| In recent years,large-scale infrastructure construction has brought unprecedented opportunities for the development in China’s elevator industry,and the demand for elevators in China is steadily increasing year by year.The traditional installation process no longer meets people’s requirements for the elevator installation of high-efficiency,high-precision and high-reliability,if the assembly robot is used to instead of people to complete the installation of elevator parts,not only the installation quality can be guaranteed,but also reduce the labor intensity and the technical requirements for workers can be reduced.This article is based on the existing elevator guide rail parts,selects the passenger elevator of the small machine room after the heavy as the research object,and tries to design an auxiliary installation scheme of elevator guide rails.The main research contents of this article are as follows:(1)Through the analysis of the elevator shaft environment,the function and structure design of the work platform are carried out.On the basis of studying the current installation process at home and abroad,the existing parts of elevator guide rails are innovatively recombined,and the auxiliary installation process flow was formulated,and then the design of each installation process was carried out.(2)In order to describe the principle of camera imaging,the camera imaging model and binocular measurement system mode are established.The Z Zhang plane calibration method is used to calibrate the camera,and the internal and external parameter matrix of camera are obtained.According to the calibrated parameter matrix,the Bouguet polar correction algorithm is used to stereo-correct the left and right images,which reduces the matching search dimension and improves the accuracy of parallax calculation.The Canny edge detection algorithm is used to detect the edge of the image,and the cumulative probability Hough transform is used to detect the line features of the sample line.The linear feature parameters are extracted,and the relative position information between the camera and the sample line is obtained,providing data support for the work platform adjustment.(3)The error form of the working platform after arbitrary layering is analyzed in detail,and the mathematical model of error is established.According to the order of error adjustment,the work platform reset sequence is worked out.According to inclination information of the line obtained by the machine vision measurement,the platform is horizontally reset by using the angle error control leveling method.According to the rotational angle information obtained by the sensor,the platform is revolved reset along Z rotation by using the transmission principle of worm gear.According to position information of the line obtained by the machine vision measurement,the platform is pan reset by using the transmission principle of screw nut.(4)According to the welding task requirements,a MA1440 six degrees of freedom welding robot was chose for rail bracket welding.In order to describe the robot’s motion state conveniently,the D-H method is used to establish the robot coordinate system,and the positive and inverse kinematics equations are deduced.The Robotics Toolbox was used to construct the robot object in Matlab,and kinematics visual simulation was carried out to verify the correctness of the derivation of positive and inverse kinematics equations.According to the simulation images,welding trajectory planning is carried out for the robot joint space and task space respectively. |
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