EP1911713A1 - Système et procédé destinés à la détermination de la position d'une cabine d'ascenseur - Google Patents

Système et procédé destinés à la détermination de la position d'une cabine d'ascenseur Download PDF

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Publication number
EP1911713A1
EP1911713A1 EP07118343A EP07118343A EP1911713A1 EP 1911713 A1 EP1911713 A1 EP 1911713A1 EP 07118343 A EP07118343 A EP 07118343A EP 07118343 A EP07118343 A EP 07118343A EP 1911713 A1 EP1911713 A1 EP 1911713A1
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EP
European Patent Office
Prior art keywords
belt
elevator car
gear
detector
car
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07118343A
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German (de)
English (en)
Other versions
EP1911713B1 (fr
Inventor
Volker Zapf
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Inventio AG
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Inventio AG
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Priority to EP20070118343 priority Critical patent/EP1911713B1/fr
Publication of EP1911713A1 publication Critical patent/EP1911713A1/fr
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Publication of EP1911713B1 publication Critical patent/EP1911713B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/06—Arrangements of ropes or cables
    • B66B7/062—Belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3492—Position or motion detectors or driving means for the detector

Definitions

  • the present invention relates to a system and a method for detecting the position of an elevator car.
  • the cabin is suspended on a flexible support and / or drive means.
  • a flexible support and / or drive means for example, couple the elevator car with a counterweight and / or transmitted a tensile force for lifting or lowering the cabin.
  • the speed or acceleration of the elevator car can also be determined from the position by differentiation according to time, which is also used in the control (for example of the starting or braking process or in monitoring a maximum speed / acceleration), but also, for example, to determine the actual gross vehicle weight as a quotient of force exerted on the car by a drive means and the resulting acceleration.
  • the beats EP 1 278 693 B1 a arranged on the elevator car encoder which cooperates positively with a separate, strained in the shaft timing belt.
  • the disadvantage of this proposal requires an additional timing belt.
  • the WO 2004/106209 A1 therefore proposes to encode the strap itself and detect its position by means of a detector arranged in the elevator shaft.
  • the coding should preferably be realized by a magnetic material embedded in the belt, changes (in particular enlargements) of wires arranged in the belt or an additional cable in the belt and be detected contactlessly by a corresponding detector.
  • the WO 2004/106209 A1 due to the noise problems explicitly.
  • the belt moves not only according to the movement of the elevator car, but can also move relative to the detector due to longitudinal, transversal and / or torsional vibrations, for example, by system inertia, movements of the cabin occupants or stick-slip effects in the Guiding the elevator car to be induced.
  • Such additional movements of the belt are erroneously detected by the detector as changes in position of the elevator car and falsify the position determination. These errors increase when the speeds or even accelerations are determined from the positions.
  • Claim 11 protects the corresponding method.
  • a system for detecting the position of an elevator car comprises a belt on which the elevator car is suspended, and a detector for detecting the position of the belt.
  • the belt has toothing on a first side, into which a toothed wheel of the detector engages positively.
  • a system according to a preferred embodiment of the present invention allows determination of belt position even in the event of a power failure due to, for example, a fire, thereby allowing manual control of the elevator car to an emergency exit position.
  • the belt position mechanically gripping gear can be compared to the conditions prevailing in the elevator shaft environmental conditions, in particular dirt, moisture and the like much more resistant than known optical or magnetic detectors. It is also not disturbed by electrical or magnetic fields, as they may occur, for example, in the vicinity of an elevator car lifting the electric motor. Even changing lighting conditions, such as when connecting maintenance lamps in the elevator shaft, do not affect the position detection by means of a gear, in contrast to optical systems.
  • toothing is understood to mean an arrangement of alternating projections (teeth) and depressions (tooth spaces) which extend at least partially in the direction of the transverse axis of the belt, in particular straight, oblique, double or multiple toothings, the individual projections and the ends preferably complementary thereto Recesses in the toothing or the gear, for example, may have a niksegment-, cycloid or involute-shaped cross-section.
  • Such gears in particular helical gears or gears with involute or round teeth, can advantageously reduce the belt vibrations and noises occurring during operation. You can also enable a very precise position determination.
  • a clamping element such as one or more guide rollers or a spring-loaded tensioner bias the belt against the gear and so ensure the positive engagement.
  • vibrations of the belt that affect the position determination further reduced or completely suppressed.
  • the belt may comprise a plurality of cables or strands of single or multiple twisted wires and / or plastic yarns which serve as tension members and are enveloped by a belt body, for example made of an elastic plastic.
  • the toothing can be formed by prototyping this plastic sheath.
  • the plastic covering for this purpose may have one or more layers having the toothing of another material, in particular another plastic, which is preferably particularly hard, dimensionally stable and / or abrasion resistant.
  • the gear is coupled to a rotary encoder, in particular an incremental rotary encoder or angle encoder, which outputs a position signal corresponding to the absolute or relative angular position.
  • a rotary encoder for outputting a position signal which corresponds to the relative angular position can be particularly simple, cost-effective and / or robust. By adding up the complete revolutions, the absolute position of the cabin can be determined indirectly even with such a rotary encoder.
  • a rotary encoder can be used, which specifies the absolute angular position, that is, the number of (part) revolutions of the gear from a zero position directly.
  • the gear may be coupled to the encoder via a translation, so that a complete revolution of the encoder corresponds to several revolutions of the gear.
  • the encoder use a Gray encoding.
  • the rotary encoder comprises a multi-turn rotary encoder, which contains two or more code discs, each having one or more parallel code tracks and are coupled together via a reduction gear to determine the absolute angular position.
  • the output of the absolute angular position has the advantage that no positions, in particular not the previously executed complete revolutions of the gear must be stored. Thus, for example, after a power failure by detecting the absolute angular position directly the position of the belt can be determined without first having to approach a reference position again.
  • the rotary encoder indicates the position of the belt, starting from one floor each, i.e. after moving the car one floor again displays the same position.
  • the absolute position of the belt or of the car can then be determined in turn by adding up the floors that have been traveled. In the event of damage, it may then be sufficient to determine the position of the car relative to the nearest shaft door in order to move the car safely into an emergency exit position.
  • An inventive system may further comprise a processing unit for determining the position of the elevator car from the position signal. As explained above, this can be obtained from the encoder, the absolute or relative angular position. As a relative angular position while the executed by the gear or encoder rotation modulo 2 ⁇ is referred to, while the absolute angular position denotes the entire, relative to a reference position executed rotation, which can therefore also be a multiple of 2 ⁇ .
  • the processing unit When the system is put into operation, it is preferably calibrated, the processing unit storing, in particular, a reference position of the belt. Starting from this reference position, the processing unit then determines a theoretical position of the elevator car from the absolute angular position of the rotary encoder, for example by multiplying it by the pitch circle radius of the gear wheel. If the processing unit receives only a relative angular position, it adds up the executed complete revolutions and adds this to the relative angular position before multiplying this sum by the pitch circle radius of the gear.
  • the belt can, for example in the form of a pulley, over-or underpinned hinged to the elevator car, i. be attached or deflected so that a change in position of the belt does not correspond directly to a change in position of the elevator car. If, for example, the belt is articulated to the elevator car via a loose roller, then the processing unit halves the position signal or the position change of the belt, before calculating the position of the elevator car in the shaft.
  • the processing unit comprises a correction unit for correcting the position signal.
  • correction values which take into account the actual weight of the elevator car, the stretching of the belt occurring here or the like, can be stored as table values. For example, if it is determined by an actual cabin weight detection device that it corresponds to the maximum permissible total weight and it is known from tests or calculations that the belt will expand by 10% relative to the nominal weight, the correction unit will correct that from the processing unit the angular position determined theoretical cabin position by 10%.
  • a car position determined by another measuring device such as a contact switch, which is triggered by the elevator car, can also be taken into account in the correction of the position determination.
  • the offset between the theoretical car position calculated from the position of the belt by the processing unit and the actual car position detected by such a measuring device which may result from, for example, stretching of the belt, may be detected in the correction unit be stored.
  • the car positions determined by the processing unit can be corrected by this stored offset, advantageously this offset value is updated as soon as a new cabin position has been detected by the further measuring device.
  • the belt has a second side facing away from the first side, via which the belt is frictionally driven by a drive wheel or a drive shaft.
  • the belt has on its second side at least one in the belt longitudinal direction oriented V-rib or a flat surface over which the belt is in contact with the drive wheel or with the drive shaft.
  • the toothing may be formed in a particularly preferred embodiment on a first side of a flat belt, which is opposite to a second side, which engages with at least one driving and / or deflecting wheel in contact or in contact.
  • a relatively wide toothing can be realized, which is less sensitive with respect to the transversal teeth occurring to the gear of the detector.
  • the drive and / or diverting wheels bias the belt against the gear teeth and thus increase the reliability and precision of the meshing.
  • the toothing can also be formed on a narrow side of a flat belt, which is preferably oriented approximately at right angles to a side which engages with one or more driving and / or deflection wheels. Since a flat belt in its transverse direction due to the higher area moment of inertia stiffer against bends is, such a toothing be dimensionally stable, so that deformations of the belt, which would affect the position determination, are lower.
  • the belt which is preferably in the form of a flat belt, can engage with or engage in contact with at least one of the driving and / or deflection wheels with its first side having the toothing.
  • the first side opposite the second side may be flat to reduce the friction on pulleys or for guiding in driving or deflecting wheels also have a profile, for example, also a toothing or one or more V-ribs.
  • the belt can engage only with its first toothed side, or only with its opposite second side, which preferably has V-ribs, or with its first and second sides with one or more driving and / or deflection wheels.
  • the belt always wraps around an arrangement of deflecting and / or driving wheels with the same second side opposite the first side, so that its first side, which carries the toothing, does not come into contact with these deflecting and / or driving wheels comes. This protects the teeth and thus increases the life of the system.
  • the belt between two wheels of the arrangement of deflecting and / or driving wheels can be twisted about its longitudinal axis.
  • the belt between these two wheels may be twisted 180 ° about its longitudinal axis so that it wraps both wheels with the same (second) side.
  • the belt may be twisted by the corresponding angle, in this case 90 °.
  • deflection wheels which do not introduce tensile forces into the belt, but only lead to it, can also come with the first, provided with the toothing side of the belt into engagement, since on the one hand, the teeth hardly stressed, but on the other hand, especially for example in a double helical gearing, the belt is also sufficiently guided in the transverse direction.
  • the detector is disposed inertially fixed in an elevator shaft in which the elevator car travels. This has the advantage that the position signals generated by the detector can be easily transmitted to an inertial fixed elevator control.
  • an inventively provided with a gear detector which cooperates positively with the belt and mechanically picks off its position, preferably also without electrical energy to enable a position determination and thus a manually driven displacement of the car in an emergency exit position.
  • a gear detector which cooperates positively with the belt and mechanically picks off its position, preferably also without electrical energy to enable a position determination and thus a manually driven displacement of the car in an emergency exit position.
  • a driving wheel on the driving machine can be turned by hand while a detector, which also visually displays the position, is observed.
  • a detector indicates the absolute position of the belt.
  • the gear between a drive wheel and the suspension of the elevator car is arranged inertial fixed, so that strains of the belt in the range of a counterweight does not affect the position determination.
  • the detector is disposed on the elevator car.
  • the position signal can be made available directly in the elevator car.
  • the belt is guided on the elevator car usually by one or more guide rollers, by which it can be advantageously biased against the gear.
  • FIG. 1 shows an elevator installation with an elevator car 1 that can be moved vertically in a shaft 7.
  • a belt 2 is fastened at its one end in the elevator shaft (not shown) and runs from there over two on the roof of the car 1 Deflection wheels 5 and one of an electric motor (not shown) driven drive wheel 4 to a deflection wheel on the counterweight. 6
  • the belt is designed as a flat belt, in which a plurality of wire ropes are arranged as a tensile carrier in a belt body made of polyurethane. It wraps around the drive wheel 4 and the guide wheels 5 with a second flat side 2.2 (shown dark in FIG. 1). This has a plurality of extending in the belt longitudinal V-ribs which are in engagement with complementary grooves in the drive wheel 4 and the guide wheels 5. As a result, the belt tension can be significantly reduced and at the same time a sufficient driving ability of the drive wheel 4 can be ensured.
  • the belt 2 Since the belt, the drive wheel 4 and the adjacent guide wheel 5 in opposite directions wraps around (in Fig. 1, the belt 2, starting from the counterweight 6, the drive wheel 4 mathematically negative, to the subsequent guide wheel 5 bent mathematically positive), the belt 2 is between These two wheels 4, 5 twisted by 180 ° about its longitudinal axis, so that in each case its second, provided with the V-ribbed flat side 2.2 comes into engagement with the guide surfaces of the wheels 4, 5.
  • a toothing is formed, into which a gear 3A of a detector (not shown) engages.
  • the gear 3A is arranged in the vicinity of the drive wheel 4 inertially fixed in the elevator shaft 7, so that the belt 2 is guided by the drive wheel 4 and the gear 3A. If the gear wheel and the drive wheel are arranged close enough to each other, in particular separated only by a gap which substantially corresponds to the belt thickness, the drive wheel advantageously presses the belt onto the gear wheel and thus prevents teeth from skipping, which improves the precision of the position detection.
  • the gear 3A is connected to a rotary encoder (not shown) which controls the relative angular position of the gear, i. whose rotation modulo determines 2 ⁇ and outputs a corresponding signal to a processing unit.
  • This determines the absolute position of the belt 2 by adding the complete revolutions already made according to their sign (i.e., subtracting opposite revolutions) by multiplying the resulting total angle (relative angular position plus full revolutions) by the pitch circle radius of the gear 3A.
  • the processing unit subsequently halves this value to take account of the pulley arrangement of the belt 2 and determines therefrom the position of the car 1 in the shaft 7.
  • a correction unit detects this actual position of the car 1 and compares it with the theoretical value determined from the belt position. If the value determined from the belt position deviates from the thus determined actual position of the car 1 due to, for example, belt elongation or skidding in gearwheel 3A, the correction unit stores this deviation and subsequently adds it to the theoretical car position determined from the gear position.
  • the speed or acceleration of the belt can also be precisely determined by simple or twofold differentiation with respect to time, whereby in particular a constant belt elongation can be disregarded. This allows monitoring of maximum occurring speed and acceleration values, the departure of predetermined speed profiles and an estimate of the total car mass from the quotient of the force exerted by the drive wheel 4 on the belt 2 traction and the resulting acceleration.
  • Fig. 2 shows an elevator system with a system for detecting the position of an elevator car according to a second embodiment of the present invention in a representation corresponding to Fig. 1.
  • the same elements are provided with matching reference numerals, so that reference is made to their explanation to the above description and will be discussed below only on the differences from the first embodiment.
  • a gear 3B is rotatably arranged on the car 1 and engages in the toothing on the first side 2.1 of the belt 2 in the vicinity of the one guide wheel 5, so that the belt between the guide wheel 5 and gear 3B is additionally guided.
  • the gear 3B is coupled via a reduction with a rotary encoder (not shown) such that a method of the elevator car 1 between a top and bottom maximum possible position at which the gear 3B performs several complete revolution, just one complete revolution corresponds to an encoder disc.
  • the absolute angular position of the encoder disc directly reflects the absolute position of the belt 2 from which, as in the first embodiment, the position of the car 1 can be determined.
  • FIG. 3 shows a portion of the belt 2 described above, which serves as a supporting and driving means for the elevator car and for detecting its position.
  • the belt has essentially the shape of a flat belt. On its first side 2.1, this has a toothing (10) with teeth oriented transversely to its longitudinal direction, into which - as shown in FIGS. 1 and 2 - a toothed wheel of the detector engages in a form-fitting manner.
  • the belt On its second flat side 2.2, the belt has a plurality of extending in the belt longitudinal direction V-ribs 8, which come with approximately complementary grooves in the drive wheel 4 and the guide wheels 5 in engagement.
  • Reference numeral 9 designates tensile carriers which are integrated into the belt body of the belt 2 and are preferably designed as wire ropes or synthetic fiber ropes.
  • the tension members are required because the strength of the belt body is not sufficient to transmit the tensile forces occurring in the belt.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
EP20070118343 2006-10-12 2007-10-12 Système et procédé destinés à la détermination de la position d'une cabine d'ascenseur Not-in-force EP1911713B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20070118343 EP1911713B1 (fr) 2006-10-12 2007-10-12 Système et procédé destinés à la détermination de la position d'une cabine d'ascenseur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP06122159 2006-10-12
EP20070118343 EP1911713B1 (fr) 2006-10-12 2007-10-12 Système et procédé destinés à la détermination de la position d'une cabine d'ascenseur

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EP1911713A1 true EP1911713A1 (fr) 2008-04-16
EP1911713B1 EP1911713B1 (fr) 2011-12-14

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EP20070118343 Not-in-force EP1911713B1 (fr) 2006-10-12 2007-10-12 Système et procédé destinés à la détermination de la position d'une cabine d'ascenseur

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19514801A1 (de) * 1995-04-21 1996-10-24 Wittur Aufzugteile Gmbh & Co Verfahren zum Steuern und Überwachen des Betriebes einer Aufzugsanlage und Wälzlager zur Anwendung bei dem Verfahren
WO2004106209A1 (fr) * 2003-05-15 2004-12-09 Otis Elevator Company Systeme de determination de la position absolue
EP1530040A1 (fr) * 2003-11-04 2005-05-11 Inventio Ag Méthode et appareil pour contrôler des moyens de suspension
EP1550629A1 (fr) * 2003-12-01 2005-07-06 Inventio Ag Système d'ascenseur
DE102004047158A1 (de) * 2004-09-29 2006-03-30 Contitech Antriebssysteme Gmbh Aufzugssystem mit riemenartigem Übertragungsmittel als Tragmittel und/oder Treibmittel
WO2006099770A1 (fr) * 2005-03-22 2006-09-28 Inventio Ag Procede de detection de l'etat d'une cabine d'ascenseur et systeme d'ascenseur dans lequel ce procede est mis en oeuvre

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19514801A1 (de) * 1995-04-21 1996-10-24 Wittur Aufzugteile Gmbh & Co Verfahren zum Steuern und Überwachen des Betriebes einer Aufzugsanlage und Wälzlager zur Anwendung bei dem Verfahren
WO2004106209A1 (fr) * 2003-05-15 2004-12-09 Otis Elevator Company Systeme de determination de la position absolue
EP1530040A1 (fr) * 2003-11-04 2005-05-11 Inventio Ag Méthode et appareil pour contrôler des moyens de suspension
EP1550629A1 (fr) * 2003-12-01 2005-07-06 Inventio Ag Système d'ascenseur
DE102004047158A1 (de) * 2004-09-29 2006-03-30 Contitech Antriebssysteme Gmbh Aufzugssystem mit riemenartigem Übertragungsmittel als Tragmittel und/oder Treibmittel
WO2006099770A1 (fr) * 2005-03-22 2006-09-28 Inventio Ag Procede de detection de l'etat d'une cabine d'ascenseur et systeme d'ascenseur dans lequel ce procede est mis en oeuvre

Also Published As

Publication number Publication date
EP1911713B1 (fr) 2011-12-14

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