JPH04361969A - Self-running elevator system - Google Patents

Abstract

PURPOSE:To mount a cage to be capable of free rotation within a vertical plane on a carrier moving along a guide rail laid in the vertical and horizontal three-dimensional direction and to control attitude of the cage in the gravity direction so that it can run with its top and bottom direction constant all the time. CONSTITUTION:A guide rail 5 is laid on a running path 4 formed in the track shape, and a carrier 1 runs along the guide rail 5. The carrier 1 is driven along the guide rail 5 by guide rollers on the both sides. Inside of the carrier 1 is in the cylindrical shape, and on the cylindrical part, a cage 2 with its outer periphery in the cylindrical shape is rotatably supported by a roller bearing 3 in the vertical face. A secondary coil 9 of a linear synchronous motor is mounted on a base of the carrier 1, and a primary coil 11 is laid on the entire length of the running path 4 on a wall 10 faced to the running path 4 so as to drive the carrier 1. A gyro 17 for attitude control is placed at the cage 2 for attitude control so that the top and bottom direction of the cage 2 is constant all the time. Thus, free running on the three-dimensional running path is enabled.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled elevator system that can freely run along a track laid in three dimensions in the vertical and horizontal directions in buildings and new urban spaces.

0002

[Prior Art] Most of the elevators that have been widely used in the past are It is a system in which a car and a counterweight are connected in a rope-like manner, and one car is placed in one hoistway.

[0003] As shown in FIG. 15, this crane-shaped elevator has a car 31 and a counterweight 32 placed in the hoistway with guide rails 33 and 34 provided therebetween, and is used to raise and lower the elevator. The structure is such that a rope 38 connects the two in a sling shape via a sheave 36 and a deflection sheave 37 of the hoist 5 installed in a machine room on the road. In recent years, a three-phase induction motor and an inverter device equipped with a microprocessor as a control device have been widely used as a driving motor for the hoist 35.

[0004] In such a control device for a crane-like elevator, in order to run the car 31, it is sufficient to have a driving force equal to the unbalanced load with the counterweight 32, excluding the running loss caused by the machine. It has the advantage that the capacity of the drive device and control device is small, and since it is a method that has been widely used in the past, the technology is established in terms of performance and safety, and it is reliable.

[0005] However, in recent years, as a future perspective, the idea of a new inter-floor transportation system has been proposed to meet the demands of skyscrapers, etc., but the proposed new transportation system One is a self-propelled elevator in which the car itself runs without using ropes.
This is a concept for a self-propelled elevator system that can move vertically and horizontally, with a configuration that allows it to travel not only vertically but also horizontally. This technology breaks the conventional concept of a single car and is attracting attention as an innovative technology that allows multiple cars to run in one hoistway.

[0006]

[Problems to be Solved by the Invention] However, an established method for such a self-propelled elevator system has not yet been determined, and it is desired to construct a system that can perform efficient operation control.

[0007] This invention was made to solve such technical problems, and is a self-propelled elevator system that can move freely in buildings and new urban spaces, and is equipped with a drive source for each car. It is an object of the present invention to provide a self-propelled elevator system capable of running a plurality of cars on the same running route, improving transportation capacity, and effectively utilizing the running route space.

[0008]

[Means for Solving the Problems] The present invention provides a self-propelled elevator system in which a track is laid on a running path formed vertically and horizontally in a building, and the self-propelled elevator system runs vertically and horizontally along the track.
a carrier that moves along the track, a car that is mounted on the carrier so as to be able to rotate freely in a vertical plane and is carried by the carrier, a drive device that drives the carrier, and a car that moves the car in the direction of gravity. The carrier is equipped with an attitude control device that controls the attitude of the carrier and maintains the vertical position constant regardless of the rotational position of the carrier.

Furthermore, in the above-mentioned self-propelled elevator system, a roller bearing, a ball bearing, or a sliding bearing mechanism can be used as a means for supporting the car on the carrier so that it can freely rotate in a vertical plane.

Further, in the self-propelled elevator system described above, the car is supported so as to freely rotate by rollers installed in the carrier, and the attitude control device detects and inputs the tilt angle of the car using a gyro. However, the rotation angle for posture correction necessary for keeping the top and bottom of the car constant is calculated, and the rotation direction and speed of the roller can be controlled.

[0011] In the self-propelled elevator system described above, the drive device is connected to a linear motor secondary conductor installed on a carrier, a linear motor primary conductor installed on a running path wall in a building, and a linear motor and an excitation control device that controls excitation of the primary conductor.

Furthermore, the self-propelled elevator system of the present invention has tilt control that performs control to give the car a slight degree of horizontal inclination in a direction that reduces the force acting on passengers in the car at curved portions of the track. It may be equipped with a device.

[0013]

[Operation] In the self-propelled elevator system of the present invention, the carrier moves along the track, and the car mounted on the carrier rotates freely in the vertical plane, so that the carrier moves from the vertical direction to the horizontal direction. Even if the direction of movement changes, the vehicle's posture is always controlled, allowing it to travel with the same orientation.

Further, in the above self-propelled elevator system, the car is supported so as to freely rotate by rollers installed in the carrier, and the attitude control device detects and inputs the tilt angle of the car using a gyro. By calculating the rotation angle necessary for posture correction to keep the car vertically constant, and controlling the rotation direction and speed of the roller, the car is always kept vertically even if the carrier's posture changes. can be controlled so that it remains constant.

[0015] Furthermore, in the above-mentioned self-propelled elevator system, the linear motor secondary conductor installed in the carrier, the linear motor primary conductor installed on the running path wall in the building, and the excitation of the linear motor primary conductor are By configuring a drive device from the excitation control device that controls the carrier, it is possible to linearly drive the carrier and the car mounted thereon.

The self-propelled elevator system of the present invention also includes a tilt control device that performs control to give the car a slight horizontal tilt in a direction that reduces the force acting on passengers in the car at curved portions of the track. By providing this, it is possible to prevent the car from shaking which occurs when changing direction from the vertical direction to the horizontal direction, thereby improving the ride comfort for passengers.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be explained in detail below with reference to the drawings.

FIG. 1 shows the overall configuration of a system according to an embodiment of the present invention, in which a carrier 1 has a car 2 supported and housed therein by roller bearings 3 so as to be able to rotate freely. The carrier 1 is driven to travel along guide rails 5, which are tracks laid down on travel paths 4 formed in the length and breadth of the building.

As a means for the carrier 1 to run along the guide rail 5, guide rollers 6 are attached to both sides of the carrier 1, and the guide rollers 6 are configured to roll on the guide rail 5. . Further, in order to detect the traveling position of the carrier 1, a position detection guide roller 7 that generates a pulse as the carrier 1 travels is also provided. Further, shock absorbers 8 made of springs or cushions are attached to the upper and lower ends of the carrier 1 as a safety device for the purpose of absorbing shock in the event of a collision with the carrier 1 of another machine.

[0020] The shape of the running path 4 is arbitrarily determined depending on the height and size of the building, or the purpose of the building.
In this embodiment, as shown in Fig. 2, it is formed into a track shape, with one hoistway A serving as a hoistway for ascending and the other hoistway B serving as a hoistway for descending, with curved lines at the upper and lower ends. Parts C and D serve as turning paths.

Detailed configurations of the carrier 1, the car 2, and the drive section of the carrier 1 are shown in FIGS. 3 to 6. As can be seen from these figures, the carrier 1 has a cylindrical shape on the inside, and a car 2 with a cylindrical outer periphery is attached to this cylindrical part so that it can rotate freely in a vertical plane by a roller bearing 3. Supported.

A secondary coil 9 of a linear synchronous motor (LSM) is mounted on the base of the carrier 1, and a primary coil 1 of the LSM is mounted on a wall 10 facing the running path 4 of the building.
1 are laid over the entire length of the running path 4, and by sequentially excitation and demagnetization control of the primary coils 11 of these LSMs, a magnetic force is generated between the carriers 1 and the secondary coils 9. It is designed to obtain the driving force of Further, each carrier 1 is provided with a control device 12 for controlling the drive of the carrier 1, controlling the car attitude, and controlling the operation.

Further, the carrier 1 is equipped with a brake 13 as a safety device, and when the magnetic repulsion of the LSM disappears due to a power cut or other reason, the brake 13 comes into contact with the guide rail 5, and the friction is reduced. The carrier 1 can be stopped on the spot by force.

On the side of the car 2, a door 14 is provided at the front for people and cargo to get on and off, and is controlled to open and close by a door motor 15. Further, 16 is a hall door provided on the hall side at each stop floor of the carrier 1, and this hall door 16 engages with the opening/closing movement of the door 14 of the car 2 and opens/closes at the same time. There is.

This car 2 is physically designed to have a low center of gravity, and is supported by ball bearings 3 so that it can rotate freely so that its top and bottom always align with the direction of gravity regardless of the rotational position of the carrier 1, and it maintains a vertical position. can be maintained.

Furthermore, this car 2 is equipped with an attitude control gyro 17, which detects the tilted attitude of the car 2 and drives and controls the attitude control rollers 18 to control the attitude of the car 2, as will be described later. The posture can be controlled so that the top and bottom are always the same.

In FIG. 5, 19 is the floor of the car 2, and 20 is an operation panel installed inside the car 2. Passengers use this operation panel 20 to register their destination floor. can be done. Furthermore, in FIG. 6, 21
This is the lighting inside the cage.

As shown in FIGS. 7 and 8, the attitude control gyro 17 detects the tilt angle and direction of the car 2 from the vertical state, and transmits this to the carrier 1 by the transmitting circuit 22.
The information is transmitted to the control device 12 on the side. Then, in the control device 12 on the carrier 1 side, a reception circuit 23 built therein receives the signal from the transmission circuit 22, and an attitude control unit 24 determines the attitude of the car 2 and calculates the necessary tilt correction angle. A corresponding current is applied to the attitude correction motor 25 to control the rotational direction and rotational speed of the motor 25. Further, a belt 26 is wound between the motor 25 and the attitude control roller 18, and the attitude control roller 18 is passed through the belt 26.
By rotating the car 2, the car 2 can be rotated by a necessary angle and at a necessary speed with respect to the carrier 1, thereby controlling the attitude.

Furthermore, FIG. 9 shows a configuration in which the carrier 1 and the car 2 are branched, and when the guide rail 5 is branched into guide rails 5a and 5b, the carrier 1
Direction control can be performed depending on which of the guide rails 5a and 5b the guide roller 6 rolls on.

Next, the operation of the self-propelled elevator system having the above configuration will be explained.

As shown in FIGS. 3 and 4, the carrier 1
By sequentially controlling the excitation of the linear motor primary coil 11 with the car 2 rotatably supported on the carrier 1, the carrier 1 is The guide rollers 6 are rolled along the guide rails 5, thereby driving the carrier 1 and the car 2 to travel.

[0032] When the vehicle reaches a predetermined stopping floor, the controller 12 stops energizing the linear motor primary coil 11, thereby stopping the linear motor drive. In this way, when the drive of the linear motor is stopped, the magnetic repulsion disappears, so the brake 13 of the carrier 1 comes into pressure contact with the back surface of the guide rail 5, and this contact friction causes the carrier 1 and the car 2 to move to a predetermined position. Stop at the stop position.

When the car 2 stops at a predetermined stop floor, the car door 14 is then opened and closed, and the hall door 16 that engages with the car door 14 is also opened and closed, allowing passengers to board and exit the car.

When the carrier 1 comes to the curved portion C or D of the running path 4 shown in FIG. However, in the system of this embodiment, since the roller bearing 3 is interposed between the two, the car 2 is not affected by the rotation of the carrier 1, and the car 2 always maintains a vertical state. , it is possible to continue driving while keeping the top and bottom constant.

While the carrier 1 and the car 2 are traveling, the position detection guide roller 7 rolls and generates pulses as the carrier 1 and the car 2 travel. The positions of the carrier 1 and the car 2 are calculated based on the pulse count numbers and used for position control.

Next, the function of the attitude control gyro 17 will be explained. As shown in FIGS. 7 and 8, the attitude of the car 2 is detected by the attitude control gyro 17 installed inside the car 2, and is transmitted wirelessly to the attitude control unit 24 in the control device 12 on the carrier 1 side. . The attitude control unit 24 determines the horizontal inclination of the floor 19 of the car 2 by taking into account the attitude detection signal from the gyro 17 and the acceleration during lateral travel. Then, according to the determined horizontal inclination degree, the attitude control unit 24 controls the attitude control step motor 25.
The rotation direction and speed of the motor 25 are controlled, and the rotation of the motor 25 is transmitted to the attitude control roller 18, thereby controlling the attitude of the car 2 so that the attitude of the car 2 is always maintained in alignment with the direction of gravity.

Next, an explanation will be given of the operation of analyzing the force acting on the passenger at the curved portion C of the travel path 4 shown in FIG. 1 and controlling the posture. FIG. 10 shows the horizontal velocity of the carrier 1 in the curved part. When the curvature of the curved part is constant and the carrier 1 rotates at a constant speed v, the horizontal velocity of the carrier 1 is vh is vh=vsin
ωt, and the horizontal acceleration dvh/dt of carrier 1 is

0
038]

[Math 1]

##EQU1## This results in a curve as shown in FIG.

If the horizontal inclination θ of the car floor 19 is determined so that the same acceleration as this horizontal acceleration is caused to the passengers, the riding comfort will be improved. FIG. 12 shows the force when the car floor 19 is tilted by θ°, and the horizontal acceleration acting on the passenger is:

[0041]

[Math 2]

[0042]

FIG. 13 shows the relationship between the horizontal inclination θ and the speed of the attitude control motor 25, where vm is the speed of the attitude control motor 25.

[0044]

[Math 3]

[0045]

[0046]

[Math 4]

[0047]

Therefore, by controlling the speed of the attitude control motor 25 according to the equation (4), the horizontal inclination θ of the car floor 19 can be controlled, and the lateral force acting on the passengers on the curved portion of the travel path 4 can be reduced. This makes it possible to alleviate this and improve riding comfort.

Note that the present invention is not limited to the above-mentioned embodiments, and for example, as shown in FIG. E and F, and when stopping at a designated floor at the passenger's request, the carrier 1 and the car 2 are evacuated from the hoistways A and B to the evacuation route E or F, and the door 14 is opened and closed there. It is also possible to allow passengers to get on and off the train. If such a running route is used, even if one of the cars is stopped, other cars can continue to run on hoistway A or B, improving operational efficiency. .

Furthermore, in the above embodiment, a roller bearing 3 is interposed between the carrier 1 and the car 2 to support the car 2 so that it can freely rotate relative to the carrier 1. Possible supporting means include ball bearings, simple sliding bearings, and other means, and are not particularly limited.

[0051]

[Effects of the Invention] As described above, according to the present invention, the carrier moves along the track, and the car mounted on the carrier is supported so as to freely rotate within the vertical plane, so that the carrier can move vertically. Even if the direction of movement changes from the horizontal direction to the horizontal direction, the posture is always controlled so that the top and bottom are kept constant, so it is possible to freely run on a three-dimensional running path extending vertically and horizontally. It is suitable for use in a building's inter-floor transportation system.

Further, according to the self-propelled elevator system of the present invention, the rotation angle of the car can be controlled by the attitude control roller installed in the carrier, and the tilt angle of the car can be detected and inputted by the gyro. , the attitude control device calculates the rotation angle for attitude correction necessary for keeping the orientation of the car constant based on the tilt angle from the gyro, and controls the rotation direction and speed of the attitude control roller. , the car can be controlled so that its top and bottom are always the same even if the carrier's attitude changes.

Further, according to the self-propelled elevator system of the present invention, the linear motor secondary conductor installed on the carrier, the linear motor primary conductor installed on the running path wall in the building, and the linear motor primary conductor By configuring a drive device from an excitation control device that controls excitation of the carrier, the carrier and the car mounted thereon can be linearly driven.

Further, according to the self-propelled elevator system of the present invention, inclination control is performed to provide a slight degree of horizontal inclination to the car in a direction that reduces the force acting on passengers in the car at curved portions of the track. By providing the device, it is possible to prevent the car from shaking, which occurs when changing direction from the vertical direction to the horizontal direction, and improve the ride comfort for passengers.

[Brief explanation of drawings]

FIG. 1 is a plan view of an embodiment of the invention.

FIG. 2 is a plan view showing the configuration of a running path in the above embodiment.

FIG. 3 is a plan view showing the carrier and car parts of the above embodiment.

FIG. 4 is a front view showing the carrier and car parts of the above embodiment.

FIG. 5 is a plan view showing the carrier and car of the above embodiment.

FIG. 6 is a front view showing the carrier and car of the above embodiment.

FIG. 7 is a front view showing a portion of the car attitude control device of the above embodiment.

FIG. 8 is a plan view showing a portion of the car posture and back control device of the above embodiment.

FIG. 9 is a plan view showing the configuration of the branching road in the above embodiment.

FIG. 10 is an explanatory diagram showing the horizontal speed of the carrier at the curved portion of the traveling path in the above embodiment.

FIG. 11 is an explanatory diagram showing the horizontal acceleration of the carrier at the curved portion of the traveling path in the above embodiment.

FIG. 12 is an explanatory diagram showing the force acting on the car floor at the curved portion of the traveling path in the above embodiment.

FIG. 13 is an explanatory diagram showing the relationship between the horizontal inclination of the car floor and the speed of the attitude control motor at the curved portion of the running path in the above embodiment.

FIG. 14 is a plan view showing the configuration of a running path in another embodiment of the invention.

FIG. 15 is a perspective view of a conventional sliding elevator system.

[Explanation of symbols]

1. Career 2 Cart 3 Roller bearing 4 Driving path 5 Guide rail 6 Guide roller 7 Guide roller for position detection 8 Buffer 9 Linear motor secondary coil 10　Travel road wall 11 Linear motor primary coil 12 Control device 13 Brake 14 Car door 15 Door drive device 16 Hall door 17 Gyro 18 Posture control roller 19 Car floor 20 Operation panel 22 Transmission circuit 23 Receiving circuit 24 Attitude control unit 25 Posture control motor 26 Belt

Claims (5)

[Claims] Claim 1: A self-propelled elevator system in which a track is laid on a running path formed in a building vertically and horizontally, and the elevator system runs vertically and horizontally along the track, comprising: a carrier that moves along the track; A car mounted so as to be freely rotatable in a vertical plane and carried by the carrier, a drive device for driving the carrier, and an attitude control of the car in the direction of gravity, regardless of the rotational position of the carrier. A self-propelled elevator system equipped with an attitude control device that always maintains a constant vertical position. 2. The self-propelled elevator system according to claim 1, wherein a roller bearing, a ball bearing, or a sliding bearing mechanism is used as means for supporting the car on the carrier so that it can freely rotate in a vertical plane. A self-propelled elevator system consisting of 3. The self-propelled elevator system according to claim 1, wherein the car is supported to freely rotate by rollers installed in the carrier, and the attitude control device controls the inclination angle of the car by a gyro. is detected and inputted, the rotation angle for posture correction necessary for keeping the top and bottom of the car constant is calculated, and the rotation direction and speed of the roller are controlled. A self-propelled elevator system. 4. The self-propelled elevator system according to claim 1, wherein the drive device includes a linear motor secondary conductor installed on the carrier and a linear motor installed on a running path wall in the building. A self-propelled elevator system comprising a primary conductor and an excitation control device that controls excitation of the linear motor primary conductor. 5. The self-propelled elevator system according to claim 1, 2, 3, or 4, in which the car is slightly horizontally disposed at curved portions of the track in a direction that reduces the force acting on passengers in the car. A self-propelled elevator system equipped with a tilt control device that controls the degree of tilt.