CN105035928B - Elevator self balancing device, elevator and elevator self-balancing control method - Google Patents
Elevator self balancing device, elevator and elevator self-balancing control method Download PDFInfo
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- CN105035928B CN105035928B CN201510401842.2A CN201510401842A CN105035928B CN 105035928 B CN105035928 B CN 105035928B CN 201510401842 A CN201510401842 A CN 201510401842A CN 105035928 B CN105035928 B CN 105035928B
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- elevator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/12—Counterpoises
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
- B66B7/04—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes
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- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a kind of elevator self balancing device, elevator and elevator self-balancing control method, described elevator self balancing device includes sensor, controlling organization and levelling gear, described sensor is arranged on elevator guide shoe, described controlling organization is located on car, described levelling gear is located above the pilot beam of car underframe, the input of described controlling organization connects described sensor, and outfan connects described levelling gear.By described levelling gear being arranged on above the pilot beam of described car underframe, described levelling gear when actually used with the compensating module of elevator and trailing cable not at grade, will not interfere, can achieve omnibearing unbalance loading balance adjustment, the service life making elevator guide shoe is longer, elevator runs more safety and comfort.
Description
Technical field
The present invention relates to traction elevator technical field is and in particular to a kind of elevator self balancing device, elevator and elevator
Self-balancing control method.
Background technology
Modern architecture gradually hoists development, and elevator has become indispensable vehicle, the safety of elevator and comfortable
Increasingly paid close attention to by people.General, traction elevator runs the change of height with elevator or passenger takes elevator institute
Station location is different, and the position of centre of gravity of elevator ride part also will change, and make elevator unbalance loading, thus affecting making of elevator guide shoe
Traffic safety and riding comfort with life-span and elevator.Traditional, elevator is all when installing after fixed point adjustment, with regard to no longer being adjusted
Section, unbalance loading situation is than more serious.When existing adjustment device is adjusted typically can with the compensating module of elevator, trailing cable or
Buffer produces conflict, installs and the limitation of adjustment is larger, and do not enable omnibearing regulation.
Content of the invention
Based on this, the invention reside in overcoming the defect of prior art, a kind of achievable omnibearing unbalance loading balance is provided to adjust
Section, the service life making elevator guide shoe is longer, elevator runs more the elevator self balancing device of safety and comfort, elevator and elevator
Self-balancing control method.
Its technical scheme is as follows：
A kind of elevator self balancing device, including sensor, controlling organization and levelling gear, described sensor is arranged on electricity
Ladder is led on boots, and described controlling organization is located on car, and described levelling gear is located above the pilot beam of car underframe, described control
The input of mechanism connects described sensor, and outfan connects described levelling gear.
Wherein in an embodiment, described levelling gear includes cross slide way, is located at the vertical of described cross slide way both sides
Direction guiding rail, horizontal drive motor, vertical drive motor and counterweight, the pilot beam of described longitudinal rail and car underframe and/
Or front and rear beam connects, described cross slide way is slidably mounted on described longitudinal rail, and described vertical drive motor is fixed on described
One end of cross slide way, described horizontal drive motor be connected with described counterweight and together be slidably mounted on described cross slide way
On.
Wherein in an embodiment, in described horizontal drive motor, it is provided with first gear or the first worm screw, described horizontal
Guide rail is provided with the first tooth bar being meshed with described first gear or the first worm screw, described first gear or the first worm screw and institute
Stating the first tooth bar engagement makes described horizontal drive motor and counterweight move on described cross slide way；Described vertical drive motor
Inside it is provided with second gear or the second worm screw, described longitudinal rail is provided with being meshed with described second gear or the second worm screw
Two tooth bars, described second gear or the second worm screw are engaged with described second tooth bar and make to be loaded with described horizontal drive motor, counterweight
And the described cross slide way of vertical drive motor moves on described longitudinal rail.
Wherein in an embodiment, the outfan of described controlling organization connects described horizontal drive motor and described longitudinal direction
Motor.
Wherein in an embodiment, four orientation that car is contacted with car guide rail are equipped with elevator guide shoe, elevator
Lead and be equipped with described sensor on three faces that boots are contacted with car guide rail.
Wherein in an embodiment, when elevator guide shoe is for rolling guide shoe, described sensor is pressure transducer；Work as electricity
When ladder leads boots for sliding guide shoe, described sensor includes pressure transducer and range sensor.
A kind of elevator, including described elevator self balancing device, car, car underframe and elevator guide shoe, described sensor
It is arranged on elevator guide shoe, described controlling organization is located on car, described levelling gear is located above the pilot beam of car underframe,
The input of described controlling organization connects described sensor, and outfan connects described levelling gear.
A kind of elevator self-balancing control method, comprises the following steps：
The center of gravity of horizontal drive motor and counterweight is adjusted to hanging center, right angle is set up for initial point with the center of hanging and sits
Mark system, described hanging center refers to the sling point at elevator suspension steel wire rope；
During elevator unbalance loading, sensor produces signal and is sent to controlling organization；
Controlling organization receipt signal, carries out transformational analysis, calculates unbalance loading direction and unbalance loading amount to data, elevator of must sening as an envoy to
Coordinate position that during balance, counterweight and moving component should move simultaneously sends described coordinate position to levelling gear；Work as control machine
When the unbalance loading amount that structure calculates can not be completely counterbalanced by by the weight of counterweight and moving component, send limit coordinate position, when
During for horizontal unbalance loading, described limit coordinate position is the end of cross slide way, when for longitudinal unbalance loading, described limit coordinate position
End for longitudinal rail；
Horizontal drive motor receives horizontal unbalance loading coordinate position and transports counterweight arrival specified location, vertical drive motor
Receive longitudinal unbalance loading coordinate position and transport cross slide way arrival specified location.
Wherein in an embodiment, with the center of hanging as fulcrum it is assumed that offset loading force is as P, the distance of offset loading force to fulcrum
For H3, then the moment that offset loading force produces is P × H3；
When described offset loading force is rear side unbalance loading, the sensor on rear side of both the above elevator guide shoe is pressurized, power respectively F1,
F2, the distance of F1, F2 to fulcrum is H1, then the moment that the sensor on rear side of both the above elevator guide shoe produces is F1 × H1+F2
×H1；Sensor on front side of following two elevator guide shoe is pressurized, and power is respectively F3, F4, and the distance of F3, F4 to fulcrum is H2, then
The moment that sensor on front side of following two elevator guide shoe produces is F3 × H2+F4 × H2；
By stress balance, obtain P × H3=F1 × H1+F2 × H1+F3 × H2+F4 × H2；
Require car balance, then elevator guide shoe stress F1, F2, F3, F4, for 0 it is known that counterweight amount is F, need to adjust counterweight
And moving component center of gravity, to L, known by stress balance, P × H3=F × L, that is, F × L=F1 × H1+F2 × H1+F3 × H2+F4 ×
H2；
Obtain coordinate position L=(F1 × H1+F2 × H1+F3 × H2+F4 × H2)/F.
The beneficial effects of the present invention is：
Described elevator guide shoe is provided with sensor, and the signal of generation is sent to controlling organization by described sensor, described control
Mechanism processed controls levelling gear further, thus realizing elevator unbalance loading balance adjustment, by described levelling gear is arranged on institute
State above the pilot beam of car underframe, described levelling gear is not existed with the compensating module of elevator and trailing cable when actually used
On same plane, will not interfere, can achieve omnibearing unbalance loading balance adjustment, the service life making elevator guide shoe is longer,
Elevator runs more safety and comfort.
Described elevator includes described elevator self balancing device, and described elevator operationally passes through described elevator self balancing device
Can achieve the comprehensive unbalance loading balance adjustment of described car, increase the service life of described elevator guide shoe, described elevator runs more
Plus safety and comfort.
Described elevator self-balancing control method principle is simple, achieve the comprehensive unbalance loading balance adjustment to car, makes electricity
The service life that boots led by ladder is longer, elevator runs more safety and comfort.
Brief description
Fig. 1 is the structural representation of the elevator self balancing device described in the embodiment of the present invention；
Fig. 2 is the top view of the levelling gear of elevator self balancing device described in the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the elevator self-balancing control method described in the embodiment of the present invention；
Fig. 4 is that the coordinate position of the elevator self-balancing control method described in the embodiment of the present invention calculates schematic diagram；
Description of reference numerals：
10th, controlling organization, 20, levelling gear, 201, cross slide way, 202, longitudinal rail, 203, horizontal drive motor,
204th, vertical drive motor, 205, counterweight, 30, elevator guide shoe, 40, car, 50, car underframe, 60, car guide rail, 70, hang
Extension center, 80, buffer, 90, compensating module, 100, trailing cable.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the invention are described in detail：
As shown in Figure 1 and Figure 2, a kind of elevator self balancing device, including sensor (not shown), controlling organization 10 with
And levelling gear 20, described sensor is arranged on elevator guide shoe 30, and described controlling organization 10 is located on car 40, described leveling
Mechanism 20 is located above the pilot beam of car underframe 50, and the input of described controlling organization 10 connects described biography by data cable
Sensor, outfan connects described levelling gear 20 by data cable.Further, the outfan of described controlling organization 10 connects
Described horizontal drive motor 203 and described vertical drive motor 204.Described elevator guide shoe 30 is provided with sensor, described sensing
The signal of generation is sent to controlling organization 10 by device, and described controlling organization 10 controls levelling gear 20 further, thus realizing electricity
Terraced unbalance loading balance adjustment, by described levelling gear 20 being arranged on above the pilot beam of described car underframe 50, described leveling
Mechanism 20 with the compensating module 90 of elevator and trailing cable 100 not at grade, will not interfere when actually used,
Can achieve omnibearing unbalance loading balance adjustment, the service life making elevator guide shoe 30 is longer, elevator runs more safety and comfort.This
Outward, the buffer 80 of elevator and buffer board are located at below the pilot beam of car underframe 50, the buffer 80 of usual elevator and buffering
Can not there is shelter between plate, by described levelling gear 20 is arranged on above the pilot beam of car underframe 50, described leveling
When mechanism 20 is balanced adjusting, also will not produce with buffer 80 and interfere, can achieve omnibearing unbalance loading balance all around
Adjust.Described controlling organization 10 is directly controlled making it reach specified to horizontal drive motor 203 and vertical drive motor 204
Balance coordinate position, control accuracy is high.The present invention runs unbalance loading situation by real-time monitoring elevator, and comprehensive regulation elevator is inclined
Carry balance, simple and reasonable, have a safety feature.
As shown in Figure 1 and Figure 2, described levelling gear 20 includes cross slide way 201, is located at described cross slide way 201 both sides
Longitudinal rail 202, horizontal drive motor 203, vertical drive motor 204 and counterweight 205, described longitudinal rail 202 and sedan-chair
The pilot beam of railway carriage or compartment underframe 50 and/or front and rear beam connect, and described cross slide way 201 is slidably mounted on described longitudinal rail 202, institute
State one end that vertical drive motor 204 is fixed on described cross slide way 201, described horizontal drive motor 203 and described counterweight
205 are bolted and are slidably mounted on together on described cross slide way 201.Described levelling gear 20 is in actual leveling process
In, described horizontal drive motor 203 and counterweight 205 can move on cross slide way 201, described cross slide way 201 and longitudinally
Motor 204 can move on described longitudinal rail 202, and that is, described counterweight 205 can carry out comprehensive fortune all around
Dynamic, thus realizing omnibearing unbalance loading balance adjustment all around.Preferably, it is provided with first in described horizontal drive motor 203
Gear or the first worm screw (not shown), described cross slide way 201 is provided with to be nibbled with described first gear or the first worm screw phase
The the first tooth bar (not shown) closed, described first gear or the first worm screw are engaged with described first tooth bar and make described horizontal drive
Galvanic electricity machine 203 and counterweight 205 move on described cross slide way 201.It is provided with second gear in described vertical drive motor 204
Or the second worm screw (not shown), described longitudinal rail 202 is provided with and is meshed with described second gear or the second worm screw
Second tooth bar (not shown), described second gear or the second worm screw are engaged with described second tooth bar and make to be loaded with described horizontal drive
The described cross slide way 201 of galvanic electricity machine 203, counterweight 205 and vertical drive motor 204 moves on described longitudinal rail 202.
Described counterweight 205, described cross slide way 201 is driven to reach by way of using rack and pinion engagement or worm rack engagement
Specified location, compact conformation, transmission more accurately, efficiency high.
Preferably, four orientation that car 40 is contacted with car guide rail 60 are equipped with elevator guide shoe 30, elevator guide shoe 30
It is equipped with described sensor on three faces contacting with car guide rail 60.By connecting with car guide rail 60 in elevator guide shoe 30
It is equipped with described sensor on three tactile faces, omnibearing can measure offset loading force and unbalance loading direction, high precision, measurement is accurate
Really.When elevator guide shoe 30 is rolling guide shoe, described sensor is pressure transducer；When elevator guide shoe 30 is sliding guide shoe,
Described sensor includes pressure transducer and range sensor.When elevator guide shoe 30 is sliding guide shoe, if offset loading force is less, can
Car guide rail 60 situation not with pressure sensor contacts can occur, now pressure transducer is not measured unbalance loading signal, no
Method produces signal and then can affect leveling precision.Therefore, when elevator guide shoe 30 is sliding guide shoe, it is additionally provided with range sensor,
Can precise acquisition to unbalance loading signal, improve leveling precision.
With reference to Fig. 1, a kind of elevator, including described elevator self balancing device, car 40, car underframe 50 and elevator guide shoe
30, described sensor is arranged on elevator guide shoe 30, and described controlling organization 10 is located on car 40, and described levelling gear 20 is located at
Above the pilot beam of car underframe 50, the input of described controlling organization 10 connects described sensor, and outfan connects described tune
Flattening mechanism 20.Described elevator includes described elevator self balancing device, and described elevator is operationally filled by described elevator self-balancing
Put the comprehensive unbalance loading balance adjustment of achievable described car 40, increase the service life of described elevator guide shoe 30, described elevator
Run more safety and comfort.
As shown in figure 3, a kind of elevator self-balancing control method, comprise the following steps：
S110：The center of gravity of horizontal drive motor 203 and counterweight 205 is adjusted to hanging center 70, with the center of hanging 70
Set up rectangular coordinate system for initial point, described hanging center 70 refers to the sling point at elevator suspension steel wire rope；
S120：During elevator unbalance loading, sensor produces signal and is sent to controlling organization 10；
S130：Controlling organization 10 receipt signal, carries out transformational analysis, calculates unbalance loading direction and unbalance loading amount, obtain to data
Coordinate position that when sening as an envoy to elevator balanced, counterweight 205 and moving component should move simultaneously sends described coordinate position to leveling machine
Structure 20；When the unbalance loading amount that controlling organization 10 calculates can not be completely counterbalanced by by the weight of counterweight 205 and moving component, send out
Send limit coordinate position, when for horizontal unbalance loading, described limit coordinate position is the end of cross slide way 201, when for longitudinally partially
During load, described limit coordinate position is the end of longitudinal rail 202；
S140：Horizontal drive motor 203 receives horizontal unbalance loading coordinate position and transports counterweight 205 arrival specified location,
Vertical drive motor 204 receives longitudinal unbalance loading coordinate position and transports cross slide way 201 arrival specified location.
In step s 110, described hanging center refers to the sling point of elevator suspension steel wire rope, i.e. the center of diversion sheave, if instead
When rope sheave quantity is two, described hanging center is the midpoint of the two diversion sheave lines of centres.In step s 130, described motion portion
Part refers to horizontal drive motor 203, cross slide way 201 and vertical drive motor 204.Described elevator self-balancing control method principle
The simple service life it is achieved that comprehensive unbalance loading balance adjustment to car, making elevator guide shoe 30 is longer, elevator runs more
Safety and comfort.
Further, as shown in figure 4, with hang center 70 as fulcrum it is assumed that offset loading force is as P, offset loading force to fulcrum away from
It is P × H3 from the moment that for H3, then offset loading force produces；
When described offset loading force is rear side unbalance loading, the sensor of both the above elevator guide shoe 30 rear side is pressurized, and power is respectively
F1, F2, the distance of F1, F2 to fulcrum is H1, then the moment that the sensor of both the above elevator guide shoe 30 rear side produces be F1 ×
H1+F2×H1；The sensor of following two elevator guide shoe 30 front side is pressurized, and power is respectively F3, F4, the distance of F3, F4 to fulcrum
For H2, then the moment that the sensor of following two elevator guide shoe 30 front side produces is F3 × H2+F4 × H2；
By stress balance, obtain P × H3=F1 × H1+F2 × H1+F3 × H2+F4 × H2；
Car 40 is required to balance, then elevator guide shoe 30 stress F1, F2, F3, F4, for 0 it is known that counterweight amount is F, need to adjust and join
Heavy mail and moving component center of gravity, to L, are known by stress balance, P × H3=F × L, i.e. F × L=F1 × H1+F2 × H1+F3 × H2+
F4×H2；
Obtain coordinate position L=(F1 × H1+F2 × H1+F3 × H2+F4 × H2)/F.
Described rear side refers to the side away from elevator door ladder for the car, and the side near elevator door ladder is front side, towards electricity
Left side during terraced door ladder is left side, is right side towards the right during elevator door ladder.When calculating front side or rear side unbalance loading, described counterweight
Amount is not only considered as the weight of counterweight 205, it is also contemplated that horizontal drive motor 203, vertical drive motor 204 and laterally lead
The weight of rail 201.When calculating left side or right side unbalance loading, described counterweight amount is not only considered as the weight of counterweight 205, it is also contemplated that
The weight of horizontal drive motor 203.The method that above-mentioned formula gives the calculated equilibrium coordinate position that unbalance loading is during rear side unbalance loading,
When for front side, left side or right side unbalance loading, Computing Principle is same or similar with above-mentioned formula.Above-mentioned coordinate position computational methods are former
Reason is simple, and result accurately, can effectively realize the comprehensive balance adjustment of the unbalance loading all around of elevator.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
Say, without departing from the inventive concept of the premise, some deformation can also be made and improve, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (8)
1. a kind of elevator self balancing device is it is characterised in that include sensor, controlling organization and levelling gear, described sensing
Device is arranged on elevator guide shoe, and described controlling organization is located on car, and described levelling gear is located on the pilot beam of car underframe
Side, the input of described controlling organization connects described sensor, and outfan connects described levelling gear, car and car guide rail phase
Four orientation of contact are equipped with elevator guide shoe, and described levelling gear includes cross slide way, is located at described cross slide way both sides
The pilot beam of longitudinal rail, horizontal drive motor, vertical drive motor and counterweight, described longitudinal rail and car underframe
And/or front and rear beam connects, described cross slide way is slidably mounted on described longitudinal rail, and described vertical drive motor is fixed on institute
State one end of cross slide way, described horizontal drive motor be connected with described counterweight and together be slidably mounted on described cross slide way
On.
2. elevator self balancing device according to claim 1 is it is characterised in that be provided with first in described horizontal drive motor
Gear or the first worm screw, described cross slide way is provided with the first tooth bar being meshed with described first gear or the first worm screw, institute
Stating first gear or the first worm screw and engaging with described first tooth bar makes described horizontal drive motor and counterweight laterally lead described
Move on rail；
It is provided with second gear or the second worm screw, described longitudinal rail is provided with and described second gear in described vertical drive motor
Or second the second tooth bar that be meshed of worm screw, described second gear or the second worm screw engage with described second tooth bar make to be loaded with described
The described cross slide way of horizontal drive motor, counterweight and vertical drive motor moves on described longitudinal rail.
3. elevator self balancing device according to claim 1 is it is characterised in that the outfan of described controlling organization connects institute
State horizontal drive motor and described vertical drive motor.
4. elevator self balancing device according to claim 1 is it is characterised in that what elevator guide shoe was contacted with car guide rail
It is equipped with described sensor on three faces.
5. elevator self balancing device according to claim 1 is it is characterised in that when elevator guide shoe is for rolling guide shoe, institute
Stating sensor is pressure transducer；When elevator guide shoe is for sliding guide shoe, described sensor includes pressure transducer and distance passes
Sensor.
6. a kind of elevator it is characterised in that include any one of the claims 1-5 described in elevator self balancing device, car,
Car underframe and elevator guide shoe, described sensor is arranged on elevator guide shoe, and described controlling organization is located on car, described tune
Flattening mechanism is located above the pilot beam of car underframe, and the input of described controlling organization connects described sensor, and outfan connects
Described levelling gear.
7. a kind of elevator self-balancing control method is it is characterised in that comprise the following steps：
The center of gravity of horizontal drive motor and counterweight is adjusted to hanging center, rectangular coordinate is set up for initial point with the center of hanging
System, described hanging center refers to the sling point at elevator suspension steel wire rope；
During elevator unbalance loading, sensor produces signal and is sent to controlling organization, and described sensor is arranged on elevator guide shoe, car
Four orientation contacting with car guide rail are equipped with elevator guide shoe；
Controlling organization receipt signal, carries out transformational analysis, calculates unbalance loading direction and unbalance loading amount, must send as an envoy to elevator balanced to data
When the counterweight and coordinate position that should move of moving component send described coordinate position to levelling gear；When controlling organization meter
When the unbalance loading amount calculating is passed through the weight of counterweight and moving component and can not be completely counterbalanced by, send limit coordinate position, when for horizontal stroke
During to unbalance loading, described limit coordinate position is the end of cross slide way, and when for longitudinal unbalance loading, described limit coordinate position is vertical
The end of direction guiding rail；
Horizontal drive motor receives horizontal unbalance loading coordinate position and transports counterweight arrival specified location, and vertical drive motor receives
Longitudinal unbalance loading coordinate position simultaneously transports cross slide way arrival specified location.
8. elevator self-balancing control method according to claim 7 it is characterised in that with hang center as fulcrum it is assumed that
Offset loading force is P, and the distance of offset loading force to fulcrum is H3, then the moment that offset loading force produces is P × H3；
When described offset loading force is rear side unbalance loading, the sensor on rear side of both the above elevator guide shoe is pressurized, and power is respectively F1, F2,
The distance of F1, F2 to fulcrum is H1, then the moment that sensor on rear side of both the above elevator guide shoe produces be F1 × H1+F2 ×
H1；Sensor on front side of following two elevator guide shoe is pressurized, and power is respectively F3, F4, and the distance of F3, F4 to fulcrum is H2, then under
The moment that sensor on front side of the elevator guide shoe of two, face produces is F3 × H2+F4 × H2；
By stress balance, obtain P × H3=F1 × H1+F2 × H1+F3 × H2+F4 × H2；
Require car balance, then elevator guide shoe stress F1, F2, F3, F4, for 0 it is known that counterweight amount is F, need to adjust counterweight and fortune
Dynamic component center of gravity, to L, is known by stress balance, P × H3=F × L, i.e. F × L=F1 × H1+F2 × H1+F3 × H2+F4 × H2；
Obtain coordinate position L=(F1 × H1+F2 × H1+F3 × H2+F4 × H2)/F.
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| CN201510401842.2A CN105035928B (en) | 2015-07-08 | 2015-07-08 | Elevator self balancing device, elevator and elevator self-balancing control method |
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| CN203529640U (en) * | 2013-10-11 | 2014-04-09 | 三菱电机上海机电电梯有限公司 | Lift car inner unbalanced load detection and compensation device |
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2015
- 2015-07-08 CN CN201510401842.2A patent/CN105035928B/en active Active
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