The Robot Research About Measuring Verticality Of Elevator Guide Base On Obliquitu Detection Principle

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.