自爬升电梯导轨安装机器人系统设计及误差分析

Design and error analysis of robot system for installing guide rail of self-climbing elevator

传统人工安装电梯导轨存在劳动力成本高和危险性高的难题,这些问题已成为制约电梯行业发展的瓶颈,为解决当下导轨安装难题,设计了一种自爬升电梯导轨安装机器人系统,对该系统机构的自由度、输入选取和位置正反解等进行了分析,并对多根导轨连续安装进行位置分析,得到了待安装导轨在机器人坐标系中的位姿矩阵。针对导轨安装注重的精度问题进行研究,在考虑微小误差的情况下对导轨安装进行误差建模,得到了导轨安装误差的表达式,分别分析了驱动杆长误差、移动副轴线偏转误差对导轨安装末端位姿的影响,结果表明移动副轴线偏转误差对导轨位置的影响较大,为后续的误差补偿提供了理论参考。

The traditionally manually installed elevator guide rails have the problems of less labor and high risk which limit the development of the elevator industry.A self-climbing elevator guide rail installation robot system is designed to solve the current problems.First,the degree of freedom of the system mechanism,the input selection,and the position of the positive and negative solutions are analyzed.First,the position of the continuous installation of multiple rails is analyzed in order to obtain the pose matrix of the rail which will be installed in the robot coordinate system.Second,the accuracy of guide rail installation is conducted and researched by considering an error modeling of guide rail installation as minor errors in order to obtain the expression of the guide rail installation error.Third,through the model error model expressions,the influence of the drive rod length error and the deflection error of the moving secondary axis on the position and attitude of the guide rail installation end are analyzed.The analysis results show that the deflection error of the moving secondary axis has a great influence on the position of the guide rail,which provides basis for the subsequent error compensation.