EP2368830B1 - Verbesserungen bei oder im Zusammenhang mit Treppenliften - Google Patents

Verbesserungen bei oder im Zusammenhang mit Treppenliften Download PDF

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Publication number
EP2368830B1
EP2368830B1 EP11162676A EP11162676A EP2368830B1 EP 2368830 B1 EP2368830 B1 EP 2368830B1 EP 11162676 A EP11162676 A EP 11162676A EP 11162676 A EP11162676 A EP 11162676A EP 2368830 B1 EP2368830 B1 EP 2368830B1
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EP
European Patent Office
Prior art keywords
speed
carriage
over
rail
stairlift
Prior art date
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Active
Application number
EP11162676A
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English (en)
French (fr)
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EP2368830A1 (de
Inventor
Leonard Smith
Tony Eric Palmer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Stannah Stairlifts Ltd
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Stannah Stairlifts Ltd
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Filing date
Publication date
Application filed by Stannah Stairlifts Ltd filed Critical Stannah Stairlifts Ltd
Publication of EP2368830A1 publication Critical patent/EP2368830A1/de
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Publication of EP2368830B1 publication Critical patent/EP2368830B1/de
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Classifications

    • 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
    • B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
    • B66B9/08—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces associated with stairways, e.g. for transporting disabled persons
    • 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
    • B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
    • B66B9/08—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces associated with stairways, e.g. for transporting disabled persons
    • B66B9/0807—Driving mechanisms
    • B66B9/0815—Rack and pinion, friction rollers

Definitions

  • This invention relates to stairlifts and, in particular, to the control of the movement of a stairlift carriage along a stairlift rail.
  • a transition bend is a bend which links sections of rail at different angles to a horizontal plane.
  • stairlifts must have some form of device which prevents the stairlift carriage going "over-speed". This is typically provided in the form of an over-speed governor mounted within the carriage which, in the event the stairlift carriage exceeds a predetermined speed, displaces under centrifugal force, and releases or activates a safety gear. The safety gear, in turn, engages the rail, and brakes the carriage from further movement.
  • an over-speed governor mounted within the carriage which, in the event the stairlift carriage exceeds a predetermined speed, displaces under centrifugal force, and releases or activates a safety gear.
  • the safety gear engages the rail, and brakes the carriage from further movement.
  • over-speed governor Whilst these forms of over-speed governor have been in use for many years, they are not without their problems. Because of manufacturing tolerances, they can be unreliable, and trigger the operation of the safety gear at speeds below the intended trip speed. The consequences can be particularly inconvenient as some installations require a serviceman to be called out in order to release the safety gear and re-set the over-speed governor.
  • the stairlift carriage is slowed when passing over a transition bend.
  • it will take a greater length of time for the carriage to build up to a speed sufficient to generate the centrifugal forces necessary to trigger the over-speed governor, than would be the case if the carriage were traversing a straight section of rail.
  • the worst case would arise in the event of failure as the carriage is moving in an uphill direction, and through a transition bend.
  • the chair levelling motor When the carriage is traversing a transition bend, the chair levelling motor is operating, under careful electronic control.
  • the programming of the levelling motor control is established, on the basis of an expected carriage speed, so as to maintain the chair level within carefully defined parameters. Should the carriage drive suddenly fail in this instance, and the carriage speed suddenly increase, it is unlikely that the levelling function could react sufficiently quickly, before the carriage was halted by the over-speed governor, to ensure the chair level remained within acceptable limits.
  • the chair levelling mechanism will have its own 'over-angle' sensor which, when the chair moves off level by more than say 5°, will cause power to the drive systems of the installation, including the chair levelling motor to be cut. If, at this time, the carriage is still in motion through a transition bend, the chair will be taken beyond this 5° limit as the carriage reverses out of the transition bend.
  • Preferably expected speeds of said carriage at various positions of said carriage along said rail are stored in a memory, said method comprising comparing the speed measured at various positions of the carriage on said rail, with the corresponding expected speed, said tripping speed being established when the measured speed exceeds the expected speed by a predetermined amount.
  • said method comprises measuring the speed of said carriage and establishing a tripping speed in the event of a defined increase in said speed in a defined time period.
  • the present invention provides an over-speed braking facility or governor for a stairlift assembly 10.
  • the stairlift assembly 10 includes a chair 11 mounted on carriage 12, the carriage 12 being supported on a number of rollers (not shown) for movement along a stairlift rail 13.
  • the carriage 12 is displaced up and down the rail 13 by suitable drive means.
  • the drive means comprises a rack 14 mounted on the rail, the rack being engaged by a drive pinion 15 mounted on the output of carriage drive motor and gearbox 16, mounted in the carriage.
  • the rail 13 includes a number of sections which are arranged at differing angles to a horizontal plane. For this reason the angle of the chair 11 must be capable of adjustment to ensure that, whatever the angle of the rail section with respect to the horizontal, the seat surface of the chair 11 can always be maintained substantially level.
  • chair 11 is supported on an interface 17, which interface is pivotally mounted at 18 on the carriage 12.
  • Level adjustment of the chair is conveniently effected substantially as described in our Patent 0 738 232 .
  • a chair levelling motor 20 is provided which, under electronic control, can pivot the interface 17 with respect to the carriage 12 as the stairlift moves through transition bends in the rail 13.
  • over-speed governor is indicated schematically by reference numeral 21 in Figure 1 and broadly comprises a speed sensing part and a safety gear or brake, the latter being released or actuated upon the former sensing a tripping speed.
  • angle determining means such as, for example, angle sensor 22 is provided on the underside of chair 11.
  • the sensor 22 generates electronic output signals proportional to the tilt angle to either side of a vertical axis, and thus the outputs can be processed and used as triggers to cut power to the drive systems of the installation 10 when the chair angle limits are reached.
  • a mechanical interlock such as pin 23 acting in slot 24 may also be triggered to prevent the chair 11 going further off-level.
  • the carriage is moving slower when negotiating a transition bend, it will therefore physically move further (compared with the case where the carriage is moving along a straight section of rail) before the speed becomes sufficient to generate the centrifugal forces necessary to trip the over-speed governor. Further, it is whilst the carriage 12 is negotiating transition bends, that the chair levelling motor 20 is in operation. If there were to be a sudden increase in carriage speed due to drive failure, the control system operating motor 20 simply could not react fast enough to prevent chair 11 going off-level by more than 5°, and possibly not rapidly enough to avoid a user being ejected from the chair. The problem is exacerbated by the fact that the safety systems built into the chair levelling system will, by then, have locked the chair to the carriage as the chair has gone off level by more than 5°.
  • signals which represent chair level, carriage speed and carriage direction are directed to a form of electronic intelligence, such as a microprocessor 25.
  • the signals from the three inputs are processed within the microprocessor 25 and, in the event of pre-defined limits or events being sensed in any of the inputs (as described in greater detail below), a signal is directed to trigger the over-speed governor 21 and thereby lock the carriage 12 to the rail 13.
  • an over-speed governor assembly 30 is provided, mounted in the carriage 12, but so that the safety gear is able to engage the rail 13 to brake the carriage 12 against further movement on the rail.
  • the over-speed governor 30 is mounted, concentrically with the drive pinion 15, about the main drive shaft 32 of the stairlift.
  • the over-speed governor assembly is mounted in such a manner that it can pivot about the drive shaft 32.
  • the safety gear comprises a cam member 33 which is mounted about the centre of bottom roller 34 in such a manner that bottom roller 34 may rotate freely with respect to the cam 33.
  • the cam 33 includes teeth 33a on the upper surfaces thereof which, when the speed sensor triggers the safety gear, engage the surface of rail 13. The arrangement is such that the cam 33 is equally effective no matter in which direction the carriage 12 is traveling.
  • the cam member 33 is retained in central groove 35 extending about the bottom roller 34, by means of a yoke 36, the cam 33 and yoke 36 being fixed together by bolts or the like (not shown) passed through fixing apertures 37.
  • the yoke 36 is provided with an extending tab 38 which engages in aperture 39 in a switch actuation plate 40.
  • the over-speed governor assembly 30 further includes a cradle 42 having spaced aligned rings 43a and 43b which are sized to provide a sliding fit over drive shaft 32 and, in combination with bottom roller 34, support the assembly 30 on the drive shaft 32.
  • a solenoid 44 Fixed to the underside of the cradle 42 is a solenoid 44.
  • the switch actuation plate 40 is, in turn, fixed to the underside of the solenoid 44.
  • rings 43a and 43b which support the cradle 42, allow the entire over-speed governor assembly to swivel, at least to some extent, about the drive shaft 32.
  • roller 34 is configured to be rotated by frictional engagement with the rail 13. It will be appreciated, however, that embodiments could be produced, falling within the various aspects of this invention, in which the roller 34, or a roller having equivalent functionality, was provided with a toothed outer surface, and positively driven.
  • the rear surface 46 of bottom roller 34 has mounted therein, a series of permanent magnets 50.
  • a magnetically responsive proximity sensor 52 mounted on cradle ring 43b, adjacent the bottom roller 34. This proximity sensor 52 is positioned on the same arc as is created when the permanent magnets 50 rotate with the bottom roller 34.
  • a pulse wave is created, the time lapse between successive pulses giving a direct indication of the speed of rotation of the bottom roller 34.
  • the sensor 52 may, for example, be a reed switch.
  • the magnets may be mounted so that the poles facing the sensor alternate north and south and thus ensure the sensor is positively switch each time a magnet passes thereby.
  • the senor 52 may be a Hall-Effect sensor.
  • the output signal from the sensor 52 is advantageously monitored by microprocessor 25 and processed into an indication of carriage speed.
  • the number of magnets 50 and the type of sensor 52 establish the ability of the microprocessor to determine speed and, perhaps more importantly, to determine speed variation.
  • a non-magnetic metal plate having radial fingers could be mounted on the rear surface 46 of the roller.
  • a back biased Hall-effect sensor (one positioned between the plate and a fixed magnetic field) could then be used to create the pulse wave and achieve the same result.
  • An alternative to storing expected speed data in memory is to calculate excessive speed 'on the fly'. For example, if the set speed for the carriage increases by a predetermined mount within a predetermined period, an over-speed or tripping speed is deemed to exist and a command is generated to trigger the over-speed governor 30.
  • the safety gear or brake must be moved into contact with the rail in the least possible time.
  • a number of lock slots 54 included in the rear surface 46 of roller 34 are a number of lock slots 54. These slots 54 are positioned at such a radius from the centre of rotation of the roller 34 that they may, in use, receive the pin 55 of solenoid 44.
  • pin 55 is mechanically displaced by a guided compression spring (not shown) included within solenoid 44, and engages in one of the slots 54. Should the roller 34 be rotating when the pin 55 extends, the entire over-speed and safety gear assembly 30 will be rotated in its cradle 42, about drive shaft 32, thus bringing cam surfaces 33a into engagement with the outer surface of rail 13.
  • a further sensor 56 which may be an optical electrical sensor of some suitable form, is preferably provided to sense if the pin is in its extended or retracted position, and to provide the appropriate status information to the microprocessor 25.
  • slots 54 will have a bearing on the response of the safety mechanisms herein described, the greater the number of slots the quicker a locking position will be established. Examples we have tested include up to 18 slots but the precise number does not form part of the invention and more slots or less could be used, if appropriate.
  • an ultimate switch 60 This switch is called an ultimate switch because it acts as a breaker in the ultimate safety circuit of the stairlift installation.
  • the ultimate switch 60 is positioned on the carriage chassis such that its actuating pin 61 normally engages a flat surface part 62 formed on ring 43a of the cradle 42. If, however, the cradle 42 is rotated in either a clockwise or anti-clockwise direction about drive shaft 32, such as will happen when solenoid pin 55 locks into one of locking slots 54, the switch 60 will be actuated causing the power to be cut-off to the drive motor 16 and seat levelling motor 20.
  • the particular embodiment described herein combines features of the limit switches with the over-speed governor assembly.
  • a trigger plate 65 pivotally mounted at 66 on the outer end of drive shaft 32.
  • the trigger plate 65 is tapered at its upper end 67 and is engaged at its lower end 68 with the switch actuation plate 40.
  • the upper end 67 of the trigger plate is configured and positioned so as to engage charging/stop ramps 70 provided at each end of the stairlift rail 13.
  • Each of the stop ramps 70 includes an ultimate limit 71 which, in the event of failure of the normal stopping facilities provided at each end of the rail, ensures the ultimate switch is triggered to bring the carriage to a halt.
  • ultimate limit 71 engages end 67 of the trigger plate causing trigger plate to rotate about pivot 66. This, in turn, causes the switch actuation plate 40 to be displaced, so rotating the cradle 42 about drive shaft 32. When this occurs, the flat 62 on cradle 42 is moved out of its 'neutral' state so tripping switch 60 and causing power to be cut to the stairlift drive motor.
  • the invention involves monitoring the direction of travel of the carriage 12, and responding in the event of an unexpected reversal of direction.
  • the facility included in the stairlift to achieve this end is, in the embodiment shown in Figures 4 , and 6 to 8 , provided in part by the same facility which is used to sense carriage speed.
  • a further sensor 53 is provided which is positioned on the same arc as the sensor 52 and thus generates a further pulse wave as the magnets 50 pass thereby.
  • the sensor 53 is preferably of the same form as the sensor 52 and is positioned and configured so that the pulse wave generated thereby is out of phase with the pulse wave generated by the sensor 52.
  • Both pulse waves are fed to the microprocessor 25 which monitors the phase difference. By applying quadrature to the wave pulses one can determine if the carriage has reversed its direction. On such reversal being observed, the microprocessor is programmed to generate a command to trip the over-speed governor 30.
  • FIG. 5 this drawing shows an alternative means of speed and direction sensing, as well as an alternative means of engaging the safety gear or brake.
  • the safety gear or brake is not fully depicted in Figure 3 , it may be identical to that described above and shown in Figure 8 .
  • the microprocessor can be programmed to detect this.
  • the microprocessor can also be programmed to, in this eventuality, short-circuit the generator terminals thus causing the generator to lock solid. With the roller 34 rotating this, in turn, will cause the cradle 42 to pivot in the manner described above, the cam surfaces 33a to be drawn into contact with the rail, and the ultimate switch 60 to be operated.
  • the microprocessor could configure the generator 78 as a motor to positively drive the cam surfaces 33a into contact with the rail.
  • a torsion spring 75 is mounted about drive shaft 32 between the over-speed governor assembly and the chassis of the carriage. This coil spring is engaged with inner end 74 of the switch actuation plate and serves to maintain the over-speed governor assembly 30, and the trigger plate 65, in a central position during normal operation.
  • sensing direction change using a sensor based system as shown in Figures 3 , 4 6 & 7 need not necessarily involve the use of two sensors.
  • a shaped plate having non-symmetrical lobes could be used in conjunction with a sensitive sensor such that the sensor can distinguish different parts of the plate and, therefrom, deduce the direction of rotation.
  • An example of such an arrangement is the lobe sensing (bidirectional) application of the MLX90217 Hall-Effect cam sensor offered by Melexis (www.melexis.com).
  • the system described herein could be used as an addition or back-up to a purely mechanical over-speed sensing and braking device.
  • the over-speed governor assembly 30 and trigger plate 65 are in the normal central position as illustrated in Figure 3 .
  • a signal will be sent to solenoid 44, de-activating the solenoid.
  • solenoid pin 55 is displaced mechanically to engage in one of the locking slots 54 or, alternatively, the generator 78 will be locked.
  • the rotating roller will draw the cam surfaces 33a of the cam plate 33 into engagement with the surface of rail 13, braking the carriage 12 to a halt.
  • the rotation of the assembly 30, including of the cradle 42 causes the isolation switch 60 to be triggered cutting off power to the stairlift motor.
  • the angle of the chair is also being monitored by microprocessor 25, receiving input from the level sensors 22, and movement of the carriage is monitored for unexpected reversal. Should the sensors 22 determine an "over-angle" state, or an unexpected reversal be detected, then once again the microprocessor 25 sends a signal to trigger the safety gear or brake, and isolation switch 60.
  • isolation switch 60 can also be activated at each end of the stairlift's travel by engagement of trigger plate 65 with the end stops 70.
  • the present invention provides for level control to be maintained and the carriage rapidly brought to a halt in the event of drive failure, particularly failure on transition and helical bends.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Types And Forms Of Lifts (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)

Claims (2)

  1. Verfahren zum Einstellen der Auslösegeschwindigkeit einer Bremsvorrichtung (25, 30, 33, 55, 78) bei einer Übergeschwindigkeit, die in einem Treppenfahrstuhl enthalten ist, wobei der Treppenfahrstuhl Folgendes umfasst:
    eine Schiene (13), die mindestens einen Übergangsbogen enthält;
    ein Fahrgestell (12), das für die Bewegung entlang der Schiene angebracht ist;
    eine Bremsvorrichtung (25, 30, 33, 55, 78) bei Übergeschwindigkeit, die, wenn sie ausgelöst wird, betriebsbereit ist, um das Fahrgestell in Bezug auf die Schiene zu bremsen,
    wobei das Verfahren dadurch gekennzeichnet ist, dass es das Vermindern der Geschwindigkeit, bei der die Bremsvorrichtung bei einer Übergeschwindigkeit ausgelöst wird, wenn sich das Fahrgestell durch einen Übergangsbogen bewegt, umfasst.
  2. Verfahren nach Anspruch 1, wobei die erwarteten Geschwindigkeiten des Fahrgestells (12) an verschiedenen Positionen des Fahrgestells entlang der Schiene (13) in einem Speicher gespeichert werden, wobei das Verfahren ein Vergleichen der Geschwindigkeit, die an verschiedenen Positionen des Fahrgestells auf der Schiene gemessen worden ist, mit der entsprechenden erwarteten Geschwindigkeit umfasst, wobei die Auslösegeschwindigkeit einsetzt, wenn die gemessene Geschwindigkeit die erwartete Geschwindigkeit um einen vorgegebenen Betrag übersteigt.
EP11162676A 2009-04-23 2009-04-23 Verbesserungen bei oder im Zusammenhang mit Treppenliften Active EP2368830B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09251170A EP2243740B1 (de) 2009-04-23 2009-04-23 Verbesserungen bei oder im Zusammenhang mit Treppenliften

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP09251170.8 Division 2009-04-23

Publications (2)

Publication Number Publication Date
EP2368830A1 EP2368830A1 (de) 2011-09-28
EP2368830B1 true EP2368830B1 (de) 2013-01-30

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Application Number Title Priority Date Filing Date
EP09251170A Active EP2243740B1 (de) 2009-04-23 2009-04-23 Verbesserungen bei oder im Zusammenhang mit Treppenliften
EP11162676A Active EP2368830B1 (de) 2009-04-23 2009-04-23 Verbesserungen bei oder im Zusammenhang mit Treppenliften

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Application Number Title Priority Date Filing Date
EP09251170A Active EP2243740B1 (de) 2009-04-23 2009-04-23 Verbesserungen bei oder im Zusammenhang mit Treppenliften

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AT (1) ATE539994T1 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2488051B (en) * 2008-03-01 2012-11-21 Stannah Stairlifts Ltd Improvements in or relating to stairlifts
CN102259780B (zh) * 2011-03-17 2013-11-27 太仓市康辉科技发展有限公司 楼梯曲线导轨爬升机器人的控制系统
CN104495559B (zh) * 2014-12-29 2017-02-22 龚柱 电梯
CN104495560B (zh) * 2014-12-29 2017-03-01 山西德奥电梯股份有限公司 电梯用的制动单元的设计方法
CN105217404B (zh) * 2015-10-27 2017-06-30 希姆斯电梯(中国)有限公司 一种用于座椅电梯的超速保护装置
CN107245935B (zh) * 2017-07-27 2019-02-05 重庆水利电力职业技术学院 拱形塔立交桥
CN107738971A (zh) * 2017-11-21 2018-02-27 林向阳 一种用于上下楼的辅助装置及其控制方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2264283B (en) * 1992-02-21 1995-02-15 Sunrise Medical Ltd Overspeed governor of a stairlift and method of operating the stairlift
GB9400056D0 (en) 1994-01-05 1994-03-02 Stannah Stairlifts Ltd Stairlift levelling arrangement
GB9815050D0 (en) 1998-07-10 1998-09-09 Surgecam Limited Improvements in or relating to braking systems
JP4553535B2 (ja) * 2001-09-28 2010-09-29 三菱電機株式会社 エレベータ装置
GB0218652D0 (en) 2002-08-10 2002-09-18 Stannah Stairlifts Ltd Improvements in or relating to stairlifts
WO2007038232A2 (en) 2005-09-22 2007-04-05 Hamilton-Thorne Biosciences, Inc. Device and method of maintaining sperm motility in a capillary-loaded chamber
GB2457767B (en) * 2008-03-01 2012-07-11 Stannah Stairlifts Ltd Improvements in or relating to stairlifts

Also Published As

Publication number Publication date
EP2243740B1 (de) 2012-01-04
EP2243740A1 (de) 2010-10-27
ATE539994T1 (de) 2012-01-15
EP2368830A1 (de) 2011-09-28

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