JPH0323185A - Vibration-damping device for elevator - Google Patents

Abstract

PURPOSE:To make it possible to travel an elevator stably at a high speed without producing its lateral swing movement by providing a compliance control unit between a cage and its rail engagement member so that the sum of the lateral movement of the cage and the compliance value of a rail may come roughly to a constant. CONSTITUTION:A platform suspended by means of a main rope 1 is connected to an upper connecting frame 11 above the platform through a vibration-proof rubber 15. A rail engagement member 7 is provided on each of both sides of the upper connecting frame 11 through a vibration-proof rubber 13 to guide a cage along a pair of rails 9. A compliance control unit 31 consisting of an upper longitudinally driving actuator 17 and an upper transversely driving actuator 20 is mounted on an upper frame 2 so that the sum of the spring contact or compliance value of the rail 9 in horizontal direction change and the lateral swing vibration of a cage may come roughly to a constant, to eliminate the cause of variable spring-constant type factor exciting vibration and to remove a periodical forced exciting force due to the eccentric load of the cage. Thus, a stable high-speed travelling of the cage can be made without producing lateral swing movement.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention relates to a vibration damping device for an elevator. [Conventional technology] In recent years, with the increase in the number of high-rise buildings, there has been a tendency for elevators with high rated speeds to increase. However, high-rise buildings generally have a steel frame structure, and the inner walls of the hoistway are made of embedded lightweight foam concrete plates, etc. Because of this structure, it is not possible to place a large load on the inner wall of the hoistway, unlike in the case of a reinforced concrete structure. Therefore, the rail bracket that connects the rail that guides the elevator car to the building has no choice but to be attached to the steel beam at the floor of each floor. [Problems to be Solved by the Invention] Since conventional elevators had the above-mentioned structure, the supporting pitch of the rails could not be freely determined as in the case of the inner wall of the hoistway with a reinforced concrete structure, and the rails became significantly larger. For this reason, rails laid almost vertically are prone to bending. The horizontal displacement becomes large compared to the horizontal load. This means that when looking at the rail from the rail engager provided to guide the car along the rail, the spring constant related to the horizontal rail pressing load and horizontal displacement is low, and this spring The constant is high near the rail bracket and decreases as you move away from the bracket, so it changes periodically based on the rail support pitch. The reciprocal of this spring constant is generally called compliance, so the change in spring constant described above can also be expressed as a periodic change in compliance. In addition, in the case of elevators, eccentric loads are applied to the car due to various reasons, which creates a moment that tends to overturn the car, and the rail engager is pressed against the rail, and this pressing force causes horizontal deflection and displacement of the rail. changes periodically with the rail support pitch as a period, exerting forced vibration on the car. Furthermore, when we consider the lateral vibration system of an elevator guided by vertical rails installed at a coarse pitch based on nonlinear vibration theory, we find that it is a coefficient-excited self-excited vibration in which the spring constant for horizontal deflection changes periodically. It can be seen that they form a system. In this system, even if the eccentric load is completely zero and no pressing force is constantly acting between the rail engager and the rail, the lateral vibration of the car caused by some external disturbance will grow as self-excited vibration. It is possible. Moreover, experience shows that once a rolling motion occurs, it tends to become progressively more severe over time. The cause of this is that the rail is repeatedly subjected to the reaction force of horizontal shaking vibrations, causing errors in rail installation accuracy. Due to the special circumstances of the elevator rails having a variable spring constant system, it was difficult to sufficiently suppress the lateral vibration of the car using previously proposed methods. An object of the present invention is to provide a vibration damping device for an elevator that can sufficiently suppress the rolling vibration of a car. [Means for Solving the Problems] In order to achieve the above object, the present invention solves the problem that the horizontal vibration of the car is caused by periodic fluctuations in the spring constant or compliance of the horizontal displacement of the rail as the car goes up and down. Based on this recognition, a compliance control device is provided between the car and the rail engager, which outputs a compliance value such that the sum of the rail compliance value is approximately constant. [Function] Since the vibration damping device of the present invention has the above-described configuration, the compliance of the rail in a skyscraper elevator changes significantly with the support point of the rail as a pitch, but the apparent rail compliance as seen from the car is Compliance remains constant regardless of whether the car is raised or lowered, so the cause of variable spring constant coefficient excitation vibration is eliminated, and the rail's compliance is reduced when the rail receives a reaction load of the overturning moment of the car caused by the eccentric load of the car. Even if the deflection changes periodically, the compliance control device corrects it and keeps it constant, making it possible to eliminate periodic forced vibrations. Stable high-speed running can be achieved.

【Example】

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a front view showing the vibration damping device of the elevator. The cage is constructed by supporting the . Above the platform, there is an upper connecting frame 11 that is supported and connected via vibration isolating rubber 15, and on both sides of this upper connecting frame 11, rail engagers 7, exemplified by upper guide shoes, are connected through vibration isolating rubber 13. It is installed. This rail engager 7
may be constituted by guide rollers, and are engaged with the rails 9 so as to guide the car along a pair of rails 9 provided on the left and right sides of the car. Similarly, a lower connecting frame 12 connected to the lower part of the platform via vibration isolating rubber 16
Rail engagers 8 are attached to both sides of the lower connecting frame l2 via anti-vibration rubber 14. These rail engaging elements 8 are also engaged with the rails 9 and guide the car. The rail 9 is attached to the inner wall of the hoistway at a rail support point 10 using a rail bracket, a rail clip, etc. whose detailed illustrations are omitted. This rail support point 10
The pitch between them is P, and the distance between the rail engagers 7 and 8 is L. The anti-vibration rubbers 13 and 14 absorb slight installation errors in the spacing between the pair of rails 9, and have a high spring constant. On the other hand, the vibration isolating rubber 15, 16 supports the connecting frame 11, 12 in a floating manner in both directions of the X-axis and the y-axis in FIG. 2, that is, in the horizontal plane, and its spring constant is relatively low. The above-mentioned connecting frames 11 and 12 are provided with rail compliance detection devices 1i23 and 24, respectively, and in combination with a compliance gauge 25, a rail compliance device [30
It consists of The compliance of the rail 9 is almost zero near the rail support point 10 and is maximum at the middle part of the beam, so the gauge 25 has a curved surface as shown in the drawing. FIG. 1 is an enlarged perspective view showing the vicinity of the upper connecting frame 11.
The upper longitudinal combat actuator 1 is connected to the upper frame 2 constituting the platform via brackets 2a and 2b.
7 and an actuator 20 for driving in the upper left and right directions. The output arms 18 and 21 of both actuators 17 and 18 are connected to the upper connecting frame 11 via links 19 and 22. In this way, both actuators 17 and 18 move the upper connecting frame l1, which is floatingly suspended from the platform, in the front-back and left-right directions, and together with the above-mentioned rail compliance device 30, the upper connecting frame l1 is moved between the platform and the upper connecting frame. 11 constitutes a compliance control device 31 that controls the relative positions of the components. Although not shown, the lower connecting frame 12 is also provided with an actuator for forward and backward movement and an actuator for driving in the left and right directions, as in the case of FIG. The rail compliance device 3 described above is configured to be controllable.
Compliance control system with 0! ! It consists of 31. FIG. 3 is a program diagram of the compliance control device 31, which basically consists of the actuator 17, 20, which is a movement device, the control section 26, and the rail compliance device 1130. Compliance is the reciprocal of the spring constant, but in order to control compliance using a microcomputer, the actuator 17 to the control unit 26
Feedback of the displacement signal and the load signal of the magnitude of the force of the load is required. Further, the control unit 26 controls the fighting current of the actuator 17 so that the sum of the compliance value of the rail and the compliance value of the actuator 17 is approximately constant. In general, compliance control devices have already been developed for the purpose of giving industrial robots a softness similar to that of human hands, and are well known under the name of virtual compliance control devices. In industrial robots, when an external force is applied to the robot's hand with the motor for arm movement stopped, the displacement of the hand due to the bending of the arm and other members is small, and the robot's hand displacement is small compared to humans. It is extremely sturdy and rigid. In other words, the compliance of robots is smaller than that of humans. If a sensor is installed to detect the external force applied to the robot's hand, and the hand is moved in the direction of the external force by a dimension proportional to the magnitude of the external force, the robot's arm is controlled so that the arm bends. The upper robot's hands become soft like human hands and enter a virtual high compliance state. When this automatic control is stopped, the original low compliance state returns. The compliance control device ii31 in this embodiment continuously and freely controls compliance according to an input signal.The main part of the compliance control device 31 is the actuator 17, which is an actuator l7 that reciprocates in the axial direction. A sensor (not shown) is attached to the output shaft to detect the load. Also, the compliance control system of this example! ! 31 is a device in which a servo motor is controlled by a microcomputer, but the device is not limited to one consisting of a microcomputer, a load sensor, an actuator, etc., and has the function of adjusting the compliance value based on an appropriate command input. It can also be realized by a purely mechanical mechanism without the aid of electrical control. Similarly, the device for transmitting the rail compliance value from the rail compliance device 30 to the compliance control device 31 can also be realized by a purely mechanical mechanism without the aid of electrical control. Furthermore, if a correspondence map of the car position and the rail compliance at that position is recorded in the control unit 26 in advance, the rail compliance value can be easily calculated in the control unit 26 by receiving the car position as an input signal. Therefore, the illustrated rail compliance device 30 can be omitted. Furthermore, in this embodiment, the left and right rail engagers 7 are connected by the upper connecting frame 11 in order to save the number of actuators. In this case, it is necessary to provide separate actuators for the left and right rail engagers 7, so the upper connecting frame 11 becomes unnecessary. However, as a practical matter, there are overwhelmingly more examples of symmetrical bracket arrangement, so an example using the upper connecting frame l1 is practical, and in this case, the compliance of the rail 9 as shown in FIG. One gauge 25 can serve as both left and right gauges. Looking at this compliance gauge 25, since the moment of inertia of the T-shaped elevator rail is different between the X-axis direction and the y-axis direction, the compliance of the rail is also different in absolute value between the X-axis direction and the y-axis direction. but,
When the compliance changes periodically in the longitudinal direction of the rail, the rate of change is not different between the X-axis direction and the y-axis direction, so one compliance gauge 25 is sufficient. In this embodiment, it is desirable that the spring constant of the anti-vibration rubber 15, 16 is low because it does not put a burden on the position control by the actuator, but if this spring constant is low, the car is likely to tilt due to eccentric load during a power outage. On the other hand, it is possible to increase the spring constant of the anti-vibration rubber 15, 16 to ensure stability and increase the output of the actuator accordingly, but in this case, it is possible to increase the output of the actuator accordingly. The installation position of the load sensor needs to be changed. In the structure in which one set of actuators 17 and 20 in the X-axis and Y-axis directions are provided at the upper and lower parts of the car as in this embodiment, the swinging of the car in the X-axis and Y-axis directions, pitching and rolling of the car can be prevented. That is, the actuator can control four types of vibration: rotational movement around the X-axis and rotational movement around the y-axis. On the other hand, yawing, that is, rotational movement around a vertical axis perpendicular to the X-axis and y-axis planes, is not controlled.
In reality, yawing rarely becomes a problem in elevators, so there is no problem. If this becomes a problem, the actuators 17 and 19 can be divided into left and right parts and made independent. Increasing the compliance and lowering the spring constant will increase the tilt of the car against eccentric loads. This eccentric load is greatest when the car stops on the floor and the cart is loaded onto the floor.
In addition, the horizontal vibration of the car due to the horizontal excitation force when boarding increases due to the increase in compliance. On the other hand, since leveling of compliance is normally required only during high-speed operation, it is preferable to stop the function of the compliance control device 131 and place it in a low compliance state when unnecessary. In addition, since shocks received from the rails due to rail installation errors occur regularly and repeatedly at the same position during lifting and lowering operations, a learning control system that learns in advance and causes the actuator to take actions to cancel out these shocks. Research has also been conducted on this, and it is easily possible to use the structure of this embodiment or to make it compatible with this. In the above embodiment, the compliance control device 31 is provided for both the upper and lower rail engagers 13 and 14 of the car, but almost the same result can be achieved even if the compliance control device 31 is provided only for either the upper or lower rail engager. Effects can be obtained. [Effects of the Invention] As explained above, the present invention provides a compliance control device between the car and the rail engager, so that when the rail receives the reaction load of the overturning moment of the car caused by the eccentric load of the car, the rail Even if the deflection changes periodically,
The compliance control device corrects this change in deflection and keeps it constant, eliminating periodic forced excitation forces, and the impact force exerted on the car due to rail installation errors is reduced due to low rail compliance. The maximum value was reached near the rail support point, but here the compliance control device entered a state of high compliance, absorbing and mitigating the impact force. Further, since the apparent compliance of the rail as seen from the car becomes constant and the apparent spring constant of the rail becomes constant, the cause of variable spring constant coefficient excitation self-excited vibration is eliminated. In this way, an elevator that can run stably at high speed without rolling can be obtained.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the main parts of a vibration damping device for an elevator according to an embodiment of the present invention, FIG. 2 is a front view showing the entire elevator and escalator shown in FIG. 1, and FIG. 3 is a compliance control shown in FIG. 1. This is a process diagram of the device. l...Main rope, 2...Top frame, 7...
... Upper guide shoe, 8 ... Lower guide shoe, 9 ... Rail, 11 ... Upper connecting frame, 12 ... Lower connecting frame, 17... Actuator for upper back and forth rotation. 20...Actuator for upper left and right movement, 23.24...Rail compliance detection device, 25...Compliance gauge, 26...Control device, 30
...Rail compliance device, 31...
... Compliance control device. Figure 2 10 10

Claims (1)

[Claims] 1. The car is configured to be guided by a rail engager engaged with a rail laid approximately vertically, and the compliance with respect to the horizontal displacement of the rail at the engagement position of the rail engager is such that the elevator car is raised and lowered. A compliance control device is provided between the car and the rail engager to output a compliance value such that the sum of the compliance value and the compliance value of the rail is approximately constant, in the vibration damping device for an elevator that changes periodically with the elevator. A vibration damping device for elevators featuring: