JP3059005B2 - Operating method of self-propelled elevator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of operating a self-propelled elevator in which two cars travel along a track laid in a two-dimensional direction in a building or a new city space.

[0002]

2. Description of the Related Art In general, most of elevators, except for a hydraulic elevator for raising and lowering a car using a hydraulic plunger and a winding drum type elevator used for a relatively small capacity area, have a car and a counterweight connected to a rope. In this method, one car is arranged on one hoistway.

[0003] Fig. 18 shows the configuration of such an elevator control device in the shape of a vine. Each guide rail (guide rail)
Each of the cars 1 and 2 is provided with a car 3 and a counterweight 4, and a rope 5 is provided between the car 3 and the counterweight 4.
Connected by A hoist 6 is provided in the machine room above the hoistway of each of the guide rails 1 and 2. The rope 5 is hung on the sheep 7 and the warp sheep 8 of the hoist 6, and the car 3 and the counterweight 4 Are connected in a sane shape. Here, the driving motor of the hoist 6 is 3
A phase induction motor is used, and as a control device thereof, an inverter device equipped with a microprocessor is widely used.

In such an elevator control apparatus, a driving force corresponding to an unbalanced load with the counterweight 4 only needs to be provided in order to cause the car 3 to travel, except for the traveling loss caused by the machine.
It has the advantage that the capacities of the driving device and the control device can be small, and since it is a system that has been widely used in the past, the technology has been established in terms of performance and safety, and its reliability is high.

However, as a future prospect, a new inter-story traffic system has been proposed to meet the demands of skyscrapers and the like, and one of the new traffic systems is that the car itself travels without using ropes. It is a self-propelled elevator.

This self-propelled elevator is a concept of an elevator system which can travel not only in the vertical direction but also in the horizontal direction. This elevator system breaks down the conventional concept of a single hoistway single car and attracts attention as an innovative technology capable of running a plurality of cars on one hoistway.

[0007]

However, in this elevator system, efficient operation control cannot be performed because there is no established operation system, and construction of the system is desired.

[0008] Therefore, the present invention provides a plurality of cars in one car.
Improvement transportation force by traveling in the same direction along the travel path of the
Not, and by effectively utilizing the traveling path space of these cab efficiency
It is an object of the present invention to provide a method of operating a self-propelled elevator capable of efficient operation control .

[0009]

SUMMARY OF THE INVENTION The present invention relates to a self-propelled elevator for forming a traveling path in a building and driving a plurality of cars to travel on the traveling path . In the driving method, the running path must correspond to each floor of the building along the vertical direction.
On the attached hoistway and the top and bottom floors of this hoistway
Each lateral direction connected to the hoistway respectively provided
A car consisting of a single track and a plurality of cars
Follow the runway in the same direction according to the internal call and the hall call on each floor.
Travel, and the lowest
When the car is on the top floor, move the other cars to the top floor
On the lateral running path connected to
When one car is on the lowest floor,
It is located on the lateral running path connected to the lower floor
Things.

[0010]

[0011]

[0012]

[0013]

An embodiment of the present invention will be described below with reference to the drawings.

(1) First, the configuration of a self-propelled elevator will be described with reference to FIG.

The carrier 11 is supported and housed therein by roller bearings 13 so that the car 12 can freely rotate. The carrier 11 travels along a guide rail 15 as a track laid on a traveling path 14 formed vertically and horizontally in a building.

The shape of the traveling path 14 is arbitrarily determined according to the height and width of the building or the purpose of use. In this embodiment, as shown in FIG. It comprises a hoistway A attached to the lower floor, and lateral running paths B and C provided on the uppermost floor and the lowest floor and connected to the hoistway A.

Returning to FIG. 1, each guide roller 16 is mounted on both sides of the carrier 11 as means for allowing the carrier 11 to travel along the guide rail 15, and these guide rollers 16 roll on the guide rail 15. It is something to do.

In order to detect the traveling position of the carrier 11, a position detecting guide roller 17 is provided to generate a pulse as the carrier 11 travels.

Further, a cushion 18 made of a spring or a cushion is attached to the upper and lower ends of the carrier 11 as a safety device for absorbing a shock in a collision with the carrier 11 of another machine.

3 to 6 show a carrier 11 and a car 12
2 is a specific configuration diagram of a driving unit of the carrier 11. FIG. The inside of the carrier 11 is formed in a cylindrical shape, and a car 12 having an outer peripheral portion formed in a cylindrical shape is rotatably supported in a vertical plane by a roller bearing 13 on the cylindrical portion.

A secondary coil 19 of a linear synchronous motor (LSM) is mounted on the base of the carrier 11. A primary coil 21 of the LSM is laid on the wall 20 facing the traveling path 14 of the building over the entire length of the traveling path 14. Then, by sequentially exciting and demagnetizing the primary coil 21, a magnetic force is generated between the primary coil 21 and the secondary coil 19, and the driving force of the carrier 11 is obtained. Further, a control device 22 for controlling the driving of the carrier 1, controlling the attitude of the car, and controlling the operation.
Is provided for each carrier 11.

The carrier 11 is provided with each brake 23 as a safety device. As a result, when the magnetic repulsion of the LSM is lost due to the fact that the power is not cut off,
The brake 23 comes into contact with the guide rail 15, and the carrier 11 is stopped at that position by the frictional force.

A door 24 is provided on the entire surface of the car 12 for getting on and off people and luggage, and is controlled by a door motor 25 to open and close. Holder 26 is the carrier 1
A hall is provided for each stop floor. The hold door 26 engages with the opening and closing operation of the door 24 of the car 12 and opens and closes at the same time.

The car 12 is physically designed to have a low center of gravity, and is freely rotated by the support of the ball bearings 13 so that the vertical direction always coincides with the direction of gravity regardless of the rotational position of the carrier 11. Can be maintained.

Further, the car 12 is provided with a gyro 27 for attitude control. The attitude control gyro 27 detects the inclination attitude of the car 12 and controls the drive of an attitude control roller 28 to constantly control the attitude of the car 2 so that it is always upside down.

In FIG. 5, reference numeral 29 denotes a floor of the car 12, and reference numeral 30 denotes an operation panel installed in the car 12. Using this operation panel 30, a passenger registers his / her destination floor. It has become something. Reference numeral 31 denotes an in-car light.

As shown in FIGS. 7 and 8, the attitude control gyro 27 detects the inclination angle and direction of the car 12 from the vertical state, and this is transmitted to the carrier 1 by the transmission circuit 32.
The data is transmitted to the control device 18 on the first side. Then, in the control device 18 on the carrier 11 side, the receiving circuit 33 incorporated therein receives the signal from the transmitting circuit 32, the attitude control unit 34 calculates the attitude of the car 12, and calculates a necessary tilt correction angle. The motor 35 has a function of supplying a current corresponding to the current to the attitude correction motor 35 to control the rotation direction and the rotation speed of the motor 35.

Further, a belt 36 is wound between the posture correcting motor 35 and the posture controlling roller 28, and the posture controlling roller 28 is rotated through the belt 36 to The attitude control is performed by rotating the riding car 12 by a required angle at a required speed.

FIG. 9 is a front view of the landing hall, showing a state where the carrier 11 is stopped on the K floor and opened. As shown in the figure, if the vehicle stops at the K floor and closes in response to the hall call from the floor K, the registered hall call is erased, the lamp of the hall call button 37 on the K floor is turned off, and a response is made. The hall lantern 38 in the direction indicated is blinked to indicate that a response has been made.

(2) Next, the operation of the self-propelled elevator configured as described above will be described.

A magnetic repulsive force generated between the primary coil 21 of the linear motor and the secondary coil 19 of the carrier 11 is controlled by sequentially exciting the primary coil 21 of the linear motor while the car 12 is rotatably supported on the carrier 11. The guide roller 6 of the carrier 11 is rolled along the guide rail 15 by the reaction force of the carrier 11 and the carrier 11 and the car 1
2 runs.

When the linear motor is stopped by stopping the energization of the primary coil 21 of the linear motor by the control unit 22, the magnetic repulsive force is demagnetized. The carrier 1 and the car 12 are stopped at a predetermined stop position due to the contact friction with the rear surface of the rail 15.

The traveling path B in the horizontal wheel direction of the traveling path 14 shown in FIG.
Or, in order to move the carrier 11 to C, the carrier 1 has to turn 90 degrees along the guide rails 15, but the car 12 inside the car 1
Will be rotated by degrees.

However, in this embodiment, since the roller bearings 13 are interposed, the car 12 always maintains a vertical state without being affected by the rotation of the carrier 11, and the horizontal wheel is maintained with the top and bottom kept constant. Traveling on the curve can be continued to enter the directional track B or C.

When the vehicle enters the horizontal traveling direction B or C on the predetermined floor and stops, the car door 24 opens and closes next.
By opening and closing the hold door 26 engaged with this,
Get on and off passengers.

During the travel of the carrier 11 and the car 12, the position detecting guide rollers 17 roll along with their travel to generate pulses, which are received by the control device 22 and received by the control device 22 according to the travel distance. Career 1 by count
The positions of the car 1 and the car 12 are calculated and used for position control.

Next, the operation of the attitude control gyro 27 will be described.

The signal is transmitted wirelessly to the attitude control unit 34 in the control device 22 installed in the car 12. Attitude control unit 34
Determines the degree of horizontal inclination of the floor 29 of the car 12 in consideration of the posture detection signal from the gyro 27 and the acceleration during the lateral running. Then, in accordance with the determined horizontal inclination, the attitude control unit 34 controls the attitude control stepping motor 3.
By controlling the rotation direction and the rotation speed of the motor 5 and transmitting the rotation of the motor 35 to the attitude control roller 28, the attitude of the car 12 is controlled so as to always maintain the attitude matching the direction of gravity.

Next, when the vehicle enters the horizontal road B or C from the hoistway A on the traveling path 14 shown in FIG. An operation for analyzing the force acting on the passenger and controlling the posture will be described.

FIG. 10 shows the horizontal speed of the carrier 11 in the curved portion. When the curvature of the curved portion is constant and when the carrier 11 rotates at a constant speed v, the angular speed ω of the carrier 11 is represented by the horizontal speed vh of the carrier 11. Is as follows: vh = v sinωt (1), and the horizontal acceleration dvh / dt of the carrier 11 is dvh / dt = ωv cosωt (2), which is a curve as shown in FIG.

If the degree of horizontal inclination θ of the car floor 29 is determined so that the same acceleration as that in the horizontal direction is generated for the passenger, the riding comfort is improved.

FIG. 12 shows the force when the car floor 29 is inclined by θ °, and the horizontal acceleration αh of the passenger is represented by αh = gtanθ = dvh / dt = ωvcosωt (3) When θ << 1, θ = tan θ = (ωv / g) cosωt = v cosωt (4)

FIG. 13 shows the relationship between the horizontal inclination θ and the speed of the attitude control motor 35.
If the speed of 5 is vm,

[0044]

(Equation 1)

Vm = 2πr (dθ / dt) = 2πr sinωt (6)

Therefore, by controlling the speed of the attitude control motor 35 according to the equation (6), the horizontal inclination θ of the car floor 29 is controlled, and the lateral force acting on the passenger on the curved portion of the traveling path 14 is obtained. Can be alleviated and the riding comfort can be improved.

(3) Next, a method of operating the self-propelled elevator will be described with reference to FIGS.

This driving method is a basic running pattern when two carriers 11, that is, cars Q1 and Q2 are run, and in this case, both cars run in the same direction to avoid collision with each other. It has become. In addition, the two cars Q1, Q2 are registered car calls, respectively.
Drive according to the hall call from each floor.

(A) As shown in FIG. 14, when the preceding car Q1 is on the fourth floor and the succeeding car Q2 is on the second floor and is rising together, a landing call from each floor, for example, 6 When the hall call button 37 on the floor is operated to generate a hall call, the car Q1 responds to the hall call and stops at the sixth floor.

In this case, if the preceding car Q1 is full, this car Q1 passes without responding to the hall call from the sixth floor, and the succeeding car Q1 makes a hall call from the sixth floor. Stop in response to

Until the full state is released, the car Q1 stops at the registered floor only in response to the call within the car and stops at the seventh floor of the top floor until the full state is released. .

(B) Next, as shown in FIG. 15, the preceding car Q1 is on the third floor, and the following car Q2 is on the second floor and rises together. When a landing call is generated by operating 37, when the preceding car Q1 stops at the fifth floor in response, the following car Q2 must wait for the departure of car Q1 from the fifth floor. .

As described above, when the distance between the cars Q1 and Q2 approaches, for example, the distance between the adjacent floors is
The preceding car Q1 passes without responding to the hall call from the fifth floor, and the succeeding car Q2 stops in response to the hall call from the fifth floor.

In this case, the preceding car Q1 stops in response to the next registered car call or a hall call from the preceding floor in the traveling direction. In addition, it stops even if there is no landing call for the top floor.

(C) Next, a driving method when the number of users is low is described.

This driving method is a basic running pattern when one of the cars, for example, car Q2, is at rest on the top floor or the bottom floor.

For example, as shown in FIG. 16, the car Q2 stops on the lateral traveling path C on the lowest floor and the car Q1
When a landing call is generated from the fifth floor in a state where the vehicle is in the driving state, the car Q1 responds to this landing call.

In this case, as shown in FIG.
When the hall call is generated from the fourth floor that has already passed while the 1 is on the fifth floor and is in the ascending state, the suspended car Q2 restarts the operation and responds to the hall call from the fourth floor. . That is, as shown in FIG.
Car Q1 located at the top of Q1 and Q2
If it is located on the lowest floor, the other car Q2 will be on the lowest floor
It is located on the connected lateral traveling path C, and
When the lowest car is on the top floor
Ranks other cars on the lateral track connected to the top floor
Will be placed.

As described above, in the above embodiment, two
Cars Q1 and Q2 in the car and hall calls on each floor
Travel in the same direction according to the
If the car you want to ride is on the top floor,
Located on the lateral running path connected to the top floor,
If the car is located on the lowest floor, it will be another car
Make sure you are located on a lateral runway connected to the lowest floor
Therefore, it is possible to establish a driving method in which the two cars Q1 and Q2 travel on a track, and efficient driving control for the user can be performed by this driving method. For example, when the preceding car Q1 is full or the following car Q2 is in a state of waiting for departure, the preceding car Q1
Is passed in response to the hall call, and the subsequent car Q2 is made to respond to the hall call, so that efficient operation control can be performed.

When the car is idle, one of the cars Q2 is stopped on the top floor or the lowest floor, so that the cars Q1 and Q2 are not run unnecessarily, and energy can be saved. In this case as well, if there is a hall call from the passing floor of the driving car, the driving of the stopped car Q2 is restarted, so that the user can wait without waiting and efficient operation control can be performed.

Further, the space for driving each car Q1 and Q2 only needs to have space for two cars on the top floor and the lowest floor and one car on the middle floor, such as a landing door on each floor. Since only one hoistway article needs to be provided on the intermediate floor, it is advantageous in terms of space and cost.

The present invention is not limited to the above embodiment, but may be modified within the scope of the invention.

[0063]

As described in detail above, according to the present invention, multiple
Self-propelled elevator several cars of the car is traveling in the same direction along one travel path to improve the transport force, and can be effectively utilized to efficient operation controls the running path space of cab Driving method can be provided.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a self-propelled elevator applied to a method of operating a self-propelled elevator according to the present invention.

FIG. 2 is a diagram showing a traveling path of the self-propelled elevator.

FIG. 3 is a plan view showing a carrier and a car in the self-propelled elevator.

FIG. 4 is a front view showing a carrier and a car in the self-propelled elevator.

FIG. 5 is a plan view showing a carrier and a car in the self-propelled elevator.

FIG. 6 is a front view showing a carrier and a car in the self-propelled elevator.

FIG. 7 is a configuration diagram of a car attitude control device in the self-propelled elevator.

FIG. 8 is a configuration diagram of a car attitude control device in the self-propelled elevator.

FIG. 9 is a view showing an elevator hall applied to the self-propelled elevator.

FIG. 10 is a view for explaining a horizontal speed of a carrier in a curved portion of a traveling path of the self-propelled elevator.

FIG. 11 is a diagram showing a horizontal acceleration of a carrier in a curved portion of a traveling path of the self-propelled elevator.

FIG. 12 is a view showing a force acting on a car floor in a curved portion of a traveling path of the self-propelled elevator.

FIG. 13 is a diagram showing the relationship between the degree of horizontal inclination of the car floor and the speed of the attitude control motor in the curved section of the traveling path of the self-propelled elevator.

FIG. 14 is a diagram for explaining an example of an operation method of the self-propelled elevator.

FIG. 15 is a diagram for explaining an example of an operation method of the self-propelled elevator.

FIG. 16 is a diagram for explaining an example of an operation method of the self-propelled elevator.

FIG. 17 is a view for explaining an example of an operation method of the self-propelled elevator.

FIG. 18 is a configuration diagram of a hanging elevator control device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 ... Carrier, 12 ... Car, 13 ... Roller bearing, 14 ... Traveling path, 15 ... Guide rail, 16 ... Guide roller, 17 ... Position detection guide roller, 18 ... Buffer, 19 ... LSM secondary side coil, 21: LSM primary coil, 22: control device, 23: brake, 24: door,
25 ... door motor, 26 ... holder, 27 ... posture control gyro, 30 ... operation panel, 32 ... transmission circuit, 33 ... receiving circuit, 34 ... posture control unit, 35 ... posture correction motor,
36 ... belt, 37 ... hall call button, 38 ... hall lantern.

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-2-110088 (JP, A) JP-A-3-297783 (JP, A) JP-A-3-279187 (JP, A) JP-A-62-1987 275987 (JP, A) Japanese Utility Model Showa 61-148875 (JP, U) Japanese Utility Model Utility Model Hei 3-12871 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B66B 1/00-9 / 193

Claims (1)

(57) [Claims] 1. A forming a travel path in the building, method of operating a self-propelled elevator for running a plurality of the car to self the traveling path <br/>, the travel path, the construction Along each floor of the object
And the top floor and bottom of this hoistway
Provided for each floor and connected to the hoistway
Each of the plurality of cars is composed of one car for each lateral traveling path, and the plurality of cars are called in the car and landings on each floor.
The vehicle travels in the same direction in accordance with the
The car located at the lowest position in the travel path is
When located on the top floor, connect the other cars to the top floor.
Located on the lateral running path,
When the car is located on the lowest floor,
Position the car on the lateral runway connected to the lowest floor
A method for operating a self-propelled elevator, characterized in that the method is as follows.