Research On Key Technologies Of Robot For Elevator Guide Rail Alignment

In the field of elevator installation in high-rise buildings,the installation accuracy of elevator guide rails is an important indicator for the safe and reliable operation of elevators and passenger comfort.Currently,elevator companies usually rely on the experience of installers to manually align the distance errors between guide rails and reference guide rails in the back-tofront(BTF)and distance between guide(DBG)directions,so that the installation accuracy is within the specified range.However,manual alignment methods have problems such as high labor intensity,high risk and low alignment efficiency.Using robots to perform automatic alignment of elevator guide rails is a new development trend in the elevator installation industry.This paper conducts a series of research on key technologies of elevator guide rail alignment robot from three aspects: structural design and mechanical analysis,control system design and experimental verification.The main research contents and conclusions are as follows:(1)A single-beam double-arm structure elevator guide rail calibration robot was innovatively designed to minimize the installation error of the guide rail.According to the calibration process and accuracy index of the elevator guide rail,the overall scheme of the elevator guide rail calibration robot was designed.The selection work of the key transmission mechanism of the robot was carried out,and the key structure was designed.At the same time,the structural strength and dynamic characteristics of the key mechanism of the robot were analyzed to ensure that it meets the requirements of project use.(2)A guide rail alignment algorithm based on particle swarm-fuzzy PID force-position control was proposed.An improved particle swarm-fuzzy PID controller was designed as position controller in force-position control.At the same time,an end-effector expected alignment force self-correction method was developed in force-position controller to selfcorrect expected alignment force to ensure alignment accuracy of guide rails.A force-position control model was built using MATLAB/Simulink and simulation experiments were conducted.The results show that end-effector position errors in DBG direction and BTF direction are both within-0.5～0.5 mm range which meets position accuracy requirements;And steady-state error of alignment force does not exceed-10～10 N range which meets force-control requirements.(3)The control system of elevator guide rail alignment robot was designed and built.According to the control requirements of robot,a control strategy was proposed,a control system architecture was designed,and a hardware platform that meets control requirements was built.At the same time,upper-level motion planning software was developed to realize humanmachine interaction function and motion planning function.Modular programming idea was adopted to write lower-level motion control program for robot.A software filtering algorithm was proposed,which was simulated by MATLAB to verify that it can effectively filter interference signals and improve filtering efficiency.(4)Alignment accuracy verification experiments for elevator guide rail alignment robot were carried out.In real elevator shafts an experimental platform for elevator guide rail alignment robot was built;Elevator guide rail alignment experiments were performed using elevator guide rail alignment robot.The results show that DBG error and BTF error after alignment are both controlled within-0.5～0.5 mm range which meets national standard requirements;It verifies reliability and effectiveness of performance for this project-designed robot.This paper independently designed an elevator guide rail alignment robot and its control system,and proposed an automatic alignment method for elevator guide rails based on particle swarm-fuzzy PID force-position control algorithm,achieving the automation of elevator guide rail alignment.Through structural design,an innovative elevator guide rail alignment robot was designed;through control function analysis,the control system of the elevator guide rail alignment robot was developed;the improved software filtering algorithm proposed could effectively filter out the interference in the field environment;through numerical simulation,simulation experiments of force-position control algorithm based on particle swarm-fuzzy PID were carried out;and field verification experiments of elevator guide rail alignment robot were also conducted.The results of this project realized the automation of elevator guide rail alignment,improved the work efficiency of elevator guide rail alignment,and are expected to be widely applied in the field of elevator guide rail installation.