A coiling robot for elevator compensation chain

Xianchuan Shi*, Liang Gao, Lei Qian, Mingya Cheng, Kyle Jiang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


Purpose - The purpose of this paper is to develop a coiling robot in the production of coated elevator compensation chains to replace the manual coiling operations and improve the quality of compensation chains. Design/methodology/approach - This paper introduces both mechanical and servo control system designs of the coiling robot. The structure of two friction wheels stabilizes the conveying speed of compensation chain, so the chain speed matches with the car speed. A centering mechanism pushes the chain to its original position. Seven servo motors are integrated into the system, and they are controlled by a servo control system based on programmable logic controller, positioning controller, analog output block and touch screen. Findings - The results of the project show that the coiling robot can both greatly reduce the number of workers and the intensity of the work and improve the quality of the chain. The chain lid by the robot is not only neat, but also uniform in its inner stress. Research limitations/implications - When the output speed of the compensation chain from the rear friction wheel does not match the coiling speed, the coiling operation has to be halted. Then, the operator adjusts the chain speed and restarts the coiling operation. Practical implications - The coiling robot is proven working. It has been adopted by a leading company manufacturing compensation chains. Originality/value - This is the first coiling robot which is practically used in a production line of compensation chains. Its design, mechanism and control systems are of great reference values to people.

Original languageEnglish
Pages (from-to)403-408
Number of pages6
JournalIndustrial Robot
Issue number4
Publication statusPublished - 7 Mar 2016


  • Coiling
  • Compensation chain
  • Control
  • Elevator
  • Robot design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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