JP2013023336A - Elevator apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the following problems: rotational motion in a horizontal direction is generated in a car with a part supported by a guide rail as an axis in an elevator apparatus in which the guide rail is arranged only on one side face of the car, excessive force is applied to a guide device when the car is rotated with the guide rail as the axis, and there is the risk of damaging the guide device or the guide rail.SOLUTION: By providing the car with an active damping device comprising: movable additional mass which acts to cancel the rotational force of the car and a controller for controlling the movement of the additional mass, the rotation of the car is suppressed or stopped, and the car does not give strong rotational force to the guide device or the guide rail, consequently the damage of the guide device or the guide rail is suppressed.

Description

  The present invention relates to an elevator apparatus having a car that moves a hoistway of a building up and down to carry passengers and luggage to a use floor, and more particularly to an elevator apparatus that guides the car with a single guide rail. .

  In general, an elevator apparatus lays two dedicated guide rails over almost the entire length of the hoistway to raise and lower the car. These guide rails cause abnormal vibrations of the car if there are rail deflections or seam misalignment, and noise is generated when moving up and down. Therefore, a great deal of labor and time is spent on the rails and joints. Currently, two guide rails are laid so that there is no deviation.

  In addition, there is a problem that it is difficult to secure a space in the hoistway for laying the two guide rails, or that the layout of the devices arranged in the hoistway for laying the guide rails is restricted. It was.

  In order to solve these problems, as described in Japanese Patent No. 3995066 (Patent Document 1) and Japanese Utility Model Publication No. 62-108386 (Patent Document 2), an elevator apparatus having a single guide rail for a car is proposed. Has been.

  According to these patent documents, one guide rail is attached and laid on the wall surface of the hoistway so as to face one side surface orthogonal to the door of the car. In this way, the two guide rails located on both sides of the car can be reduced to one, and the effect of reducing a great amount of labor and time required for laying the guide rail, and the hoistway It was possible to solve the problems that it was difficult to secure the internal space or that the layout of the devices arranged in the hoistway for laying the guide rails was restricted.

Japanese Patent No. 3995066 Japanese Utility Model Publication No. 62-108386

  However, if the guide rail is arranged only on one side of the car to guide the car, the other side of the car is not supported by the guide rail. There is a possibility that a rotational movement in the direction perpendicular to the guide rail as an axis, that is, a horizontal direction, is generated in the car. When the car rotates around the guide rail and an excessive force is applied to the guide device guided by the guide rail, the guide device or the guide rail may be damaged.

  For example, in the elevator apparatus described in Patent Document 1, when the elevator car is strongly shaken greatly by an earthquake or the like, or when the car is strongly shaken by the movement of a passenger in the car, The force (particularly the moment around the guide rail) is received by the slider and the guide rail, which are guide devices, and they may be damaged in the worst case.

  Similarly, in the elevator apparatus described in Patent Document 2, when the car is strongly swayed sideways by an earthquake or a passenger, the rotating force is received by the slider and the guide rail which are guide devices. These can be damaged.

  Further, when the height of the building is high, such as a high-rise building or a tower apartment, the rolling of the building due to the earthquake is increased, so that it is expected that the rotational force of the cage applied to the guide device and the guide rail will also increase.

  The object of the present invention is to suppress the rotational force acting on the car that has been generated when the number of guide rails of the car is one, so that the guide rail and the guide device are damaged due to the car's rotational force. It is in providing the elevator apparatus which does not have.

  A feature of the present invention is an elevator apparatus configured to guide a car to one guide rail laid on a hoistway wall surface and the guide rail via a guide apparatus. An active type vibration damping device comprising a movable movable additional mass that works to counteract this and a driving means that drives the movable additional mass is mounted on the car.

  Since the movable additional mass is driven and controlled so as to cancel the rotational force of the car, even if the car tries to rotate, the rotation of the car is suppressed or stopped, and the car is attached to the guide device or guide rail. Since no strong rotational force is applied, damage to the guide device or the guide rail can be suppressed.

1 is a configuration diagram illustrating an overall configuration of an elevator apparatus according to an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the damping device attached to the passenger car of the elevator apparatus which becomes one Example of this invention, and its drive control apparatus. It is a block diagram of the damping device attached to the passenger car of the elevator apparatus which becomes one Example of this invention. It is an operation | movement flowchart figure of the damping device attached to the passenger car of the elevator apparatus which becomes one Example of this invention.

  An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows the configuration of an elevator apparatus having one guide rail to which the present invention is applied.

  In FIG. 1, an elevator apparatus mainly includes a car 1 that moves up and down a hoistway, a counterweight 10 that is connected to the car 1 via a main rope 4 in a slidable manner, and a car that drives the main rope 4 to drive the car. 1 and a hoisting machine 5 for raising and lowering the counterweight 10.

  The car 1 is guided by a guide rail 3 fixed to the hoistway so as to extend in the elevating direction of the hoistway. The guide rail 3 and the car 1 are guided by the guide device 2, but only one guide rail 3 is provided in the hoistway.

  Further, the guide rail 3 has a circular cross section in the present embodiment, and the guide portion of the guide device 2 has a complementary circular shape that matches the shape of the guide rail 3. The main rope 4 fixed to the car 1 is fixed to the counterweight 10 via the sheave 6 and the pulley 7 of the hoisting machine 5. Here, the hoisting machine 5, the pulley 7 and the like are fixed to a beam stretched around the top of the hoistway.

  Further, the counterweight 10 is configured to be guided to the counterweight guide rail 8 via the roller 9. The guide rail 8 is also attached to the hoistway or is attached to the beam to guide the counterweight 10.

  An active vibration damping device 28 is provided at the bottom of the car 1, and this is because the main rope 4 is fixed to the upper part of the car 1. However, if the main rope 4 passes through a pulley provided at the bottom of the car 1, the active vibration damping device 28 is provided at the ceiling of the car 1.

  FIG. 2 is mainly for explaining the configuration of the active vibration damping device 28 of the elevator apparatus shown in FIG.

  In FIG. 2, the main rope 4 is fixed to the upper portion of the car 1 via the thimble rod spring 11 as described above.

  A guide device 2 is attached to one side surface 1A of the car 1, and the guide device 2 is provided above and below the car 1. Here, one side surface 1A of the car 1 refers to a side surface orthogonal to the open / close door of the car 1. The guide device 2 may be configured such that it can be guided using a bearing, a roller, or the like so that it can rotate smoothly without receiving frictional resistance with the guide rail 3.

  One or both of the guide devices 2 are provided with an emergency stop device 12. In this embodiment, the safety device 12 is provided in the lower guide device 2 and is provided for the purpose of safety measures when the car 1 descends at an abnormal speed. The emergency stop device 12 includes a brake having a friction material therein, and when the car 1 descends at an abnormal speed, the control device (not shown) strongly presses the friction material against the guide rail 3 to thereby raise the car 1. Has the function of braking

  Here, since the guide rail 3 has a circular shape, the friction material is also formed in a complementary circular shape corresponding to the friction material. For example, a braking force can be obtained between the guide rail 3 and the friction agent by dividing the friction material into two and sandwiching the guide rail 3 with a gap therebetween.

  As described above, since the cross section of the guide rail 3 is circular in this embodiment, the guide portion of the guide device 2 has a complementary circular shape that matches the shape of the guide rail 3.

  An active vibration damping device 28 is provided at the bottom of the car 1, and this has a function of suppressing or stopping the rotation of the car 1 in the horizontal direction. The movable additional mass 15 as the main element constituting the active vibration damping device 28, the damping element 19 and the spring element 20 constituting the passive vibration damping device, and mass driving means for driving and controlling the movable additional mass 15 Since the vibration damping effect is greater when 18 and the like are arranged away from the guide rail 3, in this embodiment, they are arranged close to the other side 1B of the car 1 opposite to the side 1A. It is.

  It is preferable to dispose at least the center of gravity of the car 1 when viewed in the radial direction from the rotation center (= guide rail) of the car 1.

  Further, a rotation angle sensor 13 and a roller 14 are integrally fixed in the vicinity of one side surface 1A of the car 1, in the present embodiment, at the bottom of the car 1. The roller 14 is configured to come into contact with the guide rail 3 under the lower guide device 2 and detects the rotational movement of the roller 14 by the rotation angle sensor 13, and as a result, detects the rotation of the car 1. Furthermore, it is used to obtain a signal representing the angular velocity of the car 1 with respect to the guide rail 3.

  As shown in FIG. 3, the active vibration damping device 28 excluding the rotation angle sensor 13 is a box-like shape that is fixed at the bottom of the car 1 and around ½ L of the length L of the bottom of the other side surface 1B. Is housed in the housing 30 of the machine.

  A movable additional mass 15 in the housing 30, a wheel 16 that is a guide means for moving the movable additional mass 15 on a guide rail (not shown), and a displacement for detecting a displacement amount of the movable additional mass 15. A sensor 17, a mass driving means 18 for driving and controlling the movable additional mass 15, a damping element 19 and a spring element 20 constituting a passive vibration damping device, and the like are housed.

  Here, the movable additional mass driving means 18 may be, for example, an electric driving means, a hydraulic driving means or a pneumatic driving means, but preferably an electric driving means is used in this embodiment in consideration of responsiveness. .

  The active vibration damping device 28 may be provided with only the mass driving means 18 without the damping element 19 and the spring element 20 constituting the passive vibration damping device.

  However, the active damping device 28 is provided with the damping element 19 and the spring element 20 together with the mass driving means 18, so that even when the movable additional mass 15 cannot be actively driven, such as during a power failure, these damping element 19 and spring The effect of suppressing the vibration of the car to some extent can be expected by the effect of the passive element of the element 20.

  The movable additional mass 15 basically has only to be moved in a direction in which vibration suppression is desired. In this embodiment, the movable additional mass 15 is a direction in which the rotational force of the car 1 works, that is, a plane orthogonal to the guide rail 3 (= approximately a horizontal plane) and a guide. If the guide rail of the wheel 16 provided on the bottom surface of the housing 30 is made to coincide with this direction, the movable additional mass can be moved in the direction that coincides with the tangent of the rotation locus of the car 1 centering on the rail 3. 15 also moves along this.

  Actually, if a guide rail for guiding the wheel 16 is laid in parallel with the one side surface 1A of the car 1, the movable additional mass 15 can be guided along this.

  A displacement sensor 17 that measures the displacement of the movable additional mass 15 is attached to a part of the housing 30, and this displacement sensor 17 is a sensor having a function of measuring how much the movable additional mass 15 has moved. Thus, it is used to obtain a signal representing the horizontal displacement of the movable additional mass 15 relative to the car 1.

  The configuration of the car 1 according to the embodiment of the present invention has been described above. Next, the control of the active vibration damping device 28 will be described.

  In FIG. 2, reference numeral 29 is a control device for driving and controlling the mass driving means 18 of the active vibration damping device 28, and this control device 29 is built in the housing 30.

  In the present embodiment, the active vibration damping device 28 and the control device 29 are integrally housed in the housing 30, so that both the adaptation work in the production process and the inspection and repair work in the use process can be performed. It can be expected to be easy.

  The control device 29 basically detects the rotation angle signal A from the rotation angle sensor 13 that detects the rotation ratio of the car 1 with respect to the guide rail 3 and the displacement that detects the horizontal displacement of the movable additional mass 15 with respect to the car 1. A displacement signal C from the sensor 17 is given as an input. In addition to this, it goes without saying that an approach of performing more effective vibration suppression control by supplying an additional sensor signal as an input to the control device 29 may be adopted.

  The rotation angle signal A input to the control device 29 is branched into two, one is directly input to the gain setting unit 23, and the other is input to the differential operation unit 21, so that the angular velocity of the car 1 with respect to the guide rail 3 is increased. Is input to the gain setting unit 24 after being converted into an angular velocity signal B representing.

  Further, the displacement signal A is branched into two, one is directly input to the gain setting unit 25, and one is input to the differentiation calculator 22, and an additional mass velocity signal D representing the horizontal velocity of the movable additional mass 15 is obtained. Is input to the gain setting device 26.

  Accordingly, a closed loop of a vibration system around the guide rail 3 of the car 1 and a closed loop system of a displacement system of the movable additional mass 15 are formed, and the gain setting unit 23 to the gain setting so that stable vibration control performance can be obtained. So that the control signal E for controlling the driving means 18 can be obtained by multiplying the gain setter 23 given in advance by the calculator 26 and adding the outputs of the gain setter 26 by the arithmetic unit 31. It has become.

  This control signal E is amplified by the amplifier 27 to become a drive signal F, which is given as power to the mass drive means 18 to drive the movable additional mass 15.

  Therefore, when an earthquake occurs during the operation of the elevator apparatus, or when a rotational force that rotates in the horizontal direction acts on the car 1 due to some passengers or uneven riding position, the rotation angle sensor 13 detects this rotation. Then, the displacement sensor 17 inputs the horizontal displacement of the movable additional mass 15 relative to the car 1 to the controller 29 by the displacement sensor 17.

  Based on these inputs, the control unit 29 including the differential calculator 21, the differential calculator 22, the gain setter 23 to the gain setter 26, the calculator 31 and the like can move the movable additional mass in a direction to suppress the rotation of the car 1. The driving means 18 serves to drive the movable additional mass 15.

  The control device 29 that performs the above operation is described as a functional block in FIG. 2, but in practice, it is generally executed using a computer such as a microcomputer. The flowchart will be described.

  In FIG. 4, in step 1 (hereinafter, “step” is abbreviated as “S”), the rotation angle sensor 13 causes a horizontal angular displacement around the guide rail 3 of the car 1, a so-called car. Detects a rotation rate of 1.

  Next, the process proceeds to S2, and the angular velocity around the guide rail 3 of the car 1 is calculated by differential calculation from the angular displacement detected in S1.

  Next, proceeding to S3, the position sensor 17 detects the horizontal displacement of the movable additional mass 15. From this displacement signal, a differential operation is performed in S4 to calculate the moving speed of the movable additional mass 15.

  Next, in S5, the angular displacement of the car 1 detected in S1 is multiplied by a predetermined feedback gain to calculate a feedback force for bringing the horizontal angular displacement of the car 1 close to zero.

  Further, the process proceeds to S6, where the angular velocity of the car 1 calculated in S2 is multiplied by a predetermined feedback gain to calculate a feedback force for bringing the horizontal angular speed of the car close to zero.

  Next, proceeding to S7, the horizontal displacement of the movable additional mass detected at S3 is multiplied by a predetermined feedback gain to calculate a feedback force for bringing the displacement of the movable additional mass 15 close to zero.

  In S8, the moving speed of the movable additional mass 15 calculated in S4 is multiplied by a predetermined feedback gain to calculate a feedback force for bringing the moving speed of the movable additional mass 15 close to zero.

  Next, proceeding to S9, the final feedback force is calculated by adding the feedback forces obtained as a result of the processing of S1 to S8.

  Finally, the process proceeds to S10 and the feedback force calculated in S9 is output to the movable mass driving means 18 to drive the movable additional mass 15 and to control the movable additional mass 15 so as to suppress the rotation of the car 1. .

  Accordingly, as in the embodiment shown in FIG. 2, an earthquake occurs during the operation of the elevator apparatus, or a rotational force that rotates horizontally in the car 1 due to some passengers, uneven riding position, etc. Then, the control device 29 using a computer such as a microcomputer works so as to drive the movable additional mass 15 by the movable additional mass driving means 18 in the direction in which the rotation of the car 1 is suppressed.

  According to the present invention, an elevator that suppresses the rotational force acting on the car that was generated when the number of guide rails of the car is one, and the guide rail and the guide device are not damaged by the car's rotational force. The theme is to get the device.

  For this reason, in the present invention, as described in the above embodiment, by providing the car 1 with the active vibration damping device 28, the rotational force acting on the car is suppressed, and the guide rail 3 by the rotational force of the car 1 is suppressed. It is possible to solve problems peculiar to an elevator apparatus with a single guide rail, such as suppressing damage to the guide apparatus 2.

  Furthermore, in the present invention, more appropriate proposals are made regarding the mutual arrangement relationship, attachment position, and the like of the active vibration damping device 28 and the car 1.

Hereafter, although it repeats, the specific proposal is demonstrated.
(1) An elevator device that guides a car through a guide device on one guide rail laid on the wall of a hoistway, and a movable addition that works to counteract this against the rotational force of the car An active vibration damping device comprising a mass and a control device for controlling the movement of the additional mass was mounted on the car. As a result, the additional mass is driven and controlled so as to cancel the rotational force of the car, so that even when the car is about to rotate, the car rotation is suppressed or stopped, and the car is guided to the guide device or guide. Since a strong rotational force is not given to the rail, damage to the guide device or the guide rail can be suppressed.

(2) An active vibration damping device is provided at the bottom of the car on the side opposite to the side of the car to which the guide device is attached. That is, since the active vibration damping device is arranged at a position away from the rotation center of the car, here, the guide rail, the vibration damping effect can be increased.
(3) The housing containing the active vibration damping device is centered around ½ L of the length L of the bottom side of the side of the car opposite to the side of the car to which the guide device is attached. It is fixed. Since the movable additional mass constituting the active vibration damping device is approximately in the vicinity of 1/2 L, the stability of the car is enhanced and the adaptation work is facilitated.

  (4) The movement of the movable additional mass is guided in parallel with the side surface of the car to which the guide device is attached. In order to suppress the rotation of the car, the direction in which the car's rotational force works, that is, the plane orthogonal to the guide rail (= almost horizontal plane), and the tangent to the rotation locus of the car 1 around the guide rail Since it is only necessary to be able to move in the matching direction, a vibration control effect can be obtained with a simple configuration.

  (5) A housing is attached to the bottom of the car, and the active vibration control device and the control device are integrally stored in the housing. For this reason, it becomes easy to perform both the fitting work in the production process and the inspection and repair work in the use process.

  (6) Since the guide device is structured so as to be able to rotate with the guide rail, the load of the force applied to the guide rail does not increase even if the lifting stroke is high. Also suitable for application.

  (7) Complementary circular frictional materials combined with circular guide rails were divided into two parts, and the guide rails were sandwiched with a gap between them. A braking force can be efficiently obtained between the guide rail and the friction agent.

  (8) The active vibration damping device is configured to include the damping element and the spring element 20 together with the mass driving means. Even when the movable additional mass cannot be actively driven, such as during a power failure, the vibration of the car can be suppressed by the effect of these damping elements and passive elements of the spring elements.

  (9) The movable additional mass driving means is configured to use electrical driving means. High responsiveness and quick vibration control of the car.

  As described above, according to the present invention, a so-called active vibration suppression system comprising a movable additional mass that works to counteract the rotational force of the car and a control device that controls the movement of this additional mass. By mounting the device on the car, the rotation of the car is suppressed or stopped even when the car tries to rotate, and the car does not give a strong rotational force to the guide device or the guide rail. It is possible to suppress the damage of the.

  In the present invention, since only one guide rail is required for the car, it can also be applied to a protruding elevator in which the opposite side of the car from the side supported by the guide rail protrudes from the wall surface. Further, as an embodiment, the explanation has been given for the elevator apparatus of one-to-one roping, but the same technique can be applied to the elevator apparatus of two-to-one roping.

  DESCRIPTION OF SYMBOLS 1 ... Ride car, 2 ... Ride car guide apparatus, 3 ... Ride side guide rail (only one), 4 ... Main rope, 5 ... Hoisting machine, 6 ... Sheave, 7 ... Pulley, 8 ... Counterweight side Guide rail, 9 ... Roller (balance weight guide device), 10 ... Balance weight, 11 ... Thimble rod spring, 12 ... Emergency stop device, 13 ... Rotation angle sensor, 14 ... Roller, 15 ... Additional mass, 16 ... Guide Means, 17 ... Position sensor, 18 ... Mass driving means, 19 ... Damping element, 20 ... Spring element, 21 and 22 ... Differential operation unit, 23 to 26 ... Feedback gain setting unit, 27 ... Amplifier, 28 ... Active vibration damping Device, 29 ... control device, 30 ... housing.

Claims (10)

A car that moves up and down in the hoistway, a guide rail that guides a guide device attached to one side of the car, a counterweight connected to the car through a main rope, In an elevator apparatus comprising a hoist that rotates a sheave around which the main rope is wound to raise and lower the riding car and the counterweight,
An active vibration damping device having at least a movable additional mass that can move so as to cancel the rotational force centered on the guide rail generated in the car and a drive unit that drives the movable additional mass is mounted on the car. An elevator apparatus characterized by that. The elevator apparatus according to claim 1, wherein the active vibration damping device includes a passive vibration damping device including a damping element and a spring element. The elevator apparatus according to claim 1, wherein the guide rail has a circular cross section, and the guide apparatus guided by the guide rail includes a guide portion that can rotate around the guide rail. Elevator equipment. A car that moves up and down in the hoistway, a guide rail that guides a guide device attached to one side of the car, a counterweight connected to the car through a main rope, In an elevator apparatus comprising a hoist that rotates a sheave around which the main rope is wound to raise and lower the riding car and the counterweight,
A box-shaped housing is fixed to the bottom of the car, and at least the movable additional mass and the movable additional that act to counteract the rotational force around the guide rail generated in the car on the housing. An elevator apparatus comprising: an active vibration damping device including a driving unit that drives mass; and a control device that generates a driving signal for driving the driving unit. 5. The elevator apparatus according to claim 4, wherein the active vibration damping device includes a passive vibration damping device including a damping element and a spring element, and the passive vibration damping device is also housed in the housing. Elevator equipment. 5. The elevator apparatus according to claim 4, wherein the housing is fixed outside the center of gravity of the car as viewed in the radial direction from at least the rotation center of the car. The elevator apparatus according to claim 6, wherein the casing is fixed to a bottom portion of a car on a side surface opposite to a side surface to which the guide device is attached. 8. The elevator apparatus according to claim 7, wherein the casing is located at a bottom portion of the car centering around 1 / 2L of a length L of a bottom side of a side surface opposite to a side surface of the car on which the guide device is attached. An elevator apparatus characterized by being fixed. 5. The elevator apparatus according to claim 4, wherein a signal indicating a rotation angle of the car with respect to the guide rail and a signal indicating a displacement of the movable additional mass with respect to the car are input to the control apparatus. Generates an drive signal of the drive means from these inputs. A car that moves up and down in the hoistway, a guide rail that guides a guide device attached to one side of the car, a counterweight connected to the car through a main rope, In an elevator apparatus comprising a hoist that rotates a sheave around which the main rope is wound to raise and lower the riding car and the counterweight,
A box-shaped housing is fixed to the bottom of the car on the side opposite to the side to which the guide device is attached, and counteracts the rotational force around the guide rail generated in the car to the car. An active vibration damping device having a movable additional mass movable in a direction substantially parallel to the side surface and a driving means for driving the movable additional mass, and a drive signal for driving the driving means An elevator apparatus characterized in that a control device is housed.

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