基于倾角检测的电梯导轨垂直度检测机器人的研究.pdf

河北T业大学
倾士学位论文
基于倾角检测的电梯导轨垂直度检测机器人的研究
姓名:刘志东
申请学位级别:硕士
专业:机械工程
指导教师:戴士杰
2010-12
基于倾角检测的电梯导轨垂直度检测机器人的研究
基于倾角检测測的电梯导轨垂直度检测
机器人的研究
摘要
电梯导轨垂直度是电梯安全、舒适运行的一项重要性能指标,对电俤导轨垂直度的测
量贯穿于电梯交装和维护的整个阶段。传统的检测方法费时费力,效率低。
为了实现电梯导轨检测的自动化和智能化,本义提出来一种检测电梯导轨垂直度的全
新检测原理,克服了现有技术的不足,设计了一款能沿电梯导轨自动上.下运行的检测机器
人。此方法提高了检测效率和精度,节省了大量的人力、物力。
本文首先介绍了电梯导轨垂直度检测的国家标准,详细分析了机器人的检测原理。依
据检测原理,完成了机器人机械结构设计,利用相关力学理论进行了受力分析,最终选定
了驱动和传动方案。并根据T型导轨的结构和材料特征,设计了多磁轮吸附机构,并利用
磁导法进行了磁轮磁路的优化。
设计了基于飞思ド尔( Freescale@)单片机的控制系统。利用高精度倾角传感器测量
倾角,采用光电编码器测距,应用无线数传模块对控制信息和采集信号进行无线传输。进
行了控制系统的硬件电路设计,并根据控制方案进行了软件系统编程,实现了预定功能。
为了验证检测原理的正确性,将所设计的检测机器人在实际导轨上进行实验。分别进
行了导轨平放、斜放和垂直实验,用 Mall ab软件対传到上位机倾角和你移数据进行曲线
拟合,以直观图的形式将导轨垂直度误差呈现出来。得到了预期效果,结果准确。
关键词:电梯导轨,垂直度,机器人,机构设计,控制系统
河北工业大学硕士学位论文
THE ROBOT RESEARCH ABOUT MEASURNG
VERTICALITY OF ELEVATOR GUIDE
BASE ON OBLIQUITY DETECTION PRINCIPLE
ABSITRACTT
The verticality of elevator guide is an important performance index for security and comfort
in the elevator operation And its measurement exists throughout installation and maintainment
The traditional test method is time-consuming and low efficiency
In order to realize the automation and intelligence for the test process of elevator guide, this
paper propose a new principle for verticality testing. This method overcomes the existing
technical shortages. An inspection robot which can move along the elevator guide automaticly
was designed. This method improves the measuring precision and efficiency, and saves a lot of
manpower and material resources
First, this paper introduces the national standards of verticality measurement for elevator
guide, and analysis the detection principle of the robot. Mechanical stress analysis was
proceeded Absorbing mechanism with multiple magnetic wheels was designed And magnetic
circuit was optimized to ensure the operation security
The control system based on Freescale SCM was designed. When it reaches the
predetermined location or receives reversal signal, it will get back along the elevator guide
quickly. This control system can achieve the following functions: acquisit and process data from
angle sensor and photoelectric encoder, and put the data to the upper computer though digital
transfers module. Besides, the hardware circuit of the control system and software program was
designed
The inspection robot was put in the practical guide to check the correctness of the detection
principle. Experiments were carried on the guide within level, oblique and vertical, respectively
Matlab was used to achieve curve fitting for PC angle and displacement data, and
perpendicularity errors of the guide was shown in the form of intuitive chart. Experiments show
by this method anticipative and accurate results can be obtained
KEY WORDS: elevator guide, verticality, robot, mechanical structure, control system