JPH05139661A - Self-traveling elevator system and method of operating it - Google Patents

Abstract

PURPOSE:To perform efficient operation control of an elevator while shortening the waiting time and enhancing the transport capacity by dividing an elevator shaft into an up-passage and a down-passage, and making cages movable between the passages through a cross refuge passage. CONSTITUTION:A carrier 1 is supported by a roller bearing and stored such that a cage can be freely rotated therein and the carrier 1 travels along a guide rail laid on a travel passage 4 formed along the vertical and horizontal directions of the inside of a building. One of the elevator shafts A of the travel passage 4 is used as an up-travel elevator shaft and the other elevator shaft B as a down-travel elevator shaft and refuge travel passages E, F communicating with the elevator shafts A, B in the cross direction are formed at a desired floor. When the cage is stopped at a desired floor at the request of passengers, the carrier 1 and the cage 1 are retreated from the elevator shafts A, B to the refuge travel passage E or F and a cage door 14 is opened so that passengers get on and off the cage.

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 capable of freely traveling along a track laid in a three-dimensional vertical and horizontal direction in a building or a new urban space, and a traveling method thereof.

[0002]

2. Description of the Related Art Most conventional elevators have been widely used except for a hydraulic elevator that raises and lowers a car by using a hydraulic plunger and a winding drum type elevator used in a relatively small capacity area. It is a system in which a car and a counterweight are connected with a rope in a rope shape, and one car is arranged in one hoistway.

As shown in FIG. 17, this elevator having a crane shape is provided with a car 31 and a counterweight 32 in a hoistway, and guide rails (guide rails) 33 and 34 are provided between them to move up and down. A rope 38 is used to couple the two in a slip-like manner via a sheave 36 and a deflecting sheave 37 of a hoist 35 installed in a machine room on the road. In recent years, a three-phase induction motor has been widely used as an electric motor for driving the hoisting machine 35, and an inverter device having a control device equipped with a microprocessor has been widely used.

In such a slippery elevator control device, a driving force corresponding to an unbalanced load with the counterweight 32 is enough to drive the car 31 except for a traveling loss caused by a machine. It has a feature that the capacity of the drive unit and the control unit can be small, and since it is a system that has been widely used from the past, the technology is established in terms of performance and safety, and it is reliable.

However, in recent years, as a future prospect, a new way of thinking about an inter-floor transportation system has been proposed to meet the demands of skyscrapers and the like.
One of the proposed new transportation systems is a self-propelled elevator in which the car itself travels without using ropes, which has a structure that can travel not only vertically but also horizontally. It is a concept of an elevator system that can travel freely in all directions.

The concept of this self-propelled elevator system is as follows:
It breaks the existing concept of a single car in one hoistway and is attracting attention as an innovative technology that allows multiple cars to travel in one hoistway.

[0007]

However, the method established as such a self-propelled elevator system has not yet been determined, and construction of a system capable of efficient operation control is desired.

The present invention has been made to solve such a technical problem, and is a self-propelled elevator system capable of vertically and horizontally moving in a building or a new city space and having a drive source for each car. Therefore, it is an object of the present invention to provide a self-propelled elevator system and a traveling method thereof, in which a plurality of cars are allowed to travel on the same traveling path to improve transportation capacity and to effectively utilize a traveling path space. ..

[0009]

SUMMARY OF THE INVENTION According to the present invention, a track is laid on a running path formed in a building so as to communicate vertically and horizontally, and a plurality of self-propelled elevators are run vertically and horizontally along the track. In the self-propelled elevator system arranged to perform, the ascending / descending hoistway in which the self-propelled elevator travels only in the ascending direction and the descending hoistway in which the self-propelled elevator travels only in the descending direction. The self-propelled elevator is evacuated from the hoistway, and is divided into a retreat traveling path that can be traveled only in the lateral direction, which is used for opening and closing doors for passengers getting on and off, changing the direction of elevation, and resting.

Further, in the self-propelled elevator system of the present invention, the retreat traveling path has a width such that at least two self-propelled elevators can stop in parallel, and one of the entrances and exits communicating with the hoistway enters the other. It is possible to allow access to another hoistway from the doorway of.

Further, according to the traveling method of the self-propelled elevator system of the present invention, a track is laid on a traveling path formed so as to communicate vertically and horizontally in a building, and a plurality of self-propelled elevators are installed on this track. Arranged to run vertically and horizontally along
Ascending / descending hoistways that the self-propelled elevator travels only in the ascending direction on the traveling path, descending hoistways that travel only in the descending direction, and the self-propelled elevators evacuate from these hoistways, Opening the doors for getting on and off, turning up and down,
It is divided into a retreat traveling path that can be traveled only in the lateral direction, which is used for suspension, and the retreat traveling path has a width that allows at least two self-propelled elevators to stop in parallel and communicates with the hoistway. In a self-propelled elevator system capable of entering from one entrance and exit to the other hoistway from the other entrance, an arbitrary one self-propelled elevator is connected to an evacuation runway of a predetermined floor on one side. When another self-propelled elevator is evacuated to the evacuation route and cannot exit from the other entrance / exit when trying to change direction by entering from the entrance / exit and exiting from the other entrance / exit The self-propelled elevator of the platform travels in the direction opposite to the original traveling direction by going to the nearest empty evacuation traveling path in the hoistway in the original traveling direction, then entering the empty evacuation traveling path and passing through there. Those were Unishi.

[0012]

In the self-propelled elevator system according to the present invention, when the self-propelled elevator is raised or lowered, it is caused to travel in the dedicated hoistway for ascending travel or the hoistway for descending travel respectively. Then, when stopping at a desired floor, the vehicle is evacuated to a lateral evacuation traveling path provided on the relevant floor and stopped, and the door is opened to allow passengers to get in and out of the room and to stop.

Further, when changing the ascending / descending direction of a self-propelled elevator, the hoistway that had been traveling up to that time is evacuated to the evacuation traveling path on the nearest floor, and the evacuation traveling path is passed through to the opposite side. From the doorway to the next hoistway in the opposite direction.

When any one self-propelled elevator enters the evacuation route of a predetermined floor from one entrance and exits from the other entrance and exits and changes direction, another evacuation route to the evacuation route is If the self-propelled elevator of 1 is retracted and cannot exit from the other entrance / exit, the arbitrary one self-propelled elevator advances to the nearest empty escape travel route in the hoistway in the original traveling direction. Then, the vehicle travels in the direction opposite to the original traveling direction by entering the empty evacuating traveling path and passing therethrough. Thus, the following six basic traveling patterns can be freely performed.

A) Climb-Stop-Climb While the self-propelled elevator is climbing the ascending hoistway, for example, when temporarily stopping at the K floor and trying to climb again, it stops at the evacuation traveling path at the K floor. Then, the door is opened, and after the passengers have finished getting on and off, the passenger again goes out to the ascending and descending hoistway and goes up.

B) Descending-Stopping-Descent While the self-propelled elevator is descending the descending hoistway, for example, when it is temporarily stopped at the K floor, and when it is going to descend again, it is stopped at the evacuation traveling of the K floor. After the door is opened and passengers have finished getting in and out, the passenger exits the hoistway for descending traveling again and descends.

C) Ascending-Stopping-Descent When the self-propelled elevator changes direction and descends at the K floor during the ascent, it enters the evacuation path for ascending travel and enters the evacuation travel path at the K floor to stop. After the door is opened and passengers have finished getting on and off, the passenger exits to the descent hoistway on the opposite side and descends there.

D) Descent-Stop-Rise Contrary to c), when the self-propelled elevator changes direction at the K floor and rises during the descent, it runs from the descent hoistway to the K floor evacuation travel. After entering the road, stopping and opening the door, after the passengers have finished getting on and off, the passenger exits to the ascending traveling hoistway on the opposite side and climbs there.

E) Climb-Stop-Climb-Drop The rising self-propelled elevator stops at the K floor and opens the door to allow passengers to get in and out of the elevator.
If another self-propelled elevator is stopped in the evacuation runway on the side of the descending hoistway on the floor and cannot exit the hoistway for descending travel, the elevator is on the evacuation runway on the side of the ascending hoistway on the K floor. Stop at to get on and off passengers, go out to the ascending hoistway again, and go up to the floor with the nearest empty evacuation path. Then, after passing through the evacuation traveling path on this floor, it exits to the descending traveling hoistway on the opposite side and descends.

F) Descent-Stop-Descent-Rise The descending self-propelled elevator stops at the K floor and opens the door to allow passengers to get in and out of the elevator.
If another self-propelled elevator is not available on the ascending runway for the ascending runway on the floor and cannot exit to the ascending hoistway, the elevator is at the evacuation runway on the descending runway side for the K floor. Stop at to get on and off passengers, go out to the descent hoistway again, and descend to the floor with the nearest empty evacuation route. Then, after passing through the evacuation traveling path on this floor, it goes out to the ascending traveling hoistway on the opposite side and rises.

[0021]

Embodiments of the present invention will now be described in detail with reference to the drawings.

1 and 2 show the construction of a system according to an embodiment of the present invention, in which a carrier 1 is supported and housed by roller bearings 3 so that a car 2 can be freely rotated therein. The carrier 1 travels along a guide rail 5 as a track laid on a running path 4 formed vertically and horizontally in the building.

The shape of the traveling path 4 is arbitrarily determined according to the height and size of the building, the purpose of use, etc.
In this embodiment, as shown in FIG. 2, one hoistway A is an ascending and descending hoistway and the other hoistway B is a descending hoistway, and the hoistways A and B are laterally communicated with each other. When the evacuation roads E and F are formed on appropriate floors and the passengers request to stop at the designated floor, the carrier 1 and the car 2 are evacuated from the hoistways A and B to the evacuation road E or F. Then, as will be described later, the doors are opened and closed so that passengers can get on and off.

As a means for the carrier 1 to travel along the guide rails 5, guide rollers 6 are attached to both sides of the carrier 1, and the guide rollers 6 roll on the guide rails 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, at the upper and lower ends of the carrier 1, as a safety device, a shock absorber 8 composed of a spring or a cushion is attached so as to absorb a shock at the time of collision with the carrier 1 of another machine.

Detailed constructions of the carrier 1, the car 2 and the drive portion of the carrier 1 are shown in FIGS. As can be seen from these figures, the carrier 1 has a cylindrical inner side, and a cage 2 having a cylindrical outer peripheral portion is rotatably movable in a vertical plane by a roller bearing 3 on the cylindrical portion. It is supported.

Further, a secondary side coil 9 of a linear synchronous motor (LSM) is mounted on the base of the carrier 1, and a primary side coil 11 of the LSM is mounted on a wall 10 of the building facing the traveling path 4. It is laid over the entire length, and by sequentially exciting and demagnetizing the primary side coils 11 of these LSMs, a magnetic force is generated between the primary side coils 11 and the secondary side coil 9 to obtain the driving force of the carrier 1. It has become. Further, each of the carriers 1 is provided with a control device 12 for controlling the driving of the carriers 1, controlling the posture of the car, and controlling the driving.

Further, the carrier 1 is provided with a brake 13 as a safety device, and when the magnetic repulsive force of the LSM disappears due to the power being cut off or the like, the brake 13 is provided.
Is brought into contact with the guide rail 5, and the carrier 1 can be stopped on the spot by the frictional force.

On the side of the car 2, a door 14 for getting in and out of people and luggage is provided on the front surface, and the door motor 15 controls the opening and closing of the door. Further, 16 is a hold door provided on the hall side for each stop floor of the carrier 1. The hold door 16 is a door 14 of the car 2.
It engages with the opening / closing operation of and is opened / closed at the same time.

The above-mentioned car 2 is physically designed to have a low center of gravity, and by the support of the ball bearings 3, regardless of the rotational position of the carrier 1, the car 2 always freely rotates so that the top and bottom are aligned in the direction of gravity, and the vertical state is maintained. Can be maintained.

Further, an attitude control gyro 17 is installed in the car 2, and the car 2 is detected by detecting the tilted attitude of the car 2 and drivingly controlling the attitude control roller 18 as described later. Can control the attitude so that the top and bottom are always constant.

In FIG. 5, 19 is the floor of the car 2 and 20 is an operation panel installed in the car 2. Using this operation panel 20, passengers can register their destination floor. Can be done. Reference numeral 21 is a light in the car.

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 the transmission circuit 22 transmits the detected tilt angle and direction to the carrier 1.
It is adapted to be transmitted to the control device 8 on the side. And
In the control device 8 on the carrier 1 side, the built-in reception circuit 23 receives the signal from the transmission circuit 22, and the attitude control unit 24 calculates the attitude of the car 2 and calculates the required tilt correction angle. Is supplied to the attitude correction motor 25 to control the rotation direction and rotation speed of the motor 25.

Further, the motor 25 and the attitude control roller 1
A belt 26 is wound around the carrier 8 and the attitude control roller 18 is rotated through the belt 26 to rotate the car 2 with respect to the carrier 1 at a required angle and at a required speed. Attitude control.

FIG. 9 is a front view of the hall of the self-propelled elevator system of this embodiment, showing a state in which the carrier 1 of the self-propelled elevator is stopped at the K floor and opened. As shown in FIG. 9, if a call from a certain floor K is stopped and the K floor is stopped and the door is opened, the registered hall call is erased and the lamp of the hall call button 27 on the K floor is turned off. Along with this, the hall lantern 28 in the direction in which it responds is blinked to indicate that it has responded.

Next, the operation of the self-propelled elevator system having the above structure will be described.

The magnetic repulsive force generated between the primary coil 11 of the carrier 1 and the secondary coil 9 of the carrier 1 is controlled by sequentially controlling the excitation of the primary coil 11 of the linear motor while the car 1 is rotatably supported on the carrier 1. Carrier 1 by reaction force
Roll the guide roller 6 along the guide rail 5,
As a result, the carrier 1 and the car 2 are driven to travel.

At the time of stopping, when the linear motor drive is stopped by stopping the energization of the linear motor primary side coil 11 by the control device 12, the magnetic repulsion force disappears, so the brake 13 of the carrier 1 is guided. Rail 5
The carrier 1 and the car 2 stop at a predetermined stop position due to the contact friction.

Evacuation road E of the road 4 shown in FIG.
Alternatively, in order to bring the carrier 1 to F, the carrier 1 must be turned by 90 degrees along the guide rail 5, but if it is left as it is, the car 2 inside will also be turned by 90 degrees. However, in the system of this embodiment, since the roller bearing 3 is interposed,
The cage 2 without being affected by the rotation of the carrier 1
Can maintain the vertical state at all times, and can continue traveling on the curved portion in order to enter the evacuation route E or F with the top and bottom kept constant.

When the vehicle enters the evacuation route E or F of a predetermined floor and is stopped, next, the car door 14 is opened and closed, and the hold door 16 which engages with the car door 14 is also opened and closed. Get on and off.

While the carrier 1 and the car 2 are running,
The position detection guide roller 7 rolls along with their travel to generate a pulse, and the control device 12 receives this and calculates the positions of the carrier 1 and the car 2 from the pulse count number according to the travel distance. , Used for position control.

Next, the function of the attitude control gyro 17 will be described. The attitude of the car 2 is detected by the attitude control gyro 17 installed in the car 2 and is wirelessly transmitted 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 degree of the floor 19 of the car 2 in consideration of the attitude detection signal from the gyro 17 and the acceleration during lateral traveling. Then, the posture control unit 24 controls the rotation direction and the rotation speed of the posture control step motor 25 according to the determined horizontal inclination degree, and transmits the rotation of the motor 25 to the posture control roller 18. The attitude of the car 2 is controlled so that the attitude of the car 2 always matches the direction of gravity.

Next, a curve that is passed when entering the evacuation traveling path E or F from the hoistway A or B in the traveling path 4 shown in FIG. 2 and conversely when exiting from the evacuation traveling path E or F to the ascending or descending A or B. The operation of controlling the posture by analyzing the force acting on the passenger in the department will be described.

FIG. 10 shows the horizontal velocity of the carrier 1 in the curved portion. When the curvature of the curved portion is constant and the carrier 1 rotates at a constant velocity v, the angular velocity ω of the carrier 1 is:
The horizontal velocity vh of the carrier 1 is vh = vsin ωt, and the horizontal acceleration dvh / dt of the carrier 1 is

[Equation 1] And becomes a curve as shown in FIG.

If the horizontal inclination degree θ of the car floor 19 is determined so that the same acceleration as the horizontal acceleration is generated for passengers, the ride comfort is improved. FIG. 12 shows the force when the car floor 19 is inclined by θ °, and the horizontal acceleration of the passenger is

[Equation 2] Becomes

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

[Equation 3] Next to

[Equation 4] Becomes

Therefore, the horizontal inclination degree θ of the car floor 19 is controlled by controlling the speed of the attitude control motor 25 according to the equation (4), and the lateral force acting on the passenger at the curved portion of the traveling path 4 is controlled. You can relax and improve the ride comfort.

Next, FIG. 1 shows a method of traveling a self-propelled elevator in such a self-propelled elevator system.
This will be described with reference to FIGS.

The basic traveling pattern of a self-propelled elevator is
The following six are a) to f).

A) Climbing-stop-climbing traveling pattern This is, as shown in FIG. 14 (a), after the self-propelled elevator stops on the K floor and opens the door while passengers are getting on and off. , Is a basic traveling pattern when going up to a further floor.

In this case, the elevator CAR1 stops in the ascending state A1 from the ascending state A1 to the state E1 of the ascending state, and stops on the evacuation route E on the K floor to open the door, and the passengers get on and off. After that, the vehicle again comes out to the ascending / descending hoistway A and ascends like the state of A2.

In this case, another elevator CAR2
When ascending to the ascending hoistway A and trying to stop at the same K floor, the car temporarily stops before the K floor in the hoistway A and waits for the elevator CAR1 to start.

On the contrary, if the other elevator CAR2 is not scheduled to stop at the K floor, while the previous elevator CAR1 is evacuated to the escape travel path E on the K floor and stopped, this elevator CAR1 is overtaken first. Drive up.

B) Descent-stop-descent traveling pattern This is a self-propelled elevator CA in FIG. 14 (a).
This is a basic traveling pattern when R3 stops on the K floor during the descent, opens the door, allows passengers to get on and off, and then descends to a lower floor.

In this case, the descending hoistway B is stopped from the descending state B1 to the state Fk on the evacuation traveling path F on the K floor and opened, and after the passengers have finished getting on and off, It again comes out to the hoistway B for descending traveling and descends like the state of B2.

In this case, another elevator CAR4
When the vehicle descends the descending hoistway B and tries to stop at the K floor, the vehicle temporarily stops before the K floor in the hoistway B and waits for the elevator CAR3 to start.

On the contrary, if the other elevator CAR4 is not scheduled to stop at the K floor, it will overtake the previous elevator CAR3 and descend first.

C) Ascent-stop-descent traveling pattern This is a self-propelled elevator CA in FIG. 14 (a).
This is a basic traveling pattern in the case where R1 stops on the K floor while the R1 is rising, opens the door, gets on and off passengers, and then descends. In this case, the elevator CAR1 stops at the evacuation runway F on the K-th floor descending hoistway B side and opens the door as in the state A1 from the state A1 in which the elevator CAR1 is ascending to the Fk state. After the passengers have finished getting on and off, the passenger exits to the hoistway B for descending traveling and descends like the state of B2.

D) Downward-Stop-Upward traveling pattern This is a self-propelled elevator CA in FIG. 14 (a).
This is a basic pattern in the case where R3 stops on the K floor while the R3 is descending, opens the door, allows passengers to get on and off, and then rises.

In this case, the elevator CAR3 stops at the evacuation path E on the K-th floor ascending hoistway A side as in the state E1 from the state B1 in which the elevator car B is descending the hoistway B for descending travel. After it is opened and passengers have finished getting in and out, the passenger exits to the ascending / descending hoistway A and ascends as in the state A2.

E) Climbing-stop-climbing-lowering traveling pattern This is because the self-propelled elevator CAR1 that rises as in the state of A1 in FIG. After getting on and off, I would like to go down, as shown in the state of B2, but this hoistway B for descending traveling on the K floor
The other self-propelled elevator CAR2 is stopped on the side evacuation path F as shown in the state of Fk, and the descending hoistway B is used.
It is a basic driving pattern when you can not go to.

In this case, the elevator CAR1 pauses on the evacuation road E on the ascending hoistway A side of the K floor as in the state of Ek to allow passengers to get on and off, and then ascends again as in the state A2. Go out to the traveling hoistway A and climb up to the nearest floor (the (K + 1) th floor) where there is an empty evacuation traveling path. Then, after passing through the evacuation traveling path on the (K + 1) th floor, the vehicle exits to the descending traveling hoistway B on the opposite side and descends like the state of B2.

F) Down-stop-down-up traveling pattern This is because the self-propelled elevator CAR2 that descends like the state of B1 in FIG. After getting on and off, I want to go up, as shown in the state of A2.
The other self-propelled elevator CAR1 is stopped and the ascending hoistway A for ascending travel is shown on the side evacuation path E as shown in the state of Ek.
It is a basic driving pattern when you can not go to.

In this case, the elevator CAR2 pauses on the evacuation route F on the descending hoistway B side of the K floor as in the state of Fk to allow passengers to get on and off, and descends again as in the state B2. It goes out to the traveling hoistway B and descends to the nearest floor (the floor (K-1)) where there is an empty evacuation traveling path. Then, after passing through the evacuation traveling path on the (K-1) floor, the vehicle exits to the ascending traveling hoistway A on the opposite side and rises like the state of A2.

Therefore, by combining these six basic driving patterns a) to f), efficient driving is performed in various situations.

As shown in FIG. 15, when the elevator A1 traveling on the ascending / descending hoistway A responds to the final call on the Kth floor, the ascending hoistway A side of the Kth floor is evacuated. After stopping at the traveling path Ek and opening the door, after the completion of getting on and off, the vehicle is made to stand by on the evacuation traveling path Fk on the descending traveling hoistway B side. By doing so, it becomes possible to promptly respond to the hall call in the downward direction from the lower floor, which may occur soon.

Further, as a modified example of the traveling pattern during the ascending-stopping-ascending traveling or the descending-stopping-descending traveling, when two self-propelled elevators are traveling in the same hoistway in the same direction. Then, when there is not much time difference with the subsequent self-propelled elevator, the operation is performed by the method shown in FIG.

That is, the ascending elevator is E on the K floor.
When stopping in the ascending hoistway E like in the state of k and trying to rise again, the succeeding elevators K
When trying to stop on the floor, the preceding elevator is temporarily retracted from the ascending hoistway E to the descending hoistway F side as in the state of Fk, and the following elevator is raised as in the state of Ek. Stop on the traveling hoistway E side,
After the elevator is first raised again, the elevator that has been retracted to the side of the descending traveling hoistway F is pulled out from the ascending traveling hoistway E to the ascending traveling hoistway A and again raised.

Similarly, when the descending elevator stops on the descending hoistway F like the state of Fk on the K floor and tries to descend again, the succeeding elevator will stop on the K floor almost at the same time. In such a case, the preceding elevator is temporarily retracted from the descending hoistway F to the ascending hoistway E side as in the state of Ek, and the following elevator is descended as in the state of Fk. After stopping it on the F side and lowering it again first, the previous elevator, which had been retracted to the ascending hoistway E side, is pulled out from the hoistway F for descending travel F to the hoistway B for descending travel and descended again. To

[0069]

As described above, according to the present invention, the hoistway is completely divided into one for ascending travel and one for descending travel, and it is possible to move between the two through the lateral retreat travel path. The raising / lowering control only needs to perform either raising or lowering control for each hoistway, and the control method is simple.

Further, since the passengers are allowed to get on and off the retreat traveling path in the lateral direction, a hold door is not required for the ascending and descending traveling hoistways, and the structure can be simplified.

Further, according to the operating method of the present invention, the operation control can be performed efficiently with the simple control method, and the waiting time can be shortened and the transportation power can be improved.

[Brief description of drawings]

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

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

FIG. 3 is a plan view showing a carrier and a portion of a car according to the embodiment.

FIG. 4 is a front view showing a carrier and a portion of a car according to the embodiment.

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

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

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

FIG. 8 is a plan view showing a portion of a posture / back control device for a car according to the embodiment.

FIG. 9 is a front view of the elevator hall of the above embodiment.

FIG. 10 is an explanatory diagram showing the horizontal velocity of the carrier in the curved portion of the traveling road in the above embodiment.

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

FIG. 12 is an explanatory view showing the force acting on the car floor at the curved road portion of 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 in the curved road section of the embodiment.

FIG. 14 is an explanatory diagram showing a traveling method of the self-propelled elevator in the above-described embodiment.

FIG. 15 is an explanatory diagram showing a traveling method of the self-propelled elevator in the above-described embodiment.

FIG. 16 is an explanatory view showing another traveling method of the self-propelled elevator in the above-mentioned embodiment.

FIG. 17 is a perspective view of a conventional slip-type elevator system.

[Explanation of symbols]

 1 Carrier 2 Car 3 Roller Bearing 4 Traveling Road 5 Guide Rail 6 Guide Roller 7 Position Detection Guide Roller 8 Buffer 9 Linear Motor Secondary Side Coil 10 Traveling Road Wall 11 Linear Motor Primary Side Coil 12 Controller 13 Brake 14 Car Door 15 Door drive device 16 Hold door 17 Gyro 18 Posture control roller 19 Car floor 20 Control panel 22 Transmitter circuit 23 Receive circuit 24 Posture control unit 25 Posture control motor 26 Belt 27 Hall call button 28 Hall lantern

Claims (3)

[Claims] 1. A self-propelled type in which a track is laid on a running path formed so as to communicate vertically and horizontally in a building, and a plurality of self-propelled elevators are arranged to run vertically and horizontally along the track. In the elevator system, an ascending / descending hoistway in which the self-propelled elevator travels in the ascending direction only on the traveling path, a descending hoistway for traveling only in the descending direction, and a self-propelled elevator from these hoistways. A self-propelled elevator system, which is characterized by being divided into a stop door for evacuation and opening / closing of passengers, a vertical direction change, and an evacuation path that can be traveled only in the lateral direction used for pausing. 2. The self-propelled elevator system according to claim 1, wherein the evacuation path has a width that allows at least two self-propelled elevators to stop in parallel, and from one of the entrances and exits communicating with the hoistway. A self-propelled elevator system, characterized in that it can enter and exit from another entrance to another hoistway. 3. A track is laid on a running path formed so as to communicate vertically and horizontally in a building, and a plurality of self-propelled elevators are arranged so as to run vertically and horizontally along the track, and the running is performed. The ascending / descending hoistway in which the self-propelled elevator travels only in the ascending direction, the descending hoistway that travels only in the descending direction, and the self-propelled elevator evacuates from these hoistways to prevent passengers from getting on and off. For the purpose of opening the door, changing the direction of the elevator, and evacuating the vehicle to the horizontal direction, it is divided into an evacuation path that can travel only in the lateral direction, and at least two self-propelled elevators stop the evacuation path in parallel. In a self-propelled elevator system that has a width that allows it to enter from one entrance communicating with the hoistway and exit from the other entrance to another hoistway, any one self-propelled elevator is specified. Retreat on the floor When entering the road from one entrance and exiting from the other entrance and trying to change direction, if another self-propelled elevator is retracted to the evacuation travel path and cannot exit from the other entrance, The arbitrary one self-propelled elevator goes in the direction opposite to the original traveling direction by going to the nearest empty evacuation traveling path in the hoistway in the original traveling direction, then entering the empty evacuation traveling path and passing therethrough. A traveling method of a self-propelled elevator system, which is characterized in that the vehicle travels in the same direction.