EP0595122A1 - Friction wheel drive for a passenger transporting device - Google Patents

Friction wheel drive for a passenger transporting device Download PDF

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Publication number
EP0595122A1
EP0595122A1 EP93116611A EP93116611A EP0595122A1 EP 0595122 A1 EP0595122 A1 EP 0595122A1 EP 93116611 A EP93116611 A EP 93116611A EP 93116611 A EP93116611 A EP 93116611A EP 0595122 A1 EP0595122 A1 EP 0595122A1
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EP
European Patent Office
Prior art keywords
self
cabin
transport device
friction
friction wheels
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EP93116611A
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German (de)
French (fr)
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EP0595122B1 (en
Inventor
Wolfgang Muller
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Inventio AG
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Inventio AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
    • B66B9/02—Kinds or types of lifts in, or associated with, buildings or other structures actuated mechanically otherwise than by rope or cable

Definitions

  • Self-propelled transport device in particular for people with at least one cabin and an approximately vertically acting friction wheel drive, the friction wheels of which protrude laterally beyond the contours of the cabin and are pressed against an associated shaft or a guide rail in an approximately horizontal direction by means of a pressing device.
  • Transport devices of this type enable the operation of several cabins in the same shaft because there are no supporting elements, signal and feed lines and because no guide rails have to be used with the appropriate arrangements.
  • German design specification No. 1 251 925 describes an elevator with a friction wheel drive, the friction and guide wheels of which roll in the shaft corners.
  • the driven friction wheels with flanged drive are arranged diagonally opposite each other on the top of the cabin and are pressed onto the rolling surface using the swivel support and clamping screw.
  • a utility model no. G 69 32 326.8 describes a "column lift" which has a friction wheel drive provided with two tire wheels.
  • the elevator runs on a T-rail called a column.
  • the necessary contact pressure for sufficient friction is achieved by the cabin hanging directly on the drive and by means of counter rollers running higher than the friction wheels and running on the back of the T-rail, depending on the lever ratio and the cabin weight, a corresponding contact pressure is generated for the friction wheels.
  • the cabin itself is used as a lever and tensioning weight. This does not make it inevitable always have a precisely vertical position and, due to the resilient tire wheels, will tend to vibrate when driving around the center of rotation between the counter roller and the tire wheel.
  • the present invention has for its object to provide a friction wheel drive suitable for the convenient transportation of people, which works mechanically separated from the cabin, has sufficient frictional force through appropriate arrangement, does not require counter-rollers, does not require supporting and compensating elements, enables a rational modular construction, and which is suitable for both vertical and horizontal driving. Furthermore, the necessary friction force should be manageable for all situations.
  • a traction platform provided with friction wheel drives, designed as a lifting or pulling carriage, carries and transports an elevator car, and wherein the friction wheel drives on the rolling base have a passive frictional force influenced by the car weight by means of corresponding handlebar geometries, and wherein a superimposed active pressure mechanism in the form of actuators, force measuring sensors and processor-controlled control is available.
  • the advantages achieved by the invention are that there is no machine room, that more than one cabin can run in the same shaft, that the cabin can also travel horizontally from one shaft to another and that no supporting and compensating elements are required.
  • a cabin 1 is located in a shaft 5 and rests on a lifting truck 2 via vibration damping elements 3.
  • the handlebars 7 carry at their lower end a friction wheel 9 with a drive 8.
  • the friction wheels 9 also run in the guide grooves 5.1.
  • the friction wheels 9 touch the rolling surface in the guide groove 5.1 at a contact point x.
  • the angle of the straight line between pivot point 6 and point of contact x to the horizontal is denoted by p.
  • the cabin 1 is arranged in a cabin frame 1.1.
  • the lifting truck 2 which in this arrangement has a safety device 14 and guide elements 14.1.
  • two double-T travel rails 12 are mounted on the shaft 5 on both sides, on which the friction wheels 9 roll.
  • a towing vehicle 15 is arranged above the cabin frame and is firmly connected to the cabin frame 1.1 by means of tie rods 16 and fastening fitting 17.
  • the towing vehicle 15 is constructed in the same way as the lifting vehicle 2 and also has guide elements which are denoted by 15.1.
  • the safety device 14 also acts on this T-guide rail 13.
  • a control arm 7 is rigidly arranged on the right-hand side by holding it in a certain position by means of a strut 18 which can be adjusted with an adjusting nut sleeve 19.
  • the device described above works as follows: For a friction wheel drive in the application shown, the sizes of the contact pressure Fn (normal force in the horizontal direction, perpendicular to the surface), the coefficient of friction ⁇ and the vertical downward force of the masses to be transported must be taken into account.
  • the coefficient of friction ⁇ depends on the nature of the contact surface of the friction wheel 9 and the base. This can be assumed, for example, with a smooth, clean concrete or steel base and with friction wheels 9 covered with elastomer.
  • the compression spring 10 which is arranged horizontally between the handlebar levers 7 on push rods 10.1, serves to compensate for the inherent weights of the friction wheel drive systems by means of adjustable preload and to maintain contact of the friction wheels 9 with the base in the event of any vibrations.
  • the contact pressure Fn passive is increased by a dynamic component when starting in the upward direction depending on the acceleration and vice versa correspondingly reduced when starting in the downward direction.
  • the handlebar levers 7 are additionally articulated to actuators 11 and, for example in the handlebar bearings 6, force sensors (not shown) are present.
  • the force sensors provide the input information for a processor control, also not shown, which passively monitors the contact pressure Fn and, if the value is insufficient, for example in the case of poorer friction conditions, actively effects an additional contact pressure Fn via the actuators 11. The effect of this control function is shown in the diagram in FIG. 6.
  • a decrease in the contact pressure Fn is reported passively to the processor control by force sensors, whereupon an additional contact force Fn is generated actively by the processor output via actuators 11.
  • the additional contact force Fn active adds passively to the contact pressure Fn still present to a resulting contact force Fn res, which is then at all times above the minimum necessary contact force Fn min.
  • the contact pressure Fn can be controlled in all possible situations. Hydraulic cylinders and associated components can be used as actuators 11, for example.
  • a second drive system in the form of a towing vehicle 15 can be provided per friction wheel 9 in order to maintain low contact forces. This is arranged according to FIG.
  • the lifting truck 2 contains, for the purpose of bridging short-term interruptions in the electrical energy supply and as a mains-independent energy source for horizontal journeys, a short-term energy store, not shown, which is kept at full charge during mains operation. For vertical travel, however, the electrical energy is permanently obtained via conductor rails, not shown.
  • the cabin 1 also has an autonomous control for the management of the cabin or destination calls, the distance to a further cabin possibly located above or below being continuously recorded by wireless distance measurement. In addition, calls made on the floors are wirelessly transmitted to the cabin using suitable means.
  • the shaft 5 is, in an embodiment according to FIGS. 1, 2 and 5 for absorbing the contact forces by the friction wheels 9 as a reinforced concrete construction or in a modular steel skeleton construction with a corresponding load capacity for horizontal forces.
  • a safety device 14 according to the regulations (FIG. 3) is arranged on the lifting truck 2 as security against falling in the event of a roller break or overspeed.
  • a speed limiter (not shown), which is driven by a guide roller or a friction wheel and is located on the cabin, triggers the safety device 14 in an emergency.
  • the friction wheel drives can be rigidly connected on one side to the lifting or towing vehicle chassis. 5, the actuators 11 are replaced by rigid struts 18 which are adjustable in length by means of left / right-handed sleeve nuts 19.
  • This construction has the advantage that the required angle p on the side of the movably arranged friction wheel drives can be optimally adjusted and readjusted if necessary.
  • the friction wheel drive can be attached on one side without a handlebar 7 to a fixed, non-adjustable support on the underside of the lifting truck.
  • the function of the passive and active pressing of the friction wheels 9 then only has to be carried out on one side of the cabin.
  • the actuators 11 can also be provided as spindle lifting elements, combined with a spring part. Another possibility is to design the actuators as pneumatic lifting elements.
  • a direct drive without gear can also be provided as the friction wheel drive, whereby a compact, space-saving motor / friction wheel unit can be formed.
  • the motor rotor is a fixed axis and the motor stator is part of the friction wheel.
  • a combination with a planetary gear inside the friction wheel body is also possible.

Abstract

Vertically and horizontally self-propelled passenger transporting device with driven friction wheels (9) attached to a car. The friction wheels (9) are pressed onto the rolling base with a passive force influenced by the car and loading weight and producing the requisite friction and additionally with an active, regulated force by means of actuators (11). The friction wheels (9) with friction wheel drives (8) are mounted below a lift truck (2) in fulcrums (6) by means of steering levers (7), and, at a defined angle of the straight line between contact point (x) of the friction wheels (9) in guide grooves or on guide rails (12) in the shaft (5) and the fulcrum (6) to the horizontal, the requisite applied pressure for a low-slip drive is produced. Four friction wheel drives (8), for example, are provided below a ropeless car (1). The car (1) is supported by the lift truck (2) via vibration dampers (3). A prescribed catch device (14) is attached to the lift truck (2). For heavier cars (1), an additional drive truck is provided as tractor (15) with catch device (15.1). <IMAGE>

Description

Selbstfahrende Transporteinrichtung insbesondere für Personen mit mindestens einer Kabine und einem etwa vertikal wirkenden Reibradantrieb, dessen Reibräder die Konturen der Kabine seitlich überragen und mittels einer Anpresseinrichtung an einen zugeordneten Schacht oder eine Führungsschiene in etwa horizontaler Richtung angepresst werden.Self-propelled transport device, in particular for people with at least one cabin and an approximately vertically acting friction wheel drive, the friction wheels of which protrude laterally beyond the contours of the cabin and are pressed against an associated shaft or a guide rail in an approximately horizontal direction by means of a pressing device.

Transporteinrichtungen dieser Art ermöglichen den Betrieb mehrerer Kabinen im gleichen Schacht, weil keine Tragorgane, Signal- und Speiseleitungen vorhanden sind und weil bei entsprechenden Dispositionen auch keine Führungsschienen verwendet werden müssen.Transport devices of this type enable the operation of several cabins in the same shaft because there are no supporting elements, signal and feed lines and because no guide rails have to be used with the appropriate arrangements.

Betreffend den Reibradantrieb allein beschreibt die deutsche Auslegeschrift Nr. 1 251 925 einen Aufzug mit Reibradantrieb, dessen Reib- und Führungsräder in den Schachtecken abrollen. Die angetriebenen Reibräder mit angeflanschtem Antrieb sind auf der Kabinenoberseite einander diagonal gegenüber angeordnet und werden via Schwenksupport und Spannschraube auf die Abrollunterlage gedrückt.Regarding the friction wheel drive alone, the German design specification No. 1 251 925 describes an elevator with a friction wheel drive, the friction and guide wheels of which roll in the shaft corners. The driven friction wheels with flanged drive are arranged diagonally opposite each other on the top of the cabin and are pressed onto the rolling surface using the swivel support and clamping screw.

Eine Gebrauchsmusterschrift Nr. G 69 32 326.8 beschreibt einen "Säulenaufzug" der einen mit zwei Pneurädern versehenen Reibradantrieb aufweist. Der Aufzug läuft an einer als Säule bezeichneten T-Schiene. Der nötige Anpressdruck für genügende Reibung wird dadurch erreicht, dass die Kabine direkt am Antrieb hängt und dass mittels höher als die Reibräder angebrachten, auf der Rückseite der T-Schiene laufenden Gegenrollen abhängig vom Hebelverhältnis und vom Kabinengewicht ein entsprechender Anpressdruck für die Reibräder erzeugt wird.A utility model no. G 69 32 326.8 describes a "column lift" which has a friction wheel drive provided with two tire wheels. The elevator runs on a T-rail called a column. The necessary contact pressure for sufficient friction is achieved by the cabin hanging directly on the drive and by means of counter rollers running higher than the friction wheels and running on the back of the T-rail, depending on the lever ratio and the cabin weight, a corresponding contact pressure is generated for the friction wheels.

Beim letzeren wird die Kabine selbst als Hebel und Spanngewicht verwendet. Dadurch wird sie nicht zwangsläufig immer eine genau vertikale Lage aufweisen und wird, aufgrund der federnden Pneuräder, beim Fahren um den in der Mitte zwischen Gegenrolle und Pneurad liegenden Drehpunkt zu Drehschwingungen neigen.In the latter, the cabin itself is used as a lever and tensioning weight. This does not make it inevitable always have a precisely vertical position and, due to the resilient tire wheels, will tend to vibrate when driving around the center of rotation between the counter roller and the tire wheel.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, einen für den komfortablen Personentransport geeigneten Reibradantrieb zu schaffen, der von der Kabine mechanisch getrennt arbeitet, durch entsprechende Anordnung genügend Reibkraft aufweist, keine Gegenrollen benötigt, keine Trag- und Ausgleichsorgane benötigt, eine rationelle Modulbauweise ermöglicht, und welcher sowohl für vertikales wie auch für horizontales Fahren geeignet ist. Ferner soll die nötige Reibkraft für alle Situationen beherrschbar sein.The present invention has for its object to provide a friction wheel drive suitable for the convenient transportation of people, which works mechanically separated from the cabin, has sufficient frictional force through appropriate arrangement, does not require counter-rollers, does not require supporting and compensating elements, enables a rational modular construction, and which is suitable for both vertical and horizontal driving. Furthermore, the necessary friction force should be manageable for all situations.

Die Aufgabe wird durch die in den Ansprüchen gekennzeichnete Erfindung gelöst, wobei eine mit Reibradantrieben versehene, als Hub- oder Zugwagen konzipierte Traktionsplattform eine Aufzugskabine trägt und befördert und wobei die Reibradantriebe auf der Abrollunterlage mittels entsprechenden Lenkergeometrien eine vom Kabinengewicht beeinflusste passive Reibkraft aufweisen, und wobei ein überlagerter aktiver Anpressmechanismus in der Form von Stellgliedern, Kraftmess-Sensoren und prozessorgesteuerter Regelung vorhanden ist.The object is achieved by the invention characterized in the claims, wherein a traction platform provided with friction wheel drives, designed as a lifting or pulling carriage, carries and transports an elevator car, and wherein the friction wheel drives on the rolling base have a passive frictional force influenced by the car weight by means of corresponding handlebar geometries, and wherein a superimposed active pressure mechanism in the form of actuators, force measuring sensors and processor-controlled control is available.

Die durch die Erfindung erreichten Vorteile bestehen darin, dass kein Maschinenraum vorhanden ist, dass mehr als eine Kabine im selben Schacht verkehren kann, dass die Kabine auch horizontal von einem Schacht zu einem anderen Schacht fahren kann und dass keine Trag- und Ausgleichsorgane benötigt werden.The advantages achieved by the invention are that there is no machine room, that more than one cabin can run in the same shaft, that the cabin can also travel horizontally from one shaft to another and that no supporting and compensating elements are required.

Ein weiterer Vorteil besteht darin dass man mittels bordeigenem Energiespeicher netzunabhängig horizontale Fahrten ausführen kann und dass beim vertikalen Fahren als Sicherheit kurzzeitige Unterbrüche in der Energiezufuhr zur Aufzugskabine überbrückt werden können. In den Zeichnungen sind drei Ausführungsbeispiele des Erfindungsgegenstandes dargestellt und zwar zeigen

Fig. 1
eine Seitenansicht eines Reibradantriebes ohne Führungsschienen,
Fig. 2
eine Ansicht der Unterseite des Reibradantriebes in Fig. 1,
Fig. 3
eine Seitenansicht eines Reibradantriebes mit Hub- und zugwagen und mit Führungsschienen,
Fig. 4
eine Draufsicht auf den Reibradantrieb in Fig. 3
Fig 5
eine Einzelheit einer Weiterentwicklung und
Fig. 6
ein Diagramm der Anpresskraft.
A further advantage is that horizontal journeys can be carried out independently of the network by means of on-board energy storage and that, during vertical travel, brief interruptions in the energy supply to the elevator car can be bridged as security. In the drawings three exemplary embodiments of the subject matter of the invention are shown and show
Fig. 1
a side view of a friction wheel drive without guide rails,
Fig. 2
a view of the underside of the friction wheel drive in Fig. 1,
Fig. 3
a side view of a friction wheel drive with lifting and pulling carriage and with guide rails,
Fig. 4
3 shows a plan view of the friction wheel drive in FIG. 3
Fig. 5
a detail of a further development and
Fig. 6
a diagram of the contact pressure.

Gemäss der Fig. 1 befindet sich in einem Schacht 5 eine Kabine 1, welche via Vibrationsdämpfungselemente 3 auf einem Hubwagen 2 aufliegt. Auf der Kabinenoberseite befinden sich beidseitig Führungsrollen 4, welche in Führungsrillen 5.1 in einer Schachtwand 5.2 laufen. Auf der Unterseite des Hubwagens 2 sind in Drehpunkten 6 Lenkerhebel 7 gelagert und je schräg nach unten gegen die Schachtwand 5.2 eines Schachtes 5 gerichtet. Die Lenkerhebel 7 tragen an ihrem unteren Ende ein Reibrad 9 mit einem Antrieb 8. Die Reibräder 9 laufen ebenfalls in den Führungsrillen 5.1. Ca in der Mitte der Lenkerhebel 7 sind diese je mit einem unten am Hubwagen 2 befestigten Stellglied 11 verbunden. Zwischen den Lenkerhebeln 7 ist ferner horizontal auf Schubstangen 10.1 eine fest einstellbare Druckfeder 10 vorhanden. Die Reibräder 9 berühren die Abrollfläche in der Führungsrille 5.1 an einem Berührungspunkt x. Der Winkel der Geraden zwischen Drehpunkt 6 und Berührungspunkt x zur Horizontalen ist mit p bezeichnet.According to FIG. 1, a cabin 1 is located in a shaft 5 and rests on a lifting truck 2 via vibration damping elements 3. On the top of the cabin there are guide rollers 4 on both sides, which run in guide grooves 5.1 in a shaft wall 5.2. On the underside of the pallet truck 2 6 control levers 7 are mounted in pivot points and each directed obliquely downwards against the shaft wall 5.2 of a shaft 5. The handlebars 7 carry at their lower end a friction wheel 9 with a drive 8. The friction wheels 9 also run in the guide grooves 5.1. Approximately in the middle of the handlebar levers 7, these are each connected to an actuator 11 fastened at the bottom of the lifting truck 2. Between the handlebar levers 7 there is a horizontally adjustable compression spring 10 on push rods 10.1. The friction wheels 9 touch the rolling surface in the guide groove 5.1 at a contact point x. The angle of the straight line between pivot point 6 and point of contact x to the horizontal is denoted by p.

Die Fig. 2 zeigt eine mögliche Ausbildung der Führungsrillen 5.1 sowie eine mögliche Anordnung der Reibradantriebe. Ferner ist die mögliche Form der Führungsrillen 5.1 ersichtlich, sowie die parallele Anordnung von Drehachsen 9.1 der beiden Antriebsseiten zueinander.
In der Fig. 3 ist die Kabine 1 in einem Kabinenrahmen 1.1 angeordnet. Unterhalb des Kabinenrahmens 1.1 befindet sich der Hubwagen 2, welcher bei dieser Anordnung eine Fangvorrichtung 14 und Führungselemente 14.1 aufweist. Bei dieser Disposition sind im Schacht 5 beidseitig zwei Doppel-T-Fahrschienen 12 montiert, auf welchen die Reibräder 9 abrollen. Oberhalb des Kabinenrahmens ist ein Zugwagen 15 angeordnet und mittels Zugstangen 16 und Befestigungsarmatur 17 mit dem Kabinenrahmen 1.1 fest verbunden. Der Zugwagen 15 ist prinzipiell gleich gebaut wie der Hubwagen 2 und weist ebenfalls Führungselemente auf, welche mit 15.1 bezeichnet sind.2 shows a possible design of the guide grooves 5.1 and a possible arrangement of the friction wheel drives. Furthermore, the possible shape of the guide grooves 5.1 can be seen, as well as the parallel arrangement of axes of rotation 9.1 of the two drive sides to one another.
3, the cabin 1 is arranged in a cabin frame 1.1. Below the cabin frame 1.1 is the lifting truck 2, which in this arrangement has a safety device 14 and guide elements 14.1. With this arrangement, two double-T travel rails 12 are mounted on the shaft 5 on both sides, on which the friction wheels 9 roll. A towing vehicle 15 is arranged above the cabin frame and is firmly connected to the cabin frame 1.1 by means of tie rods 16 and fastening fitting 17. In principle, the towing vehicle 15 is constructed in the same way as the lifting vehicle 2 and also has guide elements which are denoted by 15.1.

Die Führungselemente 14.1 und 15.1 umgreifen, wie in Fig. 4 ersichtlich, eine T-Führungsschiene 13 und bewirken so eine Führung der Kabine 1 in Y-Richtung. Auf diese T-Führungsschiene 13 wirkt auch die Fangvorrichtung 14.The guide elements 14.1 and 15.1, as can be seen in FIG. 4, grip a T-guide rail 13 and thus guide the cabin 1 in the Y direction. The safety device 14 also acts on this T-guide rail 13.

In der Fig. 5 ist ein Lenkerhebel 7 auf der rechten Seite starr angeordnet, indem dieser mittels einer mit einer Stellmutterhülse 19 verstellbaren Strebe 18 in einer bestimmten Position gehalten wird.5, a control arm 7 is rigidly arranged on the right-hand side by holding it in a certain position by means of a strut 18 which can be adjusted with an adjusting nut sleeve 19.

Die Fig. 6 zeigt ein Kräftediagramm, in welchem das Zusammenwirken von aktiver und passiver Anpresskraft dargestellt ist. In diesem Diagramm bedeuten:

Fn
= Normalkraft bzw. Anpresskraft
Fn passiv
= vorhandene, passive Anpresskraft
Fn min
= minimal nötige Anpresskraft
Fn aktiv
= aktive, zusätzliche Anpresskraft
Fn res
= resultierende Anpresskraft Fn aktiv + Fn passiv
6 shows a force diagram in which the interaction of active and passive contact pressure is shown. In this diagram:
Fn
= Normal force or contact pressure
Fn passive
= existing, passive contact pressure
Fn min
= minimum contact pressure required
Fn active
= active, additional contact pressure
Fn res
= resulting contact pressure Fn active + Fn passive

Die vorstehend beschriebene Einrichtung arbeitet wie folgt:
Für einen Reibradantrieb in der gezeigten Anwendung sind die Grössen Anpresskraft Fn (Normalkraft in horzontaler Richtung, senkrecht auf Unterlage), der Reibwert µ und die vertikal nach unten wirkende Gewichtskraft der zu befördernden Massen zu berücksichtigen. Der Reibwert µ ist abhängig von der Beschaffenheit der Kontaktoberfläche von Reibrad 9 und Unterlage. Dieser kann beispielsweise bei glatter, sauberer Beton- oder Stahlunterlage und mit Elastomer besetzten Reibrädern 9 mit 0,6 angenommen werden. Bei der erfindungsgemässen Anordnung der den Reibradantrieb tragenden Lenkerhebel 7 und unter Berücksichtigung, dass die Reibräder 9 als vom zugehörigen Reibradantrieb 8 über kraft- und formschüssige Verbindung angetrieben und gebremst werden ist ersichtlich, dass durch die Gewichtskraft der zu befördernden Massen ein Spreizeffekt entsteht, der ein Anpressen der Reibräder 9 in horizontaler Richtung auf die Unterlage bewirkt. Es ist ferner ersichtlich, dass die Grösse des Spreizeffektes bzw. die Grösse der Anpresskraft Fn vom negativen Winkel p der Geraden zwischen Berührungspunkt x und dem Zentrum des Lenkerlagers 6 zur Horizontalen abhängig ist. Berechnungen und Messungen ergeben einen praktikablen Wert für den Winkel p von beispielsweise 20°. Weil nun dieser Spreizeffekt ohne Zutun weiterer Anpressmechanismen entsteht, also hierzu keine Energie zugeführt werden muss, wird die dadurch entstehende Anpresskraft Fn in der Folge mit Fn passiv bezeichent.
Die horizontal zwischen den Lenkerhebeln 7 auf Schubstangen 10.1 angeordnete Druckfeder 10 dient dazu, durch einstellbare Vorspannung die Eigengewichte der Reibradantriebsysteme zu kompensieren und bei allfälligen Vibrationen den Kontakt der Reibräder 9 mit der Unterlage aufrecht zu erhalten. Die Anpresskraft Fn passiv wird durch eine dynamische Komponente beim Anfahren in Aufwärtsrichtung beschleunigungsabhängig grösser und umgekehrt beim Anfahren in Abwärtsrichtung entsprechend reduziert.The device described above works as follows:
For a friction wheel drive in the application shown, the sizes of the contact pressure Fn (normal force in the horizontal direction, perpendicular to the surface), the coefficient of friction µ and the vertical downward force of the masses to be transported must be taken into account. The coefficient of friction µ depends on the nature of the contact surface of the friction wheel 9 and the base. This can be assumed, for example, with a smooth, clean concrete or steel base and with friction wheels 9 covered with elastomer. With the arrangement according to the invention of the handlebar levers 7 carrying the friction wheel drive and taking into account that the friction wheels 9 are driven and braked by the associated friction wheel drive 8 via a force-fitting and positive connection, it can be seen that the weight of the masses to be conveyed creates a spreading effect which a Pressing the friction wheels 9 in the horizontal direction causes. It can also be seen that the magnitude of the spreading effect or the magnitude of the contact pressure Fn depends on the negative angle p of the straight line between the contact point x and the center of the link bearing 6 to the horizontal. Calculations and measurements give a practical value for the angle p of, for example, 20 °. Because this spreading effect now arises without the need for additional pressing mechanisms, meaning that no energy has to be supplied for this purpose, the resulting pressing force Fn is subsequently referred to passively as Fn.
The compression spring 10, which is arranged horizontally between the handlebar levers 7 on push rods 10.1, serves to compensate for the inherent weights of the friction wheel drive systems by means of adjustable preload and to maintain contact of the friction wheels 9 with the base in the event of any vibrations. The contact pressure Fn passive is increased by a dynamic component when starting in the upward direction depending on the acceleration and vice versa correspondingly reduced when starting in the downward direction.

Es ist mit den Einflussgrössen Gewichtskraft der zu befördernden Massen und dem Winkel p wohl gegeben dass sich die Anpresskraft Fn passiv der Reibräder 9 automatisch auf den nötigen Wert einstellt; jedoch ist im Hinblick auf genügende Sicherheit erwünscht, den Faktor Anpresskraft vollständig zu beherrschen. Zu diesem Zwecke sind die Lenkerhebel 7 zusätzlich mit Stellgliedern 11 gelenkig verbunden und sind, beispielsweise in den Lenkerlagern 6 nicht dargestellte Kraftsensoren vorhanden. Die Kraftsensoren liefern die Eingangsinformation für eine ebenfalls nicht dargestellte Prozessorsteuerung, welche den Anpressdruck Fn passiv überwacht und bei ungenügendem Wert, beispielsweise bei schlechteren Reibungsverhältnissen, via die Stellglieder 11 einen zusätzlichen Anpressdruck Fn aktiv bewirkt. Der Effekt dieser Regelfunktion ist im Diagramm der Fig. 6 dargestellt. Beim Zeitpunkt t1 wird durch Kraftsensoren ein Absinken der Anpresskraft Fn passiv an die Prozessorsteuerung gemeldet, worauf sofort eine zusätzliche Anpresskraft Fn aktiv vom Prozessorausgang via Stellglieder 11 erzeugt wird. Die zusätzliche Anpresskraft Fn aktiv addiert sich zur noch vorhanden Anpresskraft Fn passiv zu einer resultierenden Anpresskraft Fn res, welche dann jederzeit über der minimal nötigen Anpresskraft Fn min liegt. Mit dieser zusätzlichen Einrichtung und Regelung ist der Anpressdruck Fn in allen möglichen Situationen beherrschbar. Als Stellglieder 11 können beispielsweise Hydraulikzylinder und zugehörige Komponenten verwendet werden.
Für schwerere Kabinen und grössere Lasten kann zwecks Beibehaltung niedriger Anpresskräfte pro Reibrad 9 ein zweites Antriebssystem in der Form eines Zugwagens 15 vorgesehen werden. Dieser wird gemäss Fig. 5 über der Kabine 1 bzw. über dem Kabinenrahmen 1.1 angeordnet und ist mit diesem mittels Zugbolzen 16 und Befestigungsarmatur 17 mechanisch verbunden. Bei gleichbleibenden Anpresskräften kann mit diesem Doppelantrieb das doppelte Gewicht vertikal befördert werden. Die Reibräder 9 rollen gemäss dieser Disposition nach Fig. 3 und 4 beispielsweise auf Doppel-T-Schienen 12 und die Fangvorrichtung 14 greift auf eine T-Schiene 13. Der Hubwagen 2 und der Zugwagen 15 sind je mit Führungselementen 14.1 und 15.1 versehen, so dass die nötige Seitenführung in Y-Richtung gewährleistet ist. Die Verwendung von Doppel-T-Fahrschienen 12 bewirkt eine zusätzlich bessere Verteilung der Anpresskräfte auf die Schachtwand 5.2, weil die Fahr- und Führungsschinen eine tragende Brücke zwischen den Stockwerkböden bilden.Given the influencing factors of the weight of the masses to be transported and the angle p, it is well established that the contact pressure Fn of the friction wheels 9 is automatically adjusted to the required value; however, with regard to sufficient safety, it is desirable to fully control the contact pressure factor. For this purpose, the handlebar levers 7 are additionally articulated to actuators 11 and, for example in the handlebar bearings 6, force sensors (not shown) are present. The force sensors provide the input information for a processor control, also not shown, which passively monitors the contact pressure Fn and, if the value is insufficient, for example in the case of poorer friction conditions, actively effects an additional contact pressure Fn via the actuators 11. The effect of this control function is shown in the diagram in FIG. 6. At time t1, a decrease in the contact pressure Fn is reported passively to the processor control by force sensors, whereupon an additional contact force Fn is generated actively by the processor output via actuators 11. The additional contact force Fn active adds passively to the contact pressure Fn still present to a resulting contact force Fn res, which is then at all times above the minimum necessary contact force Fn min. With this additional device and control, the contact pressure Fn can be controlled in all possible situations. Hydraulic cylinders and associated components can be used as actuators 11, for example.
For heavier cabins and larger loads, a second drive system in the form of a towing vehicle 15 can be provided per friction wheel 9 in order to maintain low contact forces. This is arranged according to FIG. 5 above the cabin 1 or above the cabin frame 1.1 and is mechanically connected to it by means of tie bolts 16 and fastening fittings 17. With constant contact forces, this double drive can transport twice the weight vertically. The friction wheels 9 roll according to this disposition according to FIGS. 3 and 4, for example on double-T rails 12 and the safety device 14 picks up a T-rail 13. The lifting carriage 2 and the towing carriage 15 are each provided with guide elements 14.1 and 15.1, so that the necessary lateral guidance in the Y direction is ensured. The use of double-T travel rails 12 results in an additionally better distribution of the contact forces to the shaft wall 5.2, because the travel and guide rails form a load-bearing bridge between the floors.

Bei einer praktischen Ausführung enthält der Hubwagen 2, zwecks Ueberbrückung kurzeitiger Unterbrüche bei der elektrischen Energiezufuhr und als netzunabhängige Energiequelle für horizontale Fahrten einen nicht dargestellten Kurzzeitenergiespeicher, welcher bei Netzbetrieb auf Volladung gehalten wird. Für Vertikalfahrten wird jedoch die elektrische Energie permanent über nicht dargestellte Schleifleitungen bezogen.In a practical embodiment, the lifting truck 2 contains, for the purpose of bridging short-term interruptions in the electrical energy supply and as a mains-independent energy source for horizontal journeys, a short-term energy store, not shown, which is kept at full charge during mains operation. For vertical travel, however, the electrical energy is permanently obtained via conductor rails, not shown.

Als Antriebsmotoren sind hochtourige, geregelte Gleich- oder Wechselstrom-Elektrommotoren vorgesehen und als Reduktions- und Uebertragungsgetriebe können zwecks optimalem Wirkungsgrad vorteilhaft kompakte Planetengetriebe bzw. kombinierte Planeten-/Kegelradgetriebe verwendet werden. Die Kabine 1 besitzt ferner eine autonome Steuerung für die Verwaltung der Kabinen- bzw. Zielrufe, wobei die Distanz zu einer eventuell oberhalb oder unterhalb sich befindlichen weiteren Kabine durch drahtlose Entfernungsmessung laufend registriert wird. Ferner werden auch auf den Stockwerken getätigte Rufe mit geeigneten Mitteln drahtlos zu Kabine übertragen.High-speed, regulated direct current or alternating current electric motors are provided as drive motors, and compact planetary gears or combined planetary / bevel gear transmissions can advantageously be used as reduction and transmission gears for the purpose of optimum efficiency. The cabin 1 also has an autonomous control for the management of the cabin or destination calls, the distance to a further cabin possibly located above or below being continuously recorded by wireless distance measurement. In addition, calls made on the floors are wirelessly transmitted to the cabin using suitable means.

Als Schachtinformation werden übliche, binärcodierte, magnetisch oder optisch abzutastende, beispielsweise an einer Schachtwand sich befindliche Codestreifen benützt. Der Schacht 5 ist, bei einer Ausführung gemäss Fig. 1, 2 und 5 zur Aufnahme der Anpresskräfte durch die Reibräder 9 als armierte Betonkonstruktion oder in modularer Stahlskelettbauweise mit entsprechender Belastungsmöglichkeit für horizontale Kräfte ausgeführt.Usual, binary-coded, magnetically or optically scanned code strips, for example located on a shaft wall, are used as shaft information. The shaft 5 is, in an embodiment according to FIGS. 1, 2 and 5 for absorbing the contact forces by the friction wheels 9 as a reinforced concrete construction or in a modular steel skeleton construction with a corresponding load capacity for horizontal forces.

Als Sicherheit gegen Absturz bei Rollenbruch oder bei Uebergeschwindigkeit ist am Hubwagens 2 eine vorschriftsgemässe Fangvorrichtung 14 (Fig. 3) angeordnet. Ein von einer Führungsrolle oder einem Reibrad angetriebener, auf der Kabine sich befindlicher, nicht dargestellter Geschwindigkeitsbegrenzer bewirkt im Notfall die Auslösung der Fangvorrichtung 14.A safety device 14 according to the regulations (FIG. 3) is arranged on the lifting truck 2 as security against falling in the event of a roller break or overspeed. A speed limiter (not shown), which is driven by a guide roller or a friction wheel and is located on the cabin, triggers the safety device 14 in an emergency.

Dem physikalischen Gesetz folgend, dass Aktion gleich Reaktion ist, können die Reibradantriebe auf einer Seite starr mit dem Hub- bzw. Zugwagenchassis verbunden sein. Dann werden gemäss Fig. 5 die Stellglieder 11 durch in der Länge mittels links/rechtsgängigen Hülsenmuttern 19 verstellbaren starren Streben 18 ersetzt. Diese Konstruktion hat den Vorteil, dass hiermit der nötige Winkel p auf der Seite der beweglich angeordneten Reibradantriebe optimal eingestellt und bei Bedarf neu angepasst werden kann.According to the physical law that action is reaction, the friction wheel drives can be rigidly connected on one side to the lifting or towing vehicle chassis. 5, the actuators 11 are replaced by rigid struts 18 which are adjustable in length by means of left / right-handed sleeve nuts 19. This construction has the advantage that the required angle p on the side of the movably arranged friction wheel drives can be optimally adjusted and readjusted if necessary.

In einer noch weiter entwickelten Form kann der Reibradantrieb auf einer Seite ohne Lenker 7 auf einem festen nicht verstellbaren Support an der Unterseite des Hubwagens befestigt sein. Die Funktion der passiven und aktiven Anpressung der Reibräder 9 muss dann nur auf einer Seite der Kabine ausgeführt werden.
Die Stellglieder 11 können auch als Spindelhubelemente, kombiniert mit Federteil, vorgesehen werden. Eine weitere Möglichkeit besteht darin, die Stellglieder als pneumatische Hubelemente auszubilden.
Als Reibradantrieb kann auch ein Direktantrieb ohne Getriebe vorgesehen werden, wobei eine kompakte, platzsparende Motor/Reibrad-Einheit gebildet werden kann. Der Motorrotor ist bei einer solchen Lösung eine feststehende Achse und der Motorstator Bestandteil des Reibrades.
Für kleinere Fahrgeschwindigkeiten ist aber auch die Kombination mit einem Planetengetriebe innnerhalb des Reibradkörpers möglich.In an even more developed form, the friction wheel drive can be attached on one side without a handlebar 7 to a fixed, non-adjustable support on the underside of the lifting truck. The function of the passive and active pressing of the friction wheels 9 then only has to be carried out on one side of the cabin.
The actuators 11 can also be provided as spindle lifting elements, combined with a spring part. Another possibility is to design the actuators as pneumatic lifting elements.
A direct drive without gear can also be provided as the friction wheel drive, whereby a compact, space-saving motor / friction wheel unit can be formed. In such a solution, the motor rotor is a fixed axis and the motor stator is part of the friction wheel.
For lower driving speeds, however, a combination with a planetary gear inside the friction wheel body is also possible.

Claims (10)

Selbstfahrende Transporteinrichtung insbesondere für Personen mit mindestens einer Kabine und einem etwa vertikal wirkenden Reibradantrieb, dessen Reibräder die Konturen der Kabine seitlich überragen und mittels einer Anpresseinrichtung an einen zugeordneten Schacht oder eine Führungsschiene in etwa horizontaler Richtung angepresst werden, dadurch gekennzeichnet, dass der Reibradantrieb (8) an mindestens einem die Kabine (1) tragenden Hub- (2) und/oder Zugwagen (15) angeordnet ist, auf den die Kabine (1) eine lastabhängige, passive Gewichtskraft ausübt, die über einen Lenkerhebel (7) auf die Reibräder (9) eine passive Anpresskraft gegen den Schacht (5) ausübt.Self-propelled transport device, in particular for people with at least one cabin and an approximately vertically acting friction wheel drive, the friction wheels of which protrude laterally beyond the contours of the cabin and are pressed in an approximately horizontal direction by means of a pressing device onto an associated shaft or a guide rail, characterized in that the friction wheel drive (8 ) is arranged on at least one lifting (2) and / or train carriage (15) carrying the cabin (1), on which the cabin (1) exerts a load-dependent, passive weight force, which is applied to the friction wheels (7) via a control lever (7). 9) exerts a passive contact pressure against the shaft (5). Selbstfahrende Transporteinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Anpresseinrichtung als Stellglied (11) mit regelbarer Anpresskraft, welche während des Betriebes erforderlichenfalls erhöht oder abgesenkt werden kann, ausgebildet ist.Self-propelled transport device according to claim 1, characterized in that the pressing device is designed as an actuator (11) with a controllable pressing force, which can be increased or decreased during operation if necessary. Selbstfahrende Transporteinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der Hubwagen (2) mindestens einen in einem Drehpunkt (6) gelagerten Lenkerhebel (7) und ein auf den Lenkerhebel (7) wirkendes Stellglied (11) aufweist und an dem Lenkerhebel (7) ein mit einem Antriebsmotor verbundenes Reibrad (9) angeordnet ist.Self-propelled transport device according to claim 1, characterized in that the lifting truck (2) has at least one handlebar lever (7) mounted in a pivot point (6) and an actuator (11) acting on the handlebar lever (7) and on the handlebar lever (7) friction wheel (9) connected to a drive motor is arranged. Selbstfahrende Transporteinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der Lenkerhebel (7) in einem zur Horizontalen nach unten gerichteten, eine passive Anpresskraft erzeugenden Winkel (p) angeordnet ist.Self-propelled transport device according to claim 1, characterized in that the handlebar lever (7) is arranged at an angle (p) which is directed downwards to the horizontal and generates a passive contact pressure force. Selbstfahrende Transporteinrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Lenkerhebel (7) mittels einer in der Länge, vorzugsweise mittels einer links/rechtsgängigen Hülsenmutter (19), verstellbaren Strebe (18) mit der Unterseite des Hubwagens (2) oder Zugwagens (15) verbunden ist.Self-propelled transport device according to one of the preceding claims, characterized in that the handlebar lever (7) by means of a strut (18) adjustable in length, preferably by means of a left / right-handed sleeve nut (19), with the underside of the lifting truck (2) or pulling truck ( 15) is connected. Selbstfahrende Transporteinrichtung nach einem der vorhergehenden Ansprüche dadurch gekennzeichnet, dass eine horizontal zwischen den Lenkerhebeln (7) angeordnete, die Lenkerhebel (7) via Schubstangen (10.1) nach aussen drückende, einstellbare Druckfeder (10) vorhanden ist.Self-propelled transport device according to one of the preceding claims, characterized in that there is an adjustable compression spring (10) which is arranged horizontally between the handlebar levers (7) and pushes the handlebar levers (7) outward via push rods (10.1). Selbstfahrende Transporteinrichtung nach einem der vorhergehenden Ansprüche dadurch gekennzeichnet, dass die, eine zusätzliche Anpresskraft Fn aktiv erzeugende Einrichtung mindestens einen in der Anpresseinrichtung vorhandenen Kraftsensor mindestens ein auf einen Lenkerhebel (7) wirkendes Stellglied (11) und eine, die Sensorinformation verarbeitende und folgerichtige Stellbefehle an Stellglieder (11) abgebende prozessorgesteuerte Regelung aufweist.Self-propelled transport device according to one of the preceding claims, characterized in that the device which actively generates an additional pressing force Fn at least one force sensor present in the pressing device, at least one actuator (11) acting on a handlebar lever (7) and one adjusting command which processes the sensor information Actuators (11) having processor-controlled control. Selbstfahrende Transporteinrichtung insbesondere für Personen mit mindestens einer Kabine und einem etwa vertikal wirkenden Reibradantrieb, dessen Reibräder die Konturen der Kabine seitlich überragen und mittels einer Anpresseinrichtung an einen zugeordneten Schacht oder eine Führungsschiene in etwa horizontaler Richtung angepresst werden, dadurch gekennzeichnet, dass die angetriebenen Reibräder (9) unterhalb der Kabine (1) angeordnet sind, deren Kontur überragen und parallel zueinander verlaufende Drehachsen (9.1) aufweisen und dass die Personentransporteinrichtung sowohl vertikal als auch horizontal verfahrbar ist.Self-propelled transport device, in particular for people with at least one cabin and an approximately vertically acting friction wheel drive, the friction wheels of which protrude laterally beyond the contours of the cabin and are pressed by means of a pressing device onto an associated shaft or a guide rail in an approximately horizontal direction, characterized in that the driven friction wheels ( 9) are arranged below the cabin (1), the contour of which protrude and have axes of rotation (9.1) running parallel to one another and that the passenger transport device can be moved both vertically and horizontally. Selbstfahrende Transporteinrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Antrieb der Reibräder (9) seitenweise abschaltbar oder in der Drehrichtung umschaltbar ist.Self-propelled transport device according to one of the preceding claims, characterized in that the drive of the friction wheels (9) can be switched off on either side or can be switched over in the direction of rotation. Selbstfahrende Personentransporteinrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Reibräder (9) jeweils separate Antriebsmotoren aufweisen.Self-propelled passenger transport device according to one of the preceding claims, characterized in that the friction wheels (9) each have separate drive motors.
EP93116611A 1992-10-27 1993-10-14 Friction wheel drive for a passenger transporting device Expired - Lifetime EP0595122B1 (en)

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US5464072A (en) 1995-11-07
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ATE155115T1 (en) 1997-07-15
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HU213428B (en) 1997-06-30
AU669930B2 (en) 1996-06-27
JPH06219667A (en) 1994-08-09
FI934723A (en) 1994-04-28
ZA937998B (en) 1994-06-13
CN1087317A (en) 1994-06-01

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