Mechanism And Measurement And Control Systems Design Of Multi-parameter Patrol Robot Of Elevator Guide Rails

Elevator is an indispensable vehicle in high-rise buildings,stability and safety has always been the focus of our attention.According to China’s special equipment testing standards,the verticality of the elevator guide rail is recognized as one of the important indicators to ensure the smooth operation of the elevator,and it is required to conduct regular inspections.At present,the rail detection has gradually got rid of the cumbersome manual measurement method,and began to combine with various modern sensing technologies for measurement and calibration.Combining with various new measurement schemes at home and abroad,this paper independently designed an inspection robot with the measurement and control system that can simultaneously detect multiple indicators of the elevator guide rail,of which the measurement accuracy also meets the relevant national testing standards.First of all,this paper optimized the structure of the robot for guide rail inspection,used magnetic wheels to grip and stabilize the engine body,and used the large torque motor to drive the non-magnetic knurled wheel to mobilize the inspection robot to climb on the guide rail,and to increase the safety measures for equipment,which made the equipment more in line with actual use requirements,better guaranteed the safety of use,and met the requirements of loading sensors for rail detection.Then,in accordance with the requirements of the robot rail inspection process,it designed the hardware and software parts of the rail verticality detection and control system.By using the STM32F103C8T6 chip,through designing and using CAN bus in the robot control system to exchange data with the host computer,it achived collecting the data of each sensor only with basic functional instructions,and transmiting the system information and the detection data information of the sensor to the upper computer,as well as using the convenient and simple software interface to implement effective process control.Finally,this paper conducted the practical test on the designed equipment,which proved that the use of the inspection robot for measurement can reduce the influence of human factors and avoid the harsh environment in the elevator shaft from interfering with data transmission.The collected measurement data can be transmitted to the host computer for statistics in real time,and output the intuitive deviation value curve,which can then be used as a basis for intuitive judgment of the current state of the guide rail to predict the possible deformation trend of the guide rail.Therefore,the inspection robot program designed in this paper has been proved to have certain reference value for the guide rail detection of the elevator industry and the research on related automation and systemization programs.