JP2007238201A - Self-propelled type elevator device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled type elevator device with a short movement time making switching action of opening/closing of a grasping mechanism smooth by a motor for performing self-propelled drive arranged on a car, a trigger part for grasping/closing, and the grasping mechanism for grasping a rail while eliminating the need for another drive force such as a hydraulic device. <P>SOLUTION: The self-propelled type elevator device comprises the car 12; the drive motors 20a, 20b arranged on the car; a drive mechanism for converting rotation motion to linear motion by drive torque of the drive motor; and the grasping mechanism parts 17a, 17b for grasping the rail 11 becoming reference of movement of the car. The grasping mechanism has a grasping mechanism, i.e., a mechanism for grasping the rail; and the trigger part for grasping/closing becoming a trigger of closing action of the grasping mechanism. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a self-propelled elevator apparatus having a configuration in which a drive mechanism is mounted on a passenger car among elevator apparatuses that move up and down.

As a self-propelled elevator control device,
A first screw portion for causing a drive device for raising and lowering the car to stand in the vertical direction of the car so as to be substantially parallel to the standing direction of a guide rail provided in the hoistway, and the first screw A second screw portion that is erected in the same direction as the erection direction of the portion and is transmitted with rotational force between the first screw portion and the first screw portion and is screwed together. A first gripping portion that can be screwed in accordance with the rotation of the screw portion and can selectively grip the guide rail, and is screwed into the second screw portion and according to the rotation of the second screw portion. A second gripping portion that can be screwed in a direction opposite to the first gripping portion to selectively grip the guide rail, and at least one screw portion of the first screw portion or the second screw portion. There is a configuration including a motor that transmits rotational power to the motor (for example, see Patent Document 1).

JP 2001-171945 A (page 2-3, FIG. 1)

  The conventional self-propelled elevator control apparatus is configured as described above, but there is no detailed description of the gripping mechanism, and another driving force such as hydraulic pressure is required to drive the gripping mechanism. . Therefore, in addition to the self-propelled drive device, a hydraulic device unit and an opening / closing control panel are required for the gripping mechanism, and the entire device becomes large, which causes an increase in weight.

  In addition, as for the control method, it is necessary to synchronize the self-propelled drive and the gripping device drive well, but there is no specific description about the connection between the control device and each mechanism, and it takes time to operate each operation. There was a problem.

  The present invention has been made to solve the above-described problems, and includes a motor for self-propelled driving arranged in a car, a trigger for closing grip provided on the car, and a gripping mechanism for gripping the rail. Another object of the present invention is to obtain a self-propelled elevator apparatus that eliminates the need for another driving force such as a hydraulic apparatus, smoothes the opening / closing switching operation of the gripping mechanism, and thus has a short movement time.

A self-propelled elevator apparatus according to the present invention includes a car, a drive motor disposed in the car, a drive mechanism that converts rotational motion into linear motion by drive torque of the drive motor, and the drive mechanism. In the self-propelled elevator device that is connected and includes a gripping mechanism that grips the rail,
The gripping mechanism section includes a gripping mechanism that is a mechanism for gripping the rail, and a grip closing trigger component for closing the gripping mechanism.

  According to the present invention, another driving force such as a hydraulic device is not required, the device can be simplified, and the weight can be reduced. Further, it is possible to estimate the load state of the gripping mechanism, smooth the opening / closing switching operation of the gripping mechanism, and to obtain a self-propelled elevator apparatus with a short movement time.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
1 is a front view of a self-propelled elevator apparatus according to Embodiment 1 of the present invention, FIG. 2 is a top view, and FIG. 3 is a side view. In the drawings, each component will be described below.
First, in FIG. 1 and FIG. 2, the rail 11 is installed in the elevator hoistway, and the car 12 is composed of upper floor 12a, lower floor 12b including the car wall, upper floor support 12c, and lower floor support 12d. Become. The drive motor 20a generates drive torque, and after the drive gear 19a is directly coupled, the gear and the reduction gear 18a are engaged with each other to drive the drive shaft 13a. A lower sprocket 14a is fixed to the end of the drive shaft 13a and is connected to the upper sprocket 15a by a chain 16a. The rotary motion is converted into a linear motion by the drive torque of the drive motor. In the present invention, a mechanism composed of the drive gear, the reduction gear, the drive shaft, the lower sprocket, the chain, and the upper sprocket is referred to as a drive mechanism.

In FIG. 1, an upper guide shoe 21a, a lower guide shoe 22a, and an emergency stop device 23a are basic components that constitute an elevator, and detailed description thereof is omitted here. The upper gripping mechanism 17a is a mechanism for gripping the rail located above the car, and is connected to the end of the chain 16a. On the other hand, the lower gripping mechanism 17b is a mechanism for gripping the rail located on the lower side of the car, similarly to the upper gripping mechanism 17a. The drive motor and the drive are driven similarly to the upper gripping mechanism. Since it is driven by a mechanism, its detailed description is omitted.
In FIG. 2, a circular portion surrounded by a one-dot chain line in the drawing is enlarged and shown in a lower portion in the drawing.
The above description has been mainly made on one side part (the part arranged on the left side of FIG. 1). However, a configuration in which the same parts are arranged on the right side and the balance is maintained as shown in FIG. It is.

Next, in FIG. 3, the grip closing trigger component (movable table side) 24a (hereinafter the same) is brought into contact with the movable table 39a, thereby determining the closing operation position above the upper gripping mechanism. The gripping position of the rail is determined, and the grip closing trigger part (movable rail per side) 25a (hereinafter the same) is brought into contact with the movable rail 32a, so that the closing operation position below the upper gripping mechanism. Is determined to determine the rail grip position.
Similarly, the grip closing trigger component (movable table side) 24b (hereinafter the same) is brought into contact with the movable table 39b to determine the closing operation position above the lower gripping mechanism, thereby gripping the rail. The grip closing / closing trigger part (movable rail per side) 25b (hereinafter the same) is brought into contact with the movable rail 32b to determine the closing operation position below the lower gripping mechanism. Thus, the grip position of the rail is determined.

  4 is a front view and a side view of the gripping mechanism of the self-propelled elevator apparatus according to Embodiment 1 of the present invention. FIG. 5 is a rear view and a top view of the gripping mechanism, and the upper gripping mechanism 17a will be described. It is a figure to do. Since the lower gripping mechanism 17b has the same shape, the alphabets a and b will be omitted below. When the movable rail per 32 moves along the slide portion 41, the trigger shaft 33 penetratingly attached to the end of the movable rail per 32 comes into contact with the grip closing trigger component, and the rail 11 (see FIG. 5). As a trigger for closing operation of the gripping mechanism. At this time, the rail 11 is sandwiched between the fixed rail 34 and the movable rail 32, and a pressing force is applied by the disc spring 35. The movable rail per 32 is connected to one end of a tension 37 made of a chain or a wire, which is wound around a rotating part 36 composed of a rotating pulley, an upper sprocket or a lower sprocket, and the moving direction of the car Can move to. The other end of the tension 37 is connected to a movable table 39 that can move in the moving direction of the car along the linear guide 38. When the rotating part 36 rotates, the movable rail hits and the movable table move in directions opposite to each other along the vertical direction in the figure, which is the moving direction of the car. The rotating roller 40 is attached so as to smoothly move the gripping mechanism in the vertical direction.

  FIG. 6 is a diagram showing a closing operation of the gripping mechanism portion of the self-propelled elevator apparatus according to Embodiment 1 of the present invention by the grip closing trigger part 25 per movable rail, and FIG. The state, (b) shows the closed state where the rail is gripped. From the state of (a), when the gripping mechanism 17 moves downward and the trigger shaft 33 per movable rail 32 comes into contact with the grip closing trigger part 25 fixed to the car, the movable rail per 32 is a slide portion. It moves along 41 and it will be in the state of rail pinching (b), and rail pressing force will generate | occur | produce at this time.

Assuming that the rail pressing force is F, the car weight (including the weight of the occupant) is mg, and the angle of the slide portion 41 from the vertical is θ, the relationship is mg / F = tan θ, so the pressing force F = Mg / tan θ. When the friction coefficient between the rail and the movable rail is μ ₁ , the friction coefficient between the rail and the fixed rail is μ ₂ , and the car support load is P, P = (μ ₁ + μ ₂ ) F. For example, if θ = 10 deg and the coefficient of friction between the rail and the rail μ ₁ = μ ₂ = 0.2, the car support load P is P = 2 * μ ₁ * (mg / tan 10 deg) = 2.27 mg. Become. Therefore, in this case, the car support load (2.27 mg) is larger than the car weight (mg), and the car can be held.

  FIG. 7 is a diagram showing a closing operation by the grip closing trigger component 24 of the movable table 39 in the gripping mechanism portion of the self-propelled elevator apparatus according to Embodiment 1 of the present invention, as in FIG. (B) has shown the closed state which hold | gripped the rail. When the gripping mechanism 17 moves upward from the state (a), the movable table 39 contacts the grip closing trigger component 24 fixed to the car and moves along the linear guide 38. At this time, the movable table 39 is connected to the tension 37, and the movable rail 32 is driven upward via the rotating portion 36, and the rail is sandwiched (b). At this time, the rail pressing force F is generated. . Then, similarly to the case of FIG. 6, the car support load P becomes larger than the car weight mg, and the car can be held.

8, FIG. 9 and FIG. 10 are diagrams for explaining the vertical movement of the self-propelled elevator apparatus according to Embodiment 1 of the present invention. In each figure, the upper gripping mechanism moves up and down the position of the upper half of the car, and the lower gripping mechanism moves up and down the position of the lower half of the car. 8 shows that the upper gripping mechanism is located above the upper half stroke, the lower gripping mechanism is located below the lower half stroke, and FIG. 9 shows the upper gripping mechanism located at the center of the upper half stroke. The lower gripping mechanism is positioned at the center of the lower half stroke, FIG. 10 shows that the upper gripping mechanism is below the upper half stroke, and the lower gripping mechanism is at the lower half stroke. It is a case where it is located above.
First, in FIG. 8, the lower gripping mechanism 17b is in a closed state. The grip closing trigger component 24a is above the movable table 39a of the upper gripping mechanism 17a, and the lower sprocket 14a is driven in the a-CW direction by the drive motor 20a. Then, the grip closing operation is performed by the operation described with reference to FIG. 7, and the load of the car is generated in the upper gripping mechanism 17a.
On the other hand, the lower gripping mechanism 17b is located on the lower side, and when the lower sprocket 14b is driven in the b-CCW direction by the drive motor 20b, the load on the lower gripping mechanism 17b is released and the lower sprocket 14b opens. become. By this operation, the entire load is applied to the upper gripping mechanism 17a. As a result, the car is moved upward by driving the lower sprocket 14a to a-CCW with the upper gripping mechanism 17a as a fulcrum. At this time, the lower sprocket 14b is driven in the b-CCW direction.

  Then, the state shown in FIG. 9 is obtained. At this time, the upper gripping mechanism 17a is closed, the lower gripping mechanism 17b is opened, and the car is moved upward. When further moved, the grip closing trigger component 25a approaches the lower side of the upper gripping mechanism 17a. On the other hand, the lower gripping mechanism 17b moves in the open state, and the grip closing trigger component 24b approaches the upper side of the lower gripping mechanism 17b, and finally comes to the position shown in FIG. Then, the lower gripping mechanism 17b is closed by the operation described with reference to FIG. 7, and a load on the car is generated in the lower gripping mechanism 17b. Then, by driving the lower sprocket 14a that drives the upper gripping mechanism 17a in the a-CW direction, the load on the upper gripping mechanism 17a is released and the opening operation is performed. Thereby, the total load is applied to the lower gripping mechanism 17b. As a result, the car is moved upward by driving the lower sprocket 14b to b-CW with the lower gripping mechanism 17b as a fulcrum. At this time, the lower sprocket 14b continues to drive in the b-CW direction, and the car further moves upward. By repeating such an operation, the car can continue to move upward.

Next, the descending operation will be described.
First, in FIG. 11, the upper gripping mechanism 17a is in a closed state, and the grip closing trigger component 24a is above the movable table 39a of the upper gripping mechanism 17a. On the other hand, the lower gripping mechanism 17b is located on the lower side and in the open state. When the lower sprocket 14b is driven in the b-CW direction, the operation described with reference to FIG. Is generated in the lower gripping mechanism 17b. By driving the lower sprocket 14a to a-CW, the movable table 39a of the upper gripping mechanism 17a is located below the grip closing trigger component 24a, so that the load on the upper gripping mechanism 17a is released and the opening operation is performed. Will do. As a result, the full load of the car is applied to the lower gripping mechanism 17b. At this time, since the lower gripping mechanism 17b serves as a fulcrum, the car is moved downward by driving the lower sprocket 14b to b-CCW. Thereafter, the lower sprocket 14a is driven in the a-CCW direction.

Then, a state as shown in FIG. 9 is obtained. At this time, the upper gripping mechanism 17a is opened, the lower gripping mechanism 17b is closed, and the car is moved downward. When further moved, the grip closing trigger component 25a approaches the lower side of the upper gripping mechanism 17a. On the other hand, when the lower gripping mechanism 17b moves in the closed state, the grip closing trigger component 24b approaches the upper side of the lower gripping mechanism 17b, but the grip closing trigger component 24b does not contact the movable table 39b.
On the other hand, the upper gripping mechanism 17a is closed by the operation described with reference to FIG. 6, and a load on the car is gradually generated in the upper gripping mechanism 17a. Here, by driving the lower sprocket 14b that drives the lower gripping mechanism 17b in the b-CCW direction, the movable table 39b of the lower gripping mechanism 17b is positioned below the grip closing trigger component 24b. Therefore, the load on the lower gripping mechanism 17b is released and the opening operation is performed. Thereby, the total load of the car is applied to the upper gripping mechanism 17a. At this time, since the upper gripping mechanism 17a serves as a fulcrum, the car is moved downward by driving the lower sprocket 14a to a-CW. Thereafter, the lower sprocket 14b is driven in the b-CW direction. By repeating such an operation, the car can move downward.

  As described above, according to the first embodiment, since the driving mechanism is mounted on the car and the opening / closing operation of the gripping mechanism can be switched, another driving force such as a hydraulic device is not required. As a result, the apparatus can be simplified and the weight can be reduced.

Embodiment 2. FIG.
FIG. 12 is a control block diagram including an arithmetic unit for a self-propelled elevator apparatus according to Embodiment 2 of the present invention. An arithmetic unit 51 such as a CPU generates a current command value 52a for the drive motor 20a and a current command value 52b for the drive motor 20b based on a driving command for raising and lowering the car up and down given from outside. The drive amplifiers 53a and 53b drive current to the drive motors 20a and 20b based on the current command values 52a and 52b. Current sensor values 54a and 54b for detecting current values of the respective drive motors are fed back to the respective drive amplifiers 53a and 53b. Further, the angle sensor values 55 a and 55 b by the encoders of the respective drive motors are fed back to the arithmetic unit 51.

Furthermore, the operation switching of the drive motors 20a and 20b for driving the gripping mechanism is also determined by the current sensor values 54a and 54b and the angle sensor values 55a and 55b. For example, when a drive command to change the angle is given, the angle sensor value does not change at all, and the current sensor value increases, for example, when the rated current value of the drive motor is exceeded, the gripping mechanism closes and locks. It is thought that. This state is judged by the arithmetic unit 51, the grip switching operation is performed as described in the first embodiment, and the car is moved up and down.

  As described above, according to the second embodiment, the state in which the gripping mechanism is closed and locked is determined by the arithmetic device 51 based on the angle sensor value and the current sensor value, and the first embodiment has been described. A switching operation for opening and closing the gripping mechanism can be shortened, and a self-propelled elevator apparatus with a short movement time can be obtained.

Embodiment 3 FIG.
FIG. 13 shows a flowchart for determining ascent and descent of a self-propelled elevator apparatus according to Embodiment 3 of the present invention, which is programmed in the arithmetic unit 51. FIG. 14 is a flowchart showing a driving method during ascent of the self-propelled elevator apparatus according to Embodiment 3 of the present invention. FIG. 15 is a flowchart showing a driving method during lowering of the self-propelled elevator apparatus according to Embodiment 3 of the present invention.

  Next, the operation will be described. The driving direction of the car is determined in S61 (flow chart) of FIG. 13, and the ascending command routine S62 is executed when the car is raised, and the descending command routine S63 is executed when the car is lowered.

  FIG. 14 shows a flowchart when the car is raised, and a series of operations is started by the drive command for raising in S71. First, as shown in FIG. 9, the upper and lower gripping mechanisms are in the center, the upper gripping mechanism 17a is in the open state, and the lower gripping mechanism 17b is in the closed state to grip the rail. In S72, the lower sprocket 14b is driven in the b-CW direction, and the lower sprocket 14a is driven in the a-CW direction. Then, since the lower gripping mechanism 17b is in a closed state, the car rises with this as the force application point.

  Next, the upper gripping mechanism 17a moves to the upper end, and the lower gripping mechanism 17b moves to the lower end, resulting in a state as shown in FIG. At this time, the displacement of each gripping mechanism is obtained based on the angle sensor values 55a and 55b or by a position sensor that directly senses the positions of the upper gripping mechanism 17a and the lower gripping mechanism 17b. Based on this value, the determination unit shown in S73 determines whether the movement of the upper gripping mechanism 17a to the predetermined upper end and the movement of the lower gripping mechanism 17b to the predetermined lower end have been completed. . If the result is Yes, the process proceeds to the next S74, and if No, the process returns to S72 to give a command to the drive motors 20a, 20b to drive the lower sprockets 14a, 14b.

  In S74, it is determined whether the current sensor value of the drive motor 20a that drives the upper gripping mechanism 17a is a predetermined value or more and the current sensor value of the drive motor 20b that drives the lower gripping mechanism 17b is a predetermined value or more. judge. If Yes, it is determined that each gripping mechanism is closed and gripping is performed, and the process proceeds to the next S75. If No, the process returns to S72 to drive the lower sprockets 14a and 14b to the drive motors 20a and 20b. Give a directive.

  In S75, by driving the lower sprocket 14b in the b-CCW direction, the lower gripping mechanism 17b is opened and no load is applied, and the entire load of the car is applied to the upper gripping mechanism 17a. Then, by driving the lower sprocket 14a in the a-CCW direction in S76, the car is further raised with the upper gripping mechanism 17a as a fulcrum.

  By performing the same control, the state of FIG. 9 → FIG. 8 → FIG. 9 → FIG. 10 → FIG. 9 is repeated, and the gripping of the upper gripping mechanism 17a and the lower gripping mechanism 17b is performed alternately. Can rise. As described above, two sets of gripping mechanism sections are arranged to realize a gripping change operation, and the car can be continuously moved upward by repeating this operation.

On the other hand, FIG. 15 shows a flowchart when the car is lowered, and a series of operations is started by a descent drive command in S81. First, as shown in FIG. 9, the upper and lower gripping mechanisms are in the center, the lower gripping mechanism 17b is in the open state, and the upper gripping mechanism 17a is in the closed state to grip the rail 11. In S82, the lower sprocket 14a is driven in the a-CW direction, and the lower sprocket 14b is driven in the b-CW direction. Then, since the upper gripping mechanism 17a is in the closed state, the car is lowered with this as the point of action of the force.

  Next, the upper gripping mechanism 17a moves to the upper end, and the lower gripping mechanism 17b moves to the lower end, resulting in a state as shown in FIG. At this time, the positions of the upper gripping mechanism 17a and the lower gripping mechanism 17b are calculated from the angle sensor values 55a and 55b of the drive motor, and a predetermined displacement of each gripping mechanism is obtained. Based on this value, the determination unit shown in S83 moves the upper gripping mechanism 17a to a position (approximately 10 cm) before reaching the predetermined grip closing trigger part 24a and the upper gripping mechanism 17b in advance. It is determined whether the movement to the defined lower end is completed. If the result is Yes, the process proceeds to the next S84, and if No, the process returns to S82 to give an instruction to the drive motors 20a, 20b to drive the lower sprockets 14a, 14b.

  In S84, it is determined whether or not the current sensor value of the drive motor 20b that drives the lower gripping mechanism 17b is a predetermined value or more. If Yes, it is determined that the lower gripping mechanism 17b is closed and performing the gripping operation, and the process proceeds to the next S85, and if No, the process returns to S82 to drive the lower sprockets 14a and 14b. , 20b.

  In S85, by driving the lower sprocket 14a in the a-CW direction, the upper gripping mechanism 17a is opened and no load is applied, and the entire load of the car is applied to the lower gripping mechanism 17b. Then, by driving the lower sprocket 14b in the b-CCW direction in S86, the car is further lowered with the lower gripping mechanism 17b as a fulcrum. In S87, the lower sprocket 14a is driven in the a-CCW direction to prepare for the next operation.

  By performing the same control, the state of FIG. 9 → FIG. 11 → FIG. 9 → FIG. 10 → FIG. 9 is repeated, and the gripping of the upper gripping mechanism 17a and the lower gripping mechanism 17b is performed alternately. Can descend. As described above, two sets of gripping mechanism sections are arranged to realize a gripping change operation, and the car can be continuously moved downward by repeating this operation.

  Inside the arithmetic unit 51, feedback control of the angle sensor values 55a and 55b is performed, and the switching between the above-described lifting and lowering operations is programmed.

  In the above, the method of obtaining the predetermined displacement of the gripping mechanism by calculation from the angle sensor value has been described, but not limited to this, even if a sensor that directly measures the position of the gripping mechanism such as a laser displacement meter is used, Alternatively, the position of the closing operation may be determined by arranging a switch such as a photo interrupter at a position where the gripping operation is desired. Further, although the locked state is determined based on the current sensor value, a load sensor may be disposed per movable rail in the gripping mechanism, and the locked state may be determined based on the load value.

  As described above, according to the third embodiment, a self-propelled elevator apparatus having a short movement time can be obtained by switching up and down and moving smoothly by combining the driving mechanism and the arithmetic unit. be able to.

1 is a front view of a self-propelled elevator apparatus according to Embodiment 1 of the present invention. 1 is a top view of a self-propelled elevator apparatus according to Embodiment 1 of the present invention. 1 is a side view of a self-propelled elevator apparatus according to Embodiment 1 of the present invention. It is the front view and side view about the holding | grip mechanism of the self-propelled elevator apparatus by Embodiment 1 of this invention. It is the rear view and top view about the holding | grip mechanism of the self-propelled elevator apparatus by Embodiment 1 of this invention. The closing operation by the grip closing trigger component is shown for the gripping mechanism portion of the self-propelled elevator apparatus according to Embodiment 1 of the present invention. It is a figure for demonstrating the closing operation | movement of another grip closing trigger components about the holding | grip mechanism part of the self-propelled elevator apparatus by Embodiment 1 of this invention. It is a figure for demonstrating the raise operation | movement of the self-propelled elevator apparatus by Embodiment 1 of this invention, and the upper holding mechanism is located above and the lower holding mechanism is located below. It is a figure for demonstrating the raising / lowering of the self-propelled elevator apparatus by Embodiment 1 of this invention, and the upper holding mechanism is located in the center, and the lower holding mechanism is located in the center. It is a figure for demonstrating the up-down raising / lowering of the self-propelled elevator apparatus by Embodiment 1 of this invention, and the upper holding mechanism is located below and the lower holding mechanism is located upward. It is a figure for demonstrating the fall | descending operation | movement of the self-propelled elevator apparatus by Embodiment 1 of this invention, and the upper holding mechanism is located upwards and the lower holding mechanism is located below. It is a control block diagram containing the arithmetic unit of the self-propelled elevator apparatus by Embodiment 2 of this invention. It is a flowchart figure which determines the raise and descent | fall of the self-propelled elevator apparatus by Embodiment 3 of this invention. It is a flowchart figure which shows the drive method at the time of a raise of the self-propelled elevator apparatus by Embodiment 3 of this invention. It is a flowchart figure which shows the drive method at the time of the fall of the self-propelled elevator apparatus by Embodiment 3 of this invention.

Explanation of symbols

11 Rail, 12 Car, 12a Upper floor, 12b Lower floor including car wall, 12c Upper floor support, 12d Lower floor support, 13a, 13b Drive shaft, 14a, 14b Lower sprocket, 15a, 15b Upper sprocket, 16a, 16b Chain, 17a, 17b Grip mechanism, 18a, 18b Reduction gear, 19a, 19b Drive gear, 20a, 20b Drive motor, 21a Upper guide shoe, 22a Lower guide shoe, 23a Emergency stop device, 24a, 24b Grip closing trigger component ( Movable table side), 25a, 25b Gripping and closing trigger parts (per movable rail side), 32a, 32b Per movable rail, 33 Trigger shaft, 34 Per fixed rail, 35 Disc spring, 36 Rotating part, 37 Tension, 38 Linear guide , 39a, 39b Movable table, 40 rotating rollers, 4 1 Slide part.

Claims (6)

A car, a drive motor disposed in the car, a drive mechanism that converts a rotational motion into a linear motion by a drive torque of the drive motor, a reference for movement of the car connected to the drive mechanism, and In a self-propelled elevator device consisting of a gripping mechanism that grips the rail,
The self-propelled elevator apparatus, wherein the gripping mechanism section includes a gripping mechanism that is a mechanism for gripping the rail, and a grip closing trigger component that serves as a trigger for a closing operation of the gripping mechanism. The gripping mechanism includes a movable table arranged so as to be movable in the moving direction of the car, a tension connected to the movable table at one end, a rotating part around which the tension is wound, and the other end of the tension. The self-propelled elevator apparatus according to claim 1, further comprising a movable rail connected so as to be movable in a moving direction of the car.   The self-propelled elevator apparatus according to claim 1, wherein the closing operation of the gripping mechanism is performed by bringing the gripping mechanism into contact with the grip closing trigger component.   Two sets of a drive motor, the drive mechanism, and the gripping mechanism unit are arranged, and at least one of the two sets of the gripping mechanisms installed in the gripping mechanism unit is always in a closed state. Item 4. The self-propelled elevator device according to item 3. 2. The self-propelled elevator according to claim 1, further comprising an arithmetic unit that senses a predetermined displacement of the gripping mechanism and a drive current of the drive motor to determine a lock state of the gripping mechanism and gives a drive command to the drive motor. apparatus. 2. The self-propelled elevator apparatus according to claim 1, wherein a driving command routine is made different depending on a moving direction of the car.

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