Research On Dynamic-modeling And Vibration-optimization Of The Verticality Measuring Robot For Elevator Guide Rail

With the rapid development of the real estate economy,the number of tall buildings is getting larger and larger,the demand for elevator market also increases simultaneously.As the key component to guarantee the safety of the operation of the elevator car,the elevator guide rail often have to take charge of the vibration of the elevator car and the increased wear of the guide rail because of its verticality error.The detection of the verticality error of the elevator guide rail is an important step of the elevator installation and maintenance.The current means of detecting the verticality of the elevator guide rail have the disadvantages of low precision,low efficiency,operation complexity and other shortcomings.Therefore,the group developed the verticality measuring robot for elevator guide rail based on the right triangle.The robot connects to the guide rail through the line contact between the permanent magnet wheel and the rail surface.A strong vibration will occur to the robot because of the verticality error of the guide rail,the roughness of the rail surface and other external interferences,impacting the accuracy of the measurement.In order to optimize the vibration characteristics of the robot,improving the speed and accuracy of measurement,it is important,both theoretically and practically,to study the ways of dynamic modeling and vibration optimization.Firstly,this paper puts forward a multi-dimensional dynamic model and the matrix equation for the optimization of vibration,after analyzing the causes of the vibration and the working principle of the robot.Secondly,the dynamic model is imported to the MATLAB software for simulation,so that to get the dynamic response of the model in different parameters.It revealed that the impact of various parameters on the characteristics of the robot vibration is complex,and there are couplings between the parameters,so it is difficult to achieve the optimization by the analyzation of each single parameter.Furthermore,multi-objective optimization analysis for the dynamic model is made through the particle swarm optimization algorithm.Programming for the optimization is also carried out by MATLAB software.A comprehensive analysis of the impact of the parameters on the dynamic model is obtained at last.The optimization of the vibration of the robot is achieved effectively,the vibration strength of the robot in the vertical direction reducing 42.78%,and reducing 40%,81% on shimmy in the vertical plane.Finally,experimental analysis of the vibrational characteristic of the robot is implemented under the existing laboratory conditions.Vibration data of the robot iscollected while the robot moves along the elevator guide at different speeds.The resulting conclusion is consistent with that from the simulation,verifying the correctness of the dynamic model.The conclusions of the experiments have a certain reference valueto further optimization of the performance of verticality measuring robot for elevator guide rail.