JP2001261263A - Vibration control device for elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for controlling horizontal vibration of a car in an elevator having long life, high reliability and favorable control performance by eliminating the occurrence of abrasion in a driving mechanism of an actuator. SOLUTION: A magnetic actuator is fitted to one of an underfloor part of the car and a lower part of the car frame, and a magnetic pole is fitted to the other thereof. The floor part of the car and the lower part of the car frame are provided with a vibration sensor for detecting horizontal vibration, and the drive of the magnetic actuator is controlled by a controller taking the detection signals as input signals, so that the horizontal vibration of the car can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration damping device for an elevator, and more particularly to a vibration damping device for an elevator for reducing horizontal vibration of a cab of an elevator.

[0002]

2. Description of the Related Art FIG.
It is a front view which shows the conventional vibration damping device of the elevator described in FIG. In FIG. 16, reference numeral 1 denotes a car room, 2 denotes a car frame supporting the car room 1 through vibration isolating rubbers 7 and 8, 10 denotes a car including the car room 1 and the car frame 2, and 4 denotes a car frame hanging from the car frame 2. The main rope 3 is provided with a pair of guide rails 5 for guiding the car frame 2 disposed on both sides of the car 10 to move up and down, and 5 is provided on the car frame 2 via a guide roller suspension 5a. A guard roller engaged with 3, that is, a rail engaging element, which supports the car frame 2 in the left-right direction as viewed. Although not shown, a rail engaging element 5 for supporting the car frame 2 is also provided in the direction perpendicular to the plane of the drawing in the drawing as described above.

[0003] Reference numeral 45 denotes a device (elevator vibration damping device) provided in the car 10 for suppressing and controlling horizontal vibration of the car room. In the vibration damping device 45, reference numeral 48 denotes a servomotor, 48a denotes a ball screw directly connected to the servomotor 48, 48b denotes a nut of the ball screw 48a, and 55 denotes a thrust moving mechanism attached to the nut 48b of the ball screw 48a. Reference numeral 56 denotes a car frame ball screw fastener, which is attached to the car frame 2 and transmits the axial force from the nut 48b to the car frame 2 via the thrust moving mechanism 55.
57 is a ball screw support for supporting one end of the ball screw 48a. 58 is a vibration sensor installed on the floor of the car room 1, 59 is a vibration sensor installed below the car frame 2, 6
Reference numeral 0 denotes an encoder that is directly connected to the rotor of the servomotor 48 and detects rotation. 61 is a vibration sensor 58, 5
9. Servo motor 4 based on information of encoder 60
8 is a controller for controlling. Reference numeral 49 denotes an actuator including a servo motor 48, a ball screw 48a, and a nut 48b. The actuator 49 and the controller 61 constitute a control unit.

Next, the operation will be described. Ideally, the guide rail 3 is a completely straight rail, but in reality, it is not possible to manufacture and install a completely straight and seamless rail having a length corresponding to the height of a high-rise building. It is possible, and the guide rail 3 and the skyscraper themselves are distorted due to aging. For this reason, the guide rail 3
, And the car frame 2 and the car room 1 which move up and down at high speed generate vibration in the horizontal direction. Therefore, in order to reduce the horizontal vibration, a rail engaging element 5 composed of a guide roller supported by a guide roller suspension 5a is provided between the guide rail 3 and the car frame 2 by the car frame 2.
A total of four are mounted on the upper and lower sides of both sides. The guide roller and guide roller suspension 5a are also mounted in the front-rear direction. Further, the vibration transmitted from the car frame 2 to the car room 1 is also attenuated by the vibration isolating rubbers 7 and 8. In the case of an elevator having a normal elevating speed, these two vibration damping mechanisms (that is, the guide roller suspension 5a and the vibration isolating rubbers 7 and 8) reduce the vibration level transmitted to the cab 1 to a target value of 10 to 15 Gal or less. It is possible to suppress. However, in an ultra-high-speed elevator having a maximum speed of 500 M / min or more, such as for a skyscraper, it is generally difficult to reduce the vibration level to a target value or less only with these vibration damping mechanisms. For this reason,
It becomes necessary to attach the above-described vibration damping device 45 and the like.

In FIG. 16, a vibration component which cannot be reduced by the conventional two vibration damping mechanisms alone is the cab 1.
Occurs, the vibration sensor 58 installed on the floor of the cab 1 detects the vibration of the floor of the cab 1. Further, a vibration sensor 59 similarly installed below the car frame 2 detects the vibration of the car frame 2. The controller 61 receives the position or speed signal measured by the encoder 60 of the servomotor 48 as an input signal in addition to the acceleration or speed signal measured by the vibration sensors 58 and 59.
A control command signal Tc is generated for the servo motor 48. The control command signal Tc outputs a waveform signal that reverses the waveform of the acceleration or speed signal measured by the vibration sensors 58 and 59 so that the vibration level of the floor of the car room 1 is reduced. Drive. When the rotor of the servomotor 48 fixed to the lower part of the floor of the car room 1 rotates, the ball screw 48a connected to the rotor rotates. On the other hand, the nut 48b is fixed to the car frame 2 through the thrust moving mechanism 55 and the car frame ball screw fastener 56. Therefore, the rotation of the servomotor 48 causes the car room 1 to move relatively to the left and right with respect to the car frame 2.

Since the cab 1 is elastically supported by the vibration isolating rubbers 7 and 8 on the car frame 2 suspended on the main rope 4, the cab 1 responds to a change in weight due to an increase or decrease in the number of occupants in the cab 1. The relative position between the car frame 2 and the car room 1 vibrates up and down. Therefore, the servo motor 48 fixed to the cab 1
The cage frame ball screw fastener 56 fixed to the cage frame 2 is vertically displaced relatively. Therefore, when the nut 48b and the car frame ball screw fastener 56 are directly fastened, a vertical load is applied to the ball screw 48a by the vertical movement due to the increase or decrease in the weight of the car room 1. Further, it is not preferable that an external force other than the axial direction is applied to the ball screw 48a in terms of stable operation of the mechanism and life. Therefore, the vertical movement of the ball screw 48a is not transmitted to the ball screw 48a. A thrust moving mechanism 55 is mounted between the nut 48b and the cage frame ball screw fastener 56 as a mechanism having high rigidity in the axial direction and freely moving in the direction perpendicular to the ball screw 48a. In this way, the driving actuator 49 having the servomotor 48, the ball screw 48a, and the like is configured to generate a force only in the axial direction of the ball screw 48a.

[0007]

As described above, the conventional vibration damping device for an elevator for reducing the horizontal vibration of the cab 1 has a floor portion of the cab 1 and a lower portion of the car frame 2 as its driving sources. The servo motor 48, the ball screw 48a, the nut 48b, the cage frame ball screw fastener 5
6. An actuator 49 including a thrust moving mechanism 55 is provided, and the cab 1 is moved to the left and right relative to the car frame 2 by the driving force of the actuator 49 in the left and right directions, so that the cab 1 is moved horizontally. Directional vibration is reduced. At this time, a frictional force is generated between the ball screw 48a and the nut 48b as a driving mechanism of the force of the actuator 49, and the direction of the frictional force is opposite to the direction of the driving force of the actuator 49. Therefore, the conventional vibration damping device for an elevator has a problem that the control performance tends to be unstable.

Further, the conventional vibration damping device for an elevator has a problem that the temperature rises due to the occurrence of friction in the drive mechanism of the actuator 49, and the performance becomes unstable or energy cannot be used efficiently. Was.

Further, the conventional vibration damping device for an elevator has a problem in that the drive mechanism is worn due to the generation of the friction, and the life of the component is shortened. As a result, periodic replacement or maintenance of the component is required. was there.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has a long life, high reliability, and good control performance by eliminating the occurrence of friction in a drive mechanism of an actuator. To provide a horizontal damping device for a cab in an elevator.

[0011]

In order to achieve the above object, according to the first aspect of the present invention, a car frame for supporting a lower part of a cab and the cab through an anti-vibration rubber is provided. An actuator fixed to one of the cab and the car frame in a space facing the lower part of the car, and an actuator fixed to the other of the cab and the car frame in the space,
And, a magnetic pole arranged to face the actuator so as to generate a horizontal electromagnetic attraction force or an electromagnetic repulsion force when a drive current is applied to the actuator,
A vibration sensor that detects horizontal vibration of the floor of the cab, and a controller that drives and controls the actuator so as to reduce the horizontal vibration of the cab as a detection signal of each vibration sensor as an input signal. It is characterized by having.

According to a second aspect of the present invention, the same vibration damping device as the first aspect is provided also in an opposing space between a ceiling of a car room and an upper portion of a car frame. It is a vibration damping device for an elevator.

It is preferable that the actuator is a magnetic attraction type actuator that generates an electromagnetic attraction force.

The magnetic attraction type actuator may be
A plurality of cabs may be arranged in combination so as to exert two translational axes and one rotation axis.

[0015] The magnetic attraction type actuator may include:
By combining two sets of two sets so as to exert a couple with respect to the suspension center point of the car frame, the two sets are arranged orthogonally, so that a two-axis translation of the car room and a one-axis rotation force are generated. May be combined.

[0016] The controller may include a displacement sensor for measuring a gap between the coil of the magnetic attraction type actuator and the magnetic pole, and a control signal for driving the magnetic attraction type actuator with a detection signal of the vibration sensor as an input signal. What happens.

The magnetic attraction type actuator may be
A configuration may be adopted in which a coil wound around an annular iron core is provided, and when a drive current is applied to the coil, a magnetic pole arranged to face the coil is attracted.

The invention according to claim 8 of the present invention is characterized in that the electromagnetic attraction force and the electromagnetic attraction force are generated in a space facing the lower part of the floor of the cab and the lower part of the car frame supporting the cab via rubber cushions. A pair is formed by combining two magnetic actuators so as to generate a repulsive force, and one magnetic actuator of the pair is fixed to one of a cab and a car frame, and the other of the pair is fixed to the cab or the car frame. The two magnetic actuators are fixed to one of the cab and the car frame, and two pairs of the magnetic actuators are arranged in opposition to each other, and the horizontal vibration of the floor of the cab is detected. A vibration sensor, and a controller that drives and controls the two pairs of actuators so as to reduce horizontal vibration of the car cab using detection signals of the vibration sensors as input signals. And wherein the Rukoto.

According to a ninth aspect of the present invention, there is provided a displacement sensor for detecting displacement of a guide rail for guiding up and down movement of a car frame, and generating a magnetic attraction force on the guide rail. A set of magnetic attraction type actuators that hold the frame in a non-contact state, and a controller that generates a control signal to the actuator so as to reduce horizontal vibration of the cab as a detection signal of the displacement sensor as an input signal. It is characterized by having.

Further, the vibration damping device according to claim 9 may be used in combination with the vibration damping device according to claim 1 or 2.

Further, the guide rail may be V-shaped.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a front view of an elevator for explaining an elevator vibration damping device according to a first embodiment of the present invention, and FIG. 2 is a block diagram schematically illustrating a control system in the elevator vibration damping device. . The same or corresponding parts as those in the related art are denoted by the same reference numerals, and description thereof is omitted.

The first embodiment is directed to a vibration damping device 6 for an elevator.
5 is different from the conventional elevator damping device 45 (see FIG. 16) in that it is configured as follows. In FIG.
70a, 70b are iron cores attached to the car frame 2 so as to face each other, and 71a, 71b are iron cores 70a,
The coils wound around 70b, 72a and 72b are respectively iron core 70a and coil 71a, and iron core 70b.
And a coil 71b. 73a and 73b are magnetic actuators 72a and 7
A magnetic pole to be attracted attached to the lower part of the floor of the cab so as to face 2b, and is made of a magnetic material. Also,
74a is a displacement sensor for measuring the displacement or gap distance between the tip of the iron core 70a and the magnetic pole 73a.
Reference numeral 4b denotes a displacement sensor that measures the displacement or gap distance between the tip of the iron core 70b and the magnetic pole 73b. As in the prior art, 58 is a vibration sensor installed on the floor of the car room 1, 59 is a vibration sensor installed below the car frame 2, 61 is an input signal of information of the vibration sensors 58 and 59, etc. Is a controller that issues a control command to the magnetic actuators 72a and 72b. As described above, the magnetic actuator 72a, the magnetic pole 73a, the displacement sensor 74a, the magnetic actuator 72b, the magnetic pole 73
b, the displacement sensor 74b has the same configuration, and is symmetrically mounted.

Next, the operation will be described. 500M / m
When the ultra-high-speed elevator is moved up and down, the vibration components that cannot be reduced by the vibration damping mechanism such as the guide roller suspension 5a and the vibration isolating rubbers 7 and 8 due to the influence of the joints and bending of the guide rails 3 in the horizontal direction of the car 1 Occurs. The vibration damping device 65 is attached to reduce such vibration. That is, when a vibration component such as the guide roller suspension 5a and the vibration damping rubbers 7 and 8 that cannot be reduced by the conventional general vibration damping mechanism occurs in the horizontal direction of the car 1, the vibration sensor installed on the floor of the car 1 58
The vibration of the floor of the car room 1 is detected. In addition, a vibration sensor 59 similarly installed below the car frame 2 detects the vibration of the car frame 2. These vibration sensors 58, 5
9 using the acceleration or velocity signal measured by the controller 9 and the displacement signal detected by the displacement sensors 74a and 74b as input signals.
A control command signal Tc is generated for a and 72b. The control command signal Tc is generated so that the vibration level of the floor of the car 1 is reduced, that is, the car 1 is moved relative to the car frame 2 in a direction to cancel the vibration of the floor of the car 1. The actuators 72a and 72b are driven. To drive the magnetic actuators 72a and 72b, drive current is applied to the coils 71a and 71b wound around the iron cores 70a and 70b,
This is performed by generating an attractive force on the magnetic poles 73a and 73b. When the attractive force is generated, since the magnetic poles 73a and 73b are attached to the lower part of the floor of the car room 1, the car room 1 moves to the left or right relative to the car frame 2 in the drawing.

The block diagram shown in FIG. 2 explains the above operation. The disturbance due to the displacement of the guide rail 3 is
It is detected as information of the vibration sensors 58 and 59 and the displacement sensors 74a and 74b. Then, the controller 61 uses these sensor signals as input signals, and outputs a control command signal Tc to the actuators 72a and 72b so as to reduce the vibration of the car 10.

The information of the displacement sensors 74a and 74b includes not only the disturbance information due to the displacement of the guide rail 3, but also the information of the deviation generated due to the non-linearity of the driving force of the magnetic actuators 72a and 72b. Have been. Therefore, the displacement sensors 74a and 74b have a function as a gap sensor for detecting disturbance due to the displacement of the guide rail 3 and compensating for the non-linearity of the driving force of the magnetic actuators 72a and 72b.

Since the car room 1 is elastically supported by the vibration isolating rubbers 7 and 8 on the car frame 2 suspended on the main ropes 4, the car room 1 changes according to the change in weight due to the increase or decrease in the number of passengers in the car room 1. The relative position between the car frame 2 and the car room 1 vibrates up and down. As a result, the magnetic actuators 72a and 72b fixed to the car room 1 and the magnetic poles 73 fixed to the car frame 2
a and 73b are displaced up and down relatively. However, the gap distance between the magnetic actuators 72a and 72b and the magnetic poles 73a and 73b does not change, and no friction occurs in a non-contact manner. For this reason, the magnetic actuator 72
The performances of a and 72b are not affected by changes in the weight of the cab 1 due to an increase or decrease in the number of passengers.

Embodiment 2 Next, a second embodiment will be described with reference to FIG. FIG. 3 is a bottom view of an elevator including the vibration damping device according to the second embodiment. In FIG. 3, the same or corresponding parts as those in the conventional example or the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

In the second embodiment, eight magnetic actuators, magnetic poles, and displacement sensors each having the same configuration as that of the first embodiment are provided between the lower part of the car room 1 and the lower part of the car frame 2. As shown in FIG. 3, the X-axis (guide rail 3
Are arranged symmetrically with respect to the X-axis and the Y-axis in each section divided by the Y-axis (the center line in the left-right direction of the car room 1). In FIG. 3, 58X
A vibration sensor in the X direction installed on the floor of the car room 1, 58Y is a vibration sensor in the Y direction installed on the floor of the car room 1, and 59X is installed on the car frame 2. X
59Y are vibration sensors in the Y direction installed in the car frame 2 and are mounted in the same manner as in the first embodiment. Further, 72a and 72c are magnetic actuators that generate an attractive force to the magnetic poles 73a or 73c attached to the car room 1 and generate a driving force in the −X direction of the car room 1, and 72b and 72d are the car actuators. Attraction force is generated in the magnetic pole 73b or 73d attached to the lower part of the floor of the chamber 1,
The magnetic actuators generate a driving force in the + X direction. These actuators 72a, 72b, 72c, 7
2d is attached to the lower part of the car frame 2 in the same manner as in the first embodiment. Similarly, 72A and 72B are magnetic actuators that generate an attractive force on the magnetic poles 73A or 73B attached to the lower part of the floor of the car room 1 and generate a driving force in the −Y direction of the car room 1. 73D is a magnetic actuator that generates an attractive force to the magnetic pole 73C or 73D attached to the car room 1 and generates a driving force in the + Y direction of the car room 1. These actuators 72A, 72B, 72C,
72D is attached to the lower part of the car frame 2 in the same manner as in the first embodiment.

Also, 74a, 74b, 74c, 74d
Are the magnetic actuators 72a, 72b, 72c, 72
d and the magnetic poles 73a, 73b, 73c, 7
A displacement sensor for measuring a displacement or a gap distance between the magnetic actuators 72A, 73B, 73C, and 73D includes magnetic poles 73A, 73B, 73C, and 73D. And a displacement sensor for measuring a displacement or a gap distance between them.

In the vibration damping device of the second embodiment configured as described above, the vibration component which cannot be reduced by the conventional general vibration damping mechanism such as the guide roller suspension 5a and the vibration isolating rubbers 7 and 8 when the elevator is moved up and down at a very high speed. X of car room 1
When it occurs in the direction, the vibration in the X direction can be reduced by the method described in the first embodiment. That is, the vibration sensor 58X detects the vibration in the X direction on the floor of the car room 1, and the vibration sensor 59X detects the vibration in the lower part of the car frame 2 in the X direction. These vibration sensors 58X, 59X
The controller 61 generates a control command signal Tc based on the displacement signal detected by the displacement sensors 74a, 74b, 74c, 74d in addition to the acceleration or speed signal measured by The magnetic actuators 72a, 72b, 72c, 72d are driven by the control command signal Tc so that the vibration level of the floor of the car room 1 is reduced. For example, when the car room 1 is moved in the −X direction, a driving force is generated by the magnetic actuators 72a and 72c, and when the car room 1 is moved in the + X direction, the driving force is generated by the magnetic actuators 72b and 72d. When the driving force is generated in this manner, the cab 1 and the car frame 2 relatively move left and right on the paper of the drawing, and the vibration of the cab 1 in the X direction is reduced.

When vibrations occur in the car room 1 in the Y direction, the vibrations in the Y direction are similarly reduced. That is, the vibration sensor 58Y detects vibration in the Y direction on the floor of the car room 1, and the vibration sensor 59Y detects the vibration in the lower part of the car frame 2.
Detects directional vibration. These vibration sensors 58Y, 5Y
In addition to the acceleration or velocity signal measured by the sensor 9Y, the controller 6 receives the displacement signals detected by the displacement sensors 74A, 74B, 74C, 74D as input signals.
1 generates a control command signal Tc. The magnetic actuators 72A, 72B, 72 are controlled by the control command signal Tc so that the vibration level of the floor of the car room 1 is reduced.
C and 72D are driven. For example, when moving the cab 1 in the −Y direction, the magnetic actuators 72A and 72A
When the driving force is generated by 2B and the actuator is moved in the + Y direction, the driving force is generated by the magnetic actuators 72C and 72D. When driving force is generated in this way,
The car room 1 is moved relative to the car frame 2 in the front-rear direction (that is, the vertical direction in the drawing), and the vibration of the car room 1 in the Y direction is reduced.

When the vibration of the rotary motion about the Z-direction axis of the car room 1 occurs, the vibration sensors 58X, 59
X, 58Y, 59Y, displacement sensors 74a, 74b, 74
c, 74d, magnetic actuators 72a, 72b, 72
By driving a combination of the magnetic poles c and 72d and the magnetic poles 73a, 73b, 73c and 73d, this vibration can be reduced. For example, when the cab 1 is moved in the + direction (clockwise direction in FIG. 4) with respect to the axis in the Z direction, a driving force is generated in the magnetic actuators 72a and 72d, and the cab 1 is moved in the Z direction. When moving in the-direction (counterclockwise in FIG. 4) with respect to
Driving force is generated by magnetic actuators 72b and 72c arranged diagonally with respect to a Z point (the Z point is also a suspension center point of the car frame 2) which is an intersection of the X axis and the Y axis. Thus, the magnetic actuators 72a, 72
b, 72c, and 72d generate driving force, the cab 1
Is driven to rotate relative to the car frame 2 in the plane of the drawing, and the vibration of the rotational motion of the car room 1 can be reduced.

As described above, in the second embodiment, the magnetic actuators 72a to 72d and 72A to 72d
By operating D to exert the force of two translational axes in the X and Y directions, and one rotation in the Z direction,
Since it is possible to reduce the vibration of the cab 1 in the X and Y directions and the vibration of the cab 1 around the axis in the Z direction, it is possible to provide an elevator that is comfortable to ride even at a very high speed.

Embodiment 3 FIG. Next, a third embodiment will be described with reference to FIG. FIG. 4 is a bottom view of an elevator including the vibration damping device according to the third embodiment. In FIG. 4, the same reference numerals are given to the same or corresponding portions as those in the conventional example, the first embodiment or the second embodiment, and the description thereof is omitted.

In the third embodiment, a magnetic actuator, a magnetic pole, and a displacement sensor having the same configuration as that of the first embodiment are provided between the lower part of the car room 1 and the lower part of the car frame 2 in FIG. As shown in the figure, four are arranged symmetrically on the X-axis and the Y-axis, respectively. That is, on the X axis,
Magnetic actuators 72a, 72b, magnetic poles 73a, 73
b, the displacement sensors 74a and 74b are respectively arranged symmetrically. The magnetic actuator 7 is provided on the Y axis.
2C, 72D, magnetic poles 73C, 73D, displacement sensor 74
C and 74D are symmetrically arranged. With this configuration, it is possible to reduce the vibration of the cab 1 in the X direction and the Y direction. That is, the guide roller suspension 5a and the vibration isolating rubbers 7 and 8 are
When a vibration component that cannot be reduced by a conventional general vibration damping mechanism occurs in the X direction of the cab 1, the vibration can be reduced by the method described in the first embodiment. For example, the driving force is generated by the magnetic actuator 72a when moving the car room 1 in the −X direction, and by the magnetic actuator 72b when moving the car room 1 in the + X direction. By this driving force, the car room 1 moves relatively to the left and right with respect to the car frame 2,
X-direction vibration of the car room 1 can be reduced.

When the cab 1 vibrates in the Y direction, a driving force is generated by the magnetic actuator 72C when the cab 1 is moved in the + Y direction and by the magnetic actuator 72D when the cab 1 is moved in the -Y direction. . By generating the driving force in this manner, the cab 1 is
In the front-rear direction (vertical direction in the drawing), so that the vibration of the car room 1 in the Y direction can be reduced.

In the third embodiment described above, the magnetic actuators 72a, 72b, 72A, and 72B are operated so as to exert biaxial translational forces in the X and Y directions, so that the number of magnetic actuators is four. Room 1
Can be reduced in the X and Y directions, so that space saving, power saving, and cost reduction can be achieved.

Embodiment 4 Next, a fourth embodiment will be described with reference to FIGS. FIG. 5 shows a fourth embodiment.
And FIG. 6 is a block diagram schematically showing a control system of the elevator vibration damping device. 5 and 6, the same reference numerals are given to the same or corresponding portions as those in the conventional example, the first embodiment or the second embodiment, and the description thereof will be omitted.

In the fourth embodiment, the same four magnetic actuators, magnetic poles and displacement sensors as those in the first embodiment are arranged between the lower part of the car room 1 and the lower part of the car frame 2, respectively. I have. That is, as shown in FIG.
The magnetic actuators 72a and 72a are arranged symmetrically with respect to the Z point at four positions forming approximately 45 degrees with respect to the axis and the Y axis, and so that the attraction force is approximately 45 degrees with respect to these axes.
b, 72c, 72d, magnetic poles 73a, 73b, 73c, 7
3d and displacement sensors 74a, 74b, 74c, 74d
Has been arranged.

Therefore, when a vibration component such as the guide roller suspension 5a and the vibration isolating rubbers 7 and 8 which cannot be reduced by the conventional vibration damping mechanism is generated in the X direction of the cab 1, the cab 1 is set to -X. When moving in the direction
When generating a driving force on the magnetic actuators 72a and 72c and moving the cab 1 in the + X direction,
By generating a driving force on the magnetic actuators 72b and 72d, the car room 1 is relatively moved to the left and right with respect to the car frame 2 in the drawing, and the movement of the car room 1 can reduce the vibration of the car room 1. . When the cab 1 is vibrated in the Y direction and the cab 1 is moved in the + Y direction, a driving force is generated in the magnetic actuators 72c and 72d, and the cab 1 is moved in the -Y direction. When moving, the magnetic actuators 72a and 72a
By generating a driving force in b, the car room 1 is moved back and forth (up and down in the drawing) with respect to the car frame 2, and the car room 1 is reduced in vibration by moving in this manner.

In the case where the vibration of the rotational motion occurs around the Z-direction axis of the car room 1, the car room 1 is rotationally moved around the + direction (clockwise direction in the drawing) of the Z-direction axis. When the cab 1 is rotated around the negative Z-axis (counterclockwise in the drawing), the magnetic actuators 72a and 72d generate a driving force. 72b and 72
By generating a driving force in c, the car room 1 is rotated relative to the car frame 2 in the in-plane direction, and the rotational vibration of the car room 1 can be reduced.

The block diagram shown in FIG. 6 explains the above operation. Vibration sensors 58X, 58Y, 59X,
From the signals of 59Y and the displacement sensors 74a, 74b, 74c, 74d, signals of acceleration, velocity, and displacement of the cab 1 about the X, Y, and Z directions are generated. Then, the components in the X, Y, and Z directions for driving the car room 1 are calculated from these signals, and when each code is in the condition shown in FIG.
The control command signal Tc is output to a, 72b, 72c, and 72d, and the cab 1 is damped.

As described above, in the fourth embodiment, the magnetic actuators 72a to 72d are operated so as to exert two translational axes in the X and Y directions and one rotational axis in the Z direction. As a result, the vibration reduction of the car room 1 in the X and Y directions and the vibration around the axis in the Z direction can be reduced with four magnetic actuators. Can be obtained.

Embodiment 5 FIG. Next, a fifth embodiment will be described with reference to FIG. FIG. 7 is a front view of an elevator for explaining a vibration damping device according to a fifth embodiment. In FIG. 7, the same or corresponding parts as those in the conventional example or the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

In the fifth embodiment, the vibration damping device 65 for the elevator is placed above and below the cab 1, that is, the space between the floor of the cab 1 and the lower part of the car frame 2 and the ceiling of the cab 1. It is attached to each space facing the upper part of the frame 2. The lower vibration damping device 65 is exactly the same as that of the first embodiment, and the upper vibration damping device 65 is the same as the lower vibration damping device 65 symmetrically mounted.
That is, the upper vibration damping device 65 is also
Similarly, iron cores 70c, 70d and coils 71c,
Magnetic actuators 72c and 72d provided with 71d,
Magnetic poles 73c, 73d, displacement sensors 74c, 74d,
It comprises a vibration sensor 58 installed on the ceiling of the car room 1, a vibration sensor 59 installed on the upper part of the car frame 2, and the like. The upper damping device 65 operates similarly to the lower damping device 65. Therefore, in the method described in the first embodiment, the rotation about the axis in the Y direction in the figure does not occur (that is, the cab 1 does not swing up and down), and the cab 1 vibrates in the X direction. Since reduction can be realized, an elevator having a comfortable ride can be provided.

Embodiment 6 FIG. Next, a sixth embodiment will be described with reference to FIG. FIG. 8 is a bottom view of an elevator including the vibration damping device according to the sixth embodiment. In FIG. 8, the same or corresponding parts as those in the conventional example or the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

In the vibration damping device according to the sixth embodiment, the structure of the magnetic actuator provided between the lower part of the floor of the car room 1 and the lower part of the car frame 2 is simplified. 8, reference numeral 75 denotes an iron core formed in an octagonal ring and attached to the lower portion of the car frame 2, and 76 denotes an octagonal shape on the inner peripheral side of the iron core 75 so as to correspond to the octagon of the iron core 75. Magnetic poles formed in an annular shape and attached to the lower floor of the cab 1,
77 a to 77 h are coils wound around each part of the iron core 75. Reference numerals 78a to 78h denote displacement sensors for measuring the displacement or the gap distance between each piece of the iron core 75 and the opposite piece of the magnetic pole. In this configuration,
The magnetic actuator includes an iron core 75 and coils 77a to 77a.
7h.

In the vibration damping device configured as described above,
For example, in order to reduce the vibration in the X direction of the cab 1 when the elevator is moved up and down at a very high speed, the cab 1 is moved with respect to the car frame 2 by +
When generating a driving force to be pulled in the X direction, the core 75
A drive current is applied to the coil 77c wound around the piece located at the + side position on the X-axis to draw the opposing magnetic pole 76. When a driving force to pull the car room 1 in the −X direction with respect to the car frame 2 is generated, a driving current is supplied to a coil 77 g wound around a piece at a − side position on the X axis of the iron core 75, The opposite magnetic pole 76 is attracted.

In order to reduce the vibration of the cab 1 in the Y direction, when the cab 1 generates a driving force in the + Y direction with respect to the car frame 2, the driving force is applied to the + side of the iron core 75 on the Y axis. A drive current is applied to a coil 77a wound around a piece to attract the opposing magnetic pole 76. When a driving force to pull the car room 1 in the −Y direction with respect to the car frame 2 is generated, a driving current is passed through a coil 77 e wound around a piece at a − side position on the Y axis of the iron core 75, The opposite magnetic pole 76 is attracted. Further, when generating a driving force for pulling the car room 1 with respect to the car frame 2 in a direction forming 45 degrees with the X direction or the Y direction, the driving current is applied to the coils 77b, 77d, 77f or 77h in the same manner as described above. I just want to pour.

As described above, in the sixth embodiment, the magnetic actuator having a single structure including the annular iron core 75 and the coils 77a to 77h exerts biaxial translational forces in the X and Y directions. By operating as described above, the vibration of the cab 1 in the X direction and the Y direction can be reduced, so that an elevator having a simple structure, easy installation, low cost, and easy maintenance can be provided.

Embodiment 7 FIG. Next, a seventh embodiment will be described with reference to FIG. FIG. 9 is a bottom view of an elevator including the vibration damping device according to Embodiment 7. In FIG. 9, the conventional example, the first embodiment or the second embodiment is used.
The same or corresponding parts are denoted by the same reference numerals, and description thereof will be omitted.

The vibration damping device according to the seventh embodiment is provided between the lower part of the car room 1 and the lower part of the car frame 2 according to the first embodiment.
Magnetic actuator 72 having the same configuration as
a, 72b, 72c, 72d, 72A, 72B, 72
C, 72D and displacement sensors 74a, 74b, 74c, 7
As shown in FIG. 4, 4d, 74A, 74B, 74C, and 74D are arranged in pairs at four positions on the substantially X-axis and substantially the Y-axis. In each arrangement location, the pair of magnetic actuators 72a, 72A, 72A, 7A
The coils 2b and 72B, 72c and 72C, and 72d and 72D are arranged such that the tips of the coils face each other in a direction orthogonal to the axis of the place where the coils are arranged. For example, on the + side of the substantially Y axis, the magnetic actuator 72
The distal end of the coil a and the distal end of the coil of the magnetic actuator 72A are arranged so as to face each other in the X direction. Among these magnetic actuators, the magnetic actuators 72a, 72b, 72c, and 72d are attached to the lower part of the car frame 2, and the magnetic actuators 72A, 72B,
72C and 72D are attached to the lower floor of the cab 1. In addition, these magnetic actuators generate a magnetic attraction force and a magnetic repulsion force depending on the combination of the directions of the drive currents.

Therefore, in the seventh embodiment,
When a driving force is generated to move the car room 1 in the −X direction, a suction force is generated between the actuators 72a and 72A and between the actuators 72b and 72B. When generating a driving force to move the car room 1 in the + X direction, the actuators 72a and 72A, 72b and 72
A repulsive force is generated during B. By driving in this manner, the car room 1 is moved left and right with respect to the car frame 2,
X-direction vibration of the car room 1 can be reduced.

In order to reduce the vibration of the cab 1 in the Y direction, a magnetic attraction force or a repulsive force is generated between the magnetic actuators 72c and 72C, and 72d and 72D, so that the cab 1 is moved to the cab frame 2. In the front-rear direction (vertical direction in FIG. 9), and the vibration of the car room 1 in the Y direction can be reduced.

When the car room 1 is driven to rotate around the + direction of the Z-direction axis (clockwise in FIG. 9),
A magnetic attraction force is generated between the magnetic actuators 72a and 72A, and a magnetic repulsion force is generated between the magnetic actuators 72b and 72B. In addition, when the driving force is generated around the minus direction (the counterclockwise direction in FIG. 9) of the car room 1 in the Z-direction axis,
A magnetic repulsion is generated between the magnetic actuators 72a and 72A, and a magnetic attraction is generated between the magnetic actuators 72b and 72B.

As described above, in the seventh embodiment, the magnetic actuators 72a to 72d, 72A to 72d
By operating D to exert the force of two translational axes in the X and Y directions, and one rotation in the Z direction,
The vibration reduction of the car room 1 in the X direction and the Y direction and the vibration reduction around the axis in the Z direction can be realized.

Embodiment 8 FIG. Next, an eighth embodiment will be described with reference to FIGS. FIG. 10 is a perspective view of an elevator including a vibration damping device according to Embodiment 8, and FIG.
10 is an enlarged view of the portion A in FIG. 10 (enlarged view around the left magnetic guide device), and FIG. 12 is an enlarged view of the portion B in FIG. 10 (enlarged view around the right magnetic guide device). In these figures, the same or corresponding parts as those of the conventional example or the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

The vibration damping device according to the eighth embodiment reduces the vibration between the guide rail 3 and the car frame 2 by changing the rail engaging element 5 in the first embodiment to a magnetic guide device. , In which the horizontal vibration of the car room 1 is reduced. 10 to 12, 80a to 80c
And 80A to 80C are iron cores attached to the car frame 2, 81a to 81c and 81A to 81C are iron cores 80a
~ 80c, coil wound around 80A ~ 80C, 82
a to 82c and 82A to 82C are iron cores 80a to 80
c, 80A-80C and coils 81a-81c, 81A-
81C, which face each other so as to sandwich three directions of the convex portions of the left and right guide rails 3. 84a to 84c and 84A to 84C are displacement sensors, and the guide rail 3 and the magnetic actuator 82a
To 82c and 82A to 82C. The magnetic actuators 82a, 82b, 82c, the displacement sensors 84a, 84b, 84c, and the left guide rail 3 constitute a left magnetic guide device 85a. The magnetic actuators 82A, 82B, 82C, the displacement sensors 84A, 84B, 84C and the right guide rail 3 constitute a right magnetic guide device 85A. Note that the same vibration damping device (see FIG. 3) as in the second embodiment is provided between the lower part of the floor of the car room 1 and the lower part of the car frame 2.

Next, a method of supporting the car frame 2 of the elevator in the X direction will be described. The upper part of the car frame 2 is supported by a plurality (three in the drawing) of main ropes 4.
In addition, the magnetic actuator 8
A driving current is previously passed through 2a and 82A to generate a suction force between the left and right guide rails, and the car frame 2 is supported at a neutral position in a non-contact state. Then, when the displacement of the magnetic actuator 82a and the displacement of the left guide rail 3 approach each other due to the effect of the joint or bending of the left guide rail 3 when the elevator moves up and down at a very high speed, the displacement sensor 84a detects the displacement and drives the magnetic actuator 82a. While reducing the current, the drive current of the magnetic actuator 82A is increased, the car frame 2 is moved rightward, and the elevator is moved up and down while keeping the car frame 2 and the guide rail 3 in a non-contact state. Conversely, the magnetic actuator 8
When 2A and the displacement of the right guide rail 3 approach each other,
The drive current of the magnetic actuator 82A is reduced while the drive current of the magnetic actuator 82A is increased by detecting the displacement sensor 84A, and the car frame 2 is moved to the left so that the gap between the car frame 2 and the guide rail 3 is not changed. The elevator is raised and lowered while maintaining the contact state.

Similarly, support in the Y direction is maintained by the pair of magnetic actuators 82b and 82c on the left guide rail, and by the pair of magnetic actuators 82B and 82C on the right guide rail. Raise and lower the elevator.

Further, regarding the support around the axis in the Z direction,
Similarly, a pair of magnetic actuators 82b and 82C,
The elevator is moved up and down while supporting the car frame 2 and the guide rail 3 in a non-contact state by a pair of 82B and 82c.

As described above, in this embodiment, when the elevator is moved up and down at a very high speed, the lower and left sides of the car frame 2 are supported by the magnetic guide devices 85a and 85A in a non-contact manner. Is hard to be input to the car frame 2. Even if the joints or bends of the guide rails 3 are large or the vibration from the main ropes 4 is transmitted to the car frame 2, the vibration damping device between the car room 1 and the car frame 2 (see FIG. 3). Thus, the vibration of the cab 1 can be suppressed in the manner described in the second embodiment. Therefore, in the eighth embodiment, by performing the above-described operations, it is possible to provide an elevator having a further comfortable ride when traveling at an extremely high speed.

Embodiment 9 Next, a ninth embodiment will be described with reference to FIGS. 13 is a perspective view of an elevator according to Embodiment 9, FIG. 14 is an enlarged view of a part C in FIG. 13, and FIG. 15 is an enlarged view of a part D in FIG. In these figures, the same or corresponding parts as those in the conventional example or the first and eighth embodiments are denoted by the same reference numerals, and description thereof is omitted.

In the vibration damping device according to the ninth embodiment, the guide rail 3 in the first embodiment is formed into a V-shape, and the rail engaging element 5 is changed to a magnetic guide device. The vibration between the car 2 and the frame 2 is reduced to reduce the vibration of the cab 1. FIG.
In FIG. 15, the guide rail 3 is V-shaped, and the magnetic actuators 82b and 82c and the displacement sensors 84b and 84c are opposed to the two surfaces of the left guide rail 3.
Is attached to the car frame 2 and the left magnetic guide device 85a
Is composed. Similarly, magnetic actuators 82B and 82C and displacement sensors 84B and 84C are attached to the car frame 2 so as to face the two surfaces of the right guide rail 3,
The right magnetic guide device 85A is configured. Note that the same vibration damping device (see FIG. 3) as in the second embodiment is provided between the lower part of the floor of the car room 1 and the lower part of the car frame 2.

Next, a method of supporting the elevator car frame 2 in the X direction will be described. The upper portion of the car frame 2 is supported by a plurality of (three in this embodiment) main ropes 4. At the lower part of the car frame 2, a driving current is applied to the magnetic actuators 82b, 82c, 82B, 82C in advance to generate a suction force between the left and right guide rails 3, so that the car frame 2 is in a non-contact state at the neutral position. To support. Then, when the displacement of the magnetic actuators 82b, 82c and the displacement of the left guide rail 3 approach each other due to the effect of the seam or bending of the left guide rail 3 when the elevator moves up and down at a very high speed, the displacement sensors 84b, 84c detect the magnetic actuators. The drive current of the actuators 82b and 82c is reduced, and the magnetic actuators 82B and 82C
, The car frame 2 is moved to the right,
The elevator is moved up and down while maintaining a non-contact state between the car frame 2 and the guide rail 3. Conversely, when the displacement of the magnetic actuators 82B and 82C and the displacement of the right guide rail 3 approach each other, they are detected by the displacement sensors 84B and 84C, the drive current of the magnetic actuators 82B and 82C is reduced, and the magnetic actuators 82b and 82c are reduced.
And the car frame 2 is moved to the left,
The elevator is moved up and down while maintaining a non-contact state between the car frame 2 and the guide rail 3.

The support in the Y direction is performed in the same manner. That is, when the elevator is moved up and down at a very high speed, the left guide rail 3
The magnetic actuator 82
When the displacements of the guide rails b and 82B approach the displacement of the left guide rail 3, the displacement currents are detected by the displacement sensors 84b and 84B, and the drive currents of the magnetic actuators 82b and 82B are reduced and the drive currents of the magnetic actuators 82c and 82C are increased. Then, the car frame 2 is moved in the + Y direction, and the elevator is moved up and down while maintaining a non-contact state between the car frame 2 and the left guide rail 3. Conversely, when the displacement of the magnetic actuators 82c and 82C and the displacement of the right guide rail 3 approach each other, it is detected by the displacement sensors 84c and 84C, the drive current of the magnetic actuators 82c and 82C is reduced, and the magnetic actuators 82b and 82B Is increased, the car frame 2 is moved in the -Y direction, and the elevator is moved up and down while keeping the car frame 2 and the guide rail 3 in a non-contact state.

Further, with respect to the support around the axis in the Z direction,
Similarly, a set of magnetic actuators 82b and 82C,
The elevator is moved up and down while supporting the car frame 2 and the guide rail 3 in a non-contact state by a set of 82B and 82c.

As described above, in this embodiment, the lower right and left sides of the car frame 2 are supported by the magnetic guide devices 85a and 85A in a non-contact manner when the elevator is moved up and down at a very high speed. Vibration due to the effect of bending is not easily input to the car frame 2. Even if the joints and bends of the guide rails 3 are large or the vibration from the main ropes 4 is transmitted to the hook frame 2, the vibration damping device between the car room 1 and the car frame 2 (see FIG. 3) The vibration of the cab 1 can be suppressed in the manner described in the second embodiment.

As described above, in this embodiment, the material can be reduced by forming the guide rail 3 into the V-order shape, and the left and right magnetic guide devices 85a and 85A can be constituted by two magnetic actuators, respectively. Therefore, a low-cost and high-performance elevator damping device can be obtained.

The present invention can be embodied with the following modifications. (1) In the first to fifth embodiments, the positional relationship between the magnetic actuator and the magnetic pole is not limited to the illustrated one, but may be reversed. A magnetic attraction force can be generated, and vibration of the car room 1 can be reduced.

(2) In the first to sixth embodiments, the magnetic actuator is not limited to a magnetic actuator that generates a magnetic attraction to a magnetic pole, but is configured to generate a magnetic repulsion. In this case, a magnetic repulsive force is generated by changing the magnetic actuator to be operated or the positional relationship between the magnetic actuators, and the cab 1
Vibration can be reduced.

(3) In the first to ninth embodiments, the vibration sensor is mounted on the floor of the cab 1 (the cab 1 in the fifth embodiment).
There is also a ceiling. Hereinafter, in this paragraph, a floor section means a floor section and a ceiling section in the fifth embodiment. ) And the lower portion of the car frame 2 (there is also the upper portion of the car frame 2 in the fifth embodiment. In the following, in this paragraph, the lower portion is referred to as the lower portion and the upper portion in the fifth embodiment). Although installed, basically, any vibration sensor may be used as long as it detects vibration of the floor of the car room 1. In this sense, in Embodiments 1 to 9, the vibration sensor installed below the car frame 2 can be omitted. That is, installing a vibration sensor below the car frame 2 in combination with a vibration sensor installed on the floor of the car room 1 is significant in obtaining more information for improving vibration control performance. However, if a slight decrease in the vibration control performance can be tolerated, the vibration sensor installed at the lower part of the car frame 2 may be abolished, and the vibration sensor may be installed only on the floor of the car room 1. good. Also,
Conversely, the vibration sensor installed on the floor of the cab 1 has been abolished,
A vibration sensor may be installed only in the lower part of the car frame 2 and the vibration sensor may be configured to estimate and measure the vibration of the floor of the car room 1.

(4) In Embodiments 1 to 9, a plurality of displacement sensors are provided in the same axial direction (for example, in Embodiment 2, 74a, 74b, 74 in the X direction).
c, 74d), these need not all be provided,
At least one of them may be provided.

(5) In the eighth and ninth embodiments,
The horizontal vibration damping device provided in the space facing the lower part of the floor of the car room 1 and the lower part of the car frame 2 is not limited to the one in the second embodiment, but may be the one according to another embodiment. May be used.

[0076]

Since the present invention is configured as described above, it has the following effects. According to the first to seventh and tenth and eleventh aspects of the present invention, the cab or the cab frame is located in a space facing the lower part of the cab floor and the lower part of the cab frame supporting the cab via rubber cushions. An actuator fixed to one of them, and in the space, fixed to one of the other of the cab or the car frame, and when a driving current is supplied to the actuator, a horizontal electromagnetic attraction force or an electromagnetic repulsion force is generated. A magnetic pole disposed to face the actuator so as to generate the vibration, a vibration sensor for detecting a horizontal vibration of the floor of the car room, and a detection signal from each of the vibration sensors as an input signal to the car in the horizontal direction. And a controller that controls the drive of the actuator so as to reduce the vibration of the motor. Deterioration of the performance of the actuator is small.
As a result, it is possible to obtain an elevator horizontal vibration damping device having good control characteristics, easy maintenance, and high reliability.

According to the second aspect of the present invention, the vibration damping device according to the first aspect of the present invention is also provided in an opposing space between the ceiling of the cab and the upper portion of the car frame. The horizontal vibration can be reduced without rotating the car room.

According to the fourth aspect of the present invention, the plurality of magnetic attraction type actuators are arranged in combination so as to exert a force of two axes of translation and one axis of rotation of the cab. Thus, it is possible to obtain an elevator vibration damping device capable of effectively reducing the vibration of the elevator.

According to the fifth aspect of the present invention, two sets of the magnetic attraction type actuators are combined so as to exert a couple with respect to the suspension center point of the car frame, and two sets are arranged orthogonally. Cab translation 2
Since the shaft and the rotation are combined so as to generate a single-axis force, it is possible to obtain an elevator vibration damping device having a small number of components and capable of reducing costs.

Further, according to the invention described in claim 6, the controller receives the detection signal of the displacement sensor for measuring the gap between the coil of the magnetic attraction type actuator and the magnetic pole and the detection signal of the vibration sensor as the input signal, and Since the control signal for driving the magnetic attraction type actuator is generated, the characteristics of the magnetic attraction type actuator are optimized, and an elevator vibration damping device having good control characteristics can be obtained.

According to the seventh aspect of the present invention, the magnetic attraction type actuator has a coil wound around an annular iron core, and when a driving current flows through the coil, the actuator faces the coil. Since the magnetic poles arranged so as to be attracted are attracted, the structure is simple and easy to mount. Therefore, it is possible to obtain a low-cost, easy-to-maintain and highly reliable elevator damping device.

According to the eighth aspect of the present invention, the electromagnetic attraction force and the electromagnetic repulsion force are provided in a space facing the lower part of the floor of the car and the lower part of the car frame supporting the car through rubber cushions. The two magnetic actuators are combined to form a pair, and one magnetic actuator of the pair is fixed to either the cab or the car frame, and the other magnetic actuator of the pair is formed. An actuator is fixed to one of the cab and the car frame, and two pairs of magnetic actuators are arranged in opposition as two pairs, and a vibration sensor for detecting horizontal vibration of the floor of the cab And a controller that drives and controls the two pairs of actuators so as to reduce the horizontal vibration of the car room using the detection signal of each of the vibration sensors as an input signal. A structure in which friction and wear do not occur in a non-contact, it is less the performance of the magnetic actuator is changed due to aging. As a result, it is possible to obtain an elevator horizontal vibration damping device having good control characteristics, easy maintenance, and high reliability.

According to the ninth aspect of the present invention, a guide rail for guiding the elevation of a car frame provided on both sides of an elevator, and a magnetic attraction force is generated on the guide rail, thereby forming the car frame. A magnetic guide device provided with a set of magnetic attraction type actuators for maintaining a non-contact state, a displacement sensor for detecting a displacement of the guide rail, and a horizontal vibration of the car room as a detection signal of the displacement sensor as an input signal And a controller for generating a control signal for the set of actuators so as to reduce the accuracy of the guide rails 3, thereby making it possible to reduce the accuracy of the guide rails 3 and reduce the cost. A comfortable elevator damping device can be obtained.

According to the tenth aspect of the present invention, since the vibration damping device according to the first or second aspect is used in combination with the vibration damping device according to the ninth aspect, it is possible to further raise and lower the vehicle at an ultra-high speed and improve the riding comfort. A good elevator damping device can be obtained.

According to the eleventh aspect of the present invention, since the guide rail has a V-shape, it is possible to obtain a vibration damping device for an elevator which realizes further reduction in cost.

[Brief description of the drawings]

FIG. 1 is a front view of an elevator including a vibration damping device according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram schematically showing a control system in the vibration damping device for the elevator according to the first embodiment of the present invention.

FIG. 3 is a bottom view of an elevator including a vibration damping device according to Embodiment 2 of the present invention.

FIG. 4 is a bottom view of an elevator including a vibration damping device according to Embodiment 3 of the present invention.

FIG. 5 is a bottom view of an elevator including a vibration damping device according to Embodiment 4 of the present invention.

FIG. 6 is a block diagram illustrating a driving method of an elevator vibration damping device according to Embodiment 4 of the present invention.

FIG. 7 is a front view of an elevator including a vibration damping device according to Embodiment 5 of the present invention.

FIG. 8 is a bottom view of an elevator including a vibration damping device according to Embodiment 6 of the present invention.

FIG. 9 is a bottom view of an elevator including a vibration damping device according to Embodiment 7 of the present invention.

FIG. 10 is a perspective view of an elevator including a vibration damping device according to Embodiment 8 of the present invention.

11 is an enlarged view of a portion A in FIG.

FIG. 12 is an enlarged view of a portion B in FIG.

FIG. 13 is a perspective view of an elevator including a vibration damping device according to Embodiment 9 of the present invention.

FIG. 14 is an enlarged view of a portion C in FIG.

FIG. 15 is an enlarged view of a portion D in FIG.

FIG. 16 is a front view of an elevator provided with a conventional vibration damping device.

[Explanation of symbols]

1 car room, 2 car frames, 3 guide rails, 4 main ropes, 7 and 8 anti-vibration rubber, 10 cars, 58 and 59 vibration sensors, 61 controllers, 65 vibration dampers, 70
a-70d Iron core, 71a-71d Coil, 72a-
72d, 72A to 72D magnetic actuator, 73a
73d, 73A to 73D Magnetic poles, 74a to 74d, 7
4A to 74D displacement sensor, 75 iron core, 76 magnetic poles,
77a-77h coil, 78a-78h displacement sensor, 80a-80c, 80A-80C iron core, 81a-
81c, 81A to 81C coil, 82a to 82c, 8
2A-82C magnetic actuators, 84a-84c,
84A-84C Displacement sensor, 85a, 85A Magnetic guide device.

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Nao Kuraoka 2-3-2 Marunouchi, Chiyoda-ku, Tokyo F-term (reference) 3F306 AA12 CA27 CB03 CB50

Claims (11)

[Claims] In a space opposed to a lower part of a floor of a cab and a lower part of a car frame for supporting the cab through an anti-vibration rubber,
An actuator fixed to one of the cab and the car frame; and an electromagnetic attraction fixed to one of the other of the cab and the car frame in the space, and when a drive current is passed through the actuator, Magnetic poles arranged to face the actuator so as to generate force or electromagnetic repulsion; a vibration sensor for detecting horizontal vibration of the floor of the car room; and a detection signal of each of the vibration sensors as an input signal. A controller for driving and controlling the actuator so as to reduce horizontal vibration of the car room. 2. A space facing a lower part of a floor of a car and a lower part of a car frame supporting the car room via a vibration isolating rubber, and a space facing an upper part of a ceiling of the car and an upper part of the car frame. An actuator fixed to one of the cab or the car frame, and in each of the spaces, the actuator is fixed to the other of the cab or the car frame, and when a drive current is applied to the actuator, A magnetic pole disposed to face the actuator so as to generate an electromagnetic attraction force or an electromagnetic repulsion force; a vibration sensor for detecting horizontal vibration of a floor and a ceiling of the car room; and a detection of each of the vibration sensors A controller for driving and controlling the actuator so as to reduce horizontal vibration of the car room by using a signal as an input signal. Data damping device. 3. The elevator vibration damping device according to claim 1, wherein the actuator is a magnetic attraction type actuator that generates an electromagnetic attraction force. 4. The magnetic attraction type actuator according to claim 3, wherein a plurality of the magnetic attraction type actuators are arranged in combination so as to exert a two-axis translation and a one-axis rotation force of the cab. Elevator damping device. 5. The translation of the cab is performed by arranging two sets of the magnetic attraction type actuators, two sets of which are combined so as to exert a couple with respect to the suspension center point of the car frame, at right angles. 4. The vibration damping device for an elevator according to claim 3, wherein the vibration damping device is combined so as to generate two-axis and one-axis rotation forces. 6. The controller according to claim 1, wherein the controller receives a control signal for driving the magnetic attraction type actuator using a detection signal of the displacement sensor for measuring a gap between the coil of the magnetic attraction type actuator and the magnetic pole and a detection signal of the vibration sensor as input signals. The vibration damping device for an elevator according to claim 3, wherein the vibration is generated. 7. The magnetic attraction type actuator has a coil wound around an annular iron core, and when a driving current flows through the coil, attracts a magnetic pole arranged to face the coil. 4. The vibration damping device for an elevator according to claim 3, wherein the vibration damping device is configured as follows. 8. In a space facing a lower part of a floor of a cab and a lower part of a car frame supporting the cab through an anti-vibration rubber,
A pair is formed by combining two magnetic actuators so as to generate an electromagnetic attraction force and an electromagnetic repulsion force,
One magnetic actuator of the pair is fixed to either the cab or the car frame, the other magnetic actuator of the pair is fixed to the other of the cab or the car frame, and Two pairs of magnetic actuators arranged in opposition as a set, a vibration sensor for detecting horizontal vibration of the floor of the car, and a horizontal vibration of the car as a detection signal of each vibration sensor as an input signal. A controller for controlling the driving of the two pairs of actuators so as to reduce the vibration. 9. A guide rail provided on both sides of an elevator for guiding the car frame up and down, and a pair of magnetic members for holding the car frame in a non-contact state by generating a magnetic attraction to the guide rail. A magnetic guide device having a suction-type actuator, a displacement sensor for detecting displacement of the guide rail, and a set of actuators for reducing horizontal vibration of the car room by using a detection signal of the displacement sensor as an input signal. A controller for generating a control signal for the elevator. 10. A guide rail for guiding a car frame disposed on both sides of an elevator to guide the car frame up and down, and a magnetic attraction force generated on the guide rail to maintain the car frame in a non-contact state. A magnetic guide device having a suction-type actuator, a displacement sensor for detecting displacement of the guide rail, and a set of actuators for reducing horizontal vibration of the car room by using a detection signal of the displacement sensor as an input signal. 3. The elevator vibration damping device according to claim 1, further comprising a controller that generates a control signal for the elevator. 11. The elevator vibration damping device according to claim 9, wherein the guide rail has a V-shape.