechanism further comprises a second horizontal cross sliding table connected with the base, and a second clamp holder connected with the second horizontal cross sliding table, wherein the second clamp holder is used for clamping the elevator auxiliary track, the laser receiving target plate comprises a second receiving target plate, the camera device comprises a second camera device, the second receiving target plate and the second camera device are both connected with a second base of the second clamp holder, and the controller is in communication connection with a second driving structure of the second horizontal cross sliding table and the second clamp holder. Optionally, the track clamping and positioning mechanism further comprises a supporting wall assembly connected with the base, wherein the supporting wall assembly comprises a front supporting wall device, a rear supporting wall device, a side supporting wall device and supporting wall structural members, the front supporting wall device, the rear supporting wall device and the side supporting wall device are distributed around the base, the supporting wall structural members are arranged at the output end of the front supporting wall device, and the controller is respectively in communication connection with the front supporting wall device, the rear supporting wall device and the side supporting wall device. Optionally, the track clamping and positioning mechanism further comprises a protection assembly, the protection assembly comprises a protection support and a protection plate, the bottom of the protection support is connected with the base, and th