JPH0789682A - Method and device for determining rail combination - Google Patents

Abstract

PURPOSE:To reduce the vibration of an elevator by measuring the shape of each guide rail, determining the fundamental combination pattern including the combination of guide rails in the lateral symmerry and carrying out allotment on the basis of the shape measurement data, when the installation order of a plurality of guide rails is determined. CONSTITUTION:After the preparation for measuring the shape of a guide rail 1 completes, a motor-driven movable part 13 is travelled from one end on a linear guide 11 toward the other end, irradiating laser beam on the guide rail 1 by a measuring sensor 12. At this time, the displacement at each position in the longitudinal direction of the guide rail 1 is measured by scanning the measured surface of the opposed guide rail 1, and sent as the shape measurement data to a calculation device 9. After the measurement for all the guide rails 1 completes, the fundamental combination pattern including at least a pair of combination of the guide rail in the lateral symmetry is determined, and the guide rail 1 having the shape approximate to that of the guide rail which constituties the fundamental combination pattern is searched on the shape measurement data, and allotment is carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rail combination determining method and apparatus for determining the installation order of guide rails constituting a traveling path of a moving body in elevators, railways, monorails and the like.

[0002]

2. Description of the Related Art For example, a hoistway of a car in an elevator facility is constructed by combining a number of guide rails made of a long material. Generally, the guide rails that make up the elevator hoistway are linear and have the same dimensions, so when connecting multiple guide rails to make the hoistway, there is no mutual relationship between the individual rails. Without considering it, we randomly selected from many guide rails and combined them.

On the other hand, in recent years, the heights of buildings have been increasing, and it has been particularly required to operate a car at an extremely high speed for an elevator provided in a skyscraper. However, when the elevator is operated at a high speed, an uncomfortable vibration may occur in the car depending on the combination of rails. It is considered that this is because each rail has its own curved shape. This is because if the rails are combined without considering the shapes of the individual rails at all, a combination may be established in which a lateral force that causes vibration is applied to the car. For example,
If the guide rails are installed in a combination as shown in FIG. 13A, it is expected that a large vibration will be generated in the car traveling along the hoistway.

In order to reduce the vibration generated in the elevator car, it is possible to solve it by removing the bending of each guide rail, but there are many obstacles such as high machining accuracy and quality control being required for that purpose. . Also, the rails can be combined so that the combination that applies the lateral force that causes vibration to the car is not established, but what is the combination of rails that can reduce vibration? The reality was that it was not known if there was.

ELEVATOR TECHNOLOGY 3 Proceeding
In ELVCON'90 (Y Sugiyama et al), there is an article that determines the guide rail connection order based on the guide rail bending pattern.

However, since this article does not mention how to analyze the bending pattern and what kind of rails are combined to reduce the vibration when installing the elevator, this article does not reduce the vibration. I could not know the possible combinations of guide rails.

[0007]

As described above, the prior art is as follows.
Since the rails were randomly selected without considering the connection order of the individual rails and the rails were combined, it is possible to establish a combination that applies a lateral force to the car and form a traveling path where vibrations occur. There was a nature.

The present invention has been made in view of the above circumstances, and includes a plurality of guide rails forming a traveling path,
An object of the present invention is to provide a rail combination determining method and a rail combination determining device that can be combined so as to reduce vibration.

[0009]

In order to achieve the above object, the present invention has the following constitution. A rail combination determining method corresponding to claim 1, wherein the shape of each guide rail is measured, a basic combination pattern including at least one pair of left and right symmetrical guide rails is defined, and the basic combination pattern is formed. A guide rail having a shape similar to is searched based on the shape measurement data, and the searched guide rail is assigned to a position corresponding to the basic combination pattern.

According to a second aspect of the present invention, there is provided a rail combination determining device, which comprises shape measuring means for measuring the shape of each guide rail.
A basic combination pattern including at least one combination of a storage unit that stores the shape measurement data of each of the guide rails measured by the shape measurement unit and a guide rail that is bilaterally symmetric is set to configure the basic combination pattern. Retrieval means for retrieving a guide rail having a shape similar to that of each guide rail based on the shape measurement data of the storage means, and each guide rail retrieved by the retrieving means are assigned to a position corresponding to the basic combination pattern. , And an order determining means for determining the installation order of the guide rails.

According to a third aspect of the present invention, a rail combination determining method measures the shape of each guide rail, searches the measured shape measurement data for a guide rail having a similar inclination at the rail end, and then searches the guide rail. The installation order of the guide rails is determined so that the guide rails are joined together.

According to a fourth aspect of the present invention, there is provided a rail combination determining device, which comprises shape measuring means for measuring the shape of each guide rail,
Storage means for storing the shape measurement data of each of the guide rails measured by the shape measurement means, and search means for searching for guide rails having similar rail end inclinations from the shape measurement data stored in the storage means. And an order determining means for determining the installation order of the guide rails so that the guide rails retrieved by the retrieval means are joined together.

[0013]

The present invention can achieve the following effects by taking the above means. According to the rail combination determining method corresponding to claim 1, a pair of rails whose rail shapes are bilaterally symmetrical is searched from the shape data of the guide rails, and the rail combination is searched for.
This includes a pair of left and right symmetrical rails that can reduce vibration of an elevator or the like.

In the rail combination determining apparatus according to the second aspect, the shape of each guide rail is measured by the shape measuring means and stored in the storage means. On the other hand, the rails that are bilaterally symmetrical are searched from the shape data of the storage means by the search means that refers to the basic combination pattern. When the guide rails of various shapes that match the combination pattern are searched in this way, the order determining means then determines the connection order of the rails that match the combination pattern.

According to the rail combination determining method of the third aspect, since the guide rails whose rail end portions have similar inclinations are joined to each other, the seam of the sail becomes smooth and vibration is reduced. .

In the rail combination determining apparatus according to the fourth aspect, the shape of each guide rail is measured by the shape measuring means and stored in the storage means. On the other hand, the search means searches the shape data of the storage means for a guide rail whose inclination of the rail end is similar. Then, the order determining means determines the connecting order of the guide rails by joining the retrieved guide rails.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic functional block configuration of a guide rail combination determining apparatus according to an embodiment of the present invention, and FIG. 2 is an external view thereof.

The guide rail combination determining apparatus according to the present embodiment has a conveying device 2 for moving the guide rail 1, a cleaning device 3 for cleaning the shape measuring surface of the guide rail 1, and a guide rail 1 as a work, which is turned over for measurement. A reversing device 4, a transfer device 5 for moving the measured work to the discharge position, a centering device 6 for setting the reversed work at the measuring position, a support device 7 for raising the work to the measuring position, and the operation of the above device. A shape measuring device including a control device 8 for controlling the guide rail 1, a measurement sensor 12 for measuring the degree of bending of the guide rail 1 and a computing device 9, a combination simulation device 10 for determining the combination of the guide rails 1, and the like.

Now, with reference to FIG. 2, an arrangement state of each component of the guide rail combination determining apparatus will be described. The transport device 2 has a plurality of transport rollers 2a to 2d arranged along the transport line of the guide rail 1, and transports the guide rail 1 to be measured from the transport roller 2a side to the 2d side. A cleaning device 3 is installed on the transfer line between the transfer rollers 2a and 2b. In addition, the transport rollers 2b and 2d
The transfer device 5 is arranged between them. The transfer device 5 has a pair of parallel conveyors 5a and 5b arranged in a direction orthogonal to the conveying direction of the guide rail 1 by the conveying device 2, and the guide rails 1 are formed by the conveyors 5a and 5b. Is translated in a direction orthogonal to the transport direction. On the transfer line of the transfer device 2, the conveyor 5a,
5b, a pair of lifting pieces 7a of the support device 7,
7b is provided. The lifting pieces 7a, 7b are adapted to move in the vertical direction in synchronization. Further, the position adjusting members 6a and 6b of the centering device 6 are arranged at positions that sandwich the conveyors 5a and 5b and are displaced from the transport line. The position adjusting members 6a and 6b move up and down corresponding to the height of the guide rail 1, and are also independently movable in the longitudinal direction of the guide rail 1.

On the other hand, along the longitudinal direction of the guide rail 1 supported by the support device 7 in the measuring state, the linear guide 1
1 is arranged in proximity. The measurement sensor 12 of the shape measuring device that measures the shape of the guide rail 1 includes two laser displacement sensors that emit laser light in two directions orthogonal to each other. This measuring sensor 12 is a linear guide 11
It is fixed to the electric movable part 13 that is slidably attached to the. A numbering device 14 is arranged near the conveyor 5b.

The above-mentioned transfer device 2, cleaning device 3, reversing device 4, transfer device 5, centering device 6, support device 7, measuring sensor 12, electric movable part 13, numbering device 14
Etc. are connected to the control panel 15 via a cable (not shown),
The operation is controlled by the control device 8 housed in the control panel 15. In addition to the control device 8, the control panel 15 accommodates the arithmetic device 9 and the simulation device 10.

In this embodiment, the guide rail 1 carried in by the carrier device 2 is cleaned by a cleaning device 3 to remove dust and dirt from the rail surface by air before the measuring sensor 12 measures the degree of bending. Be done. The cleaned guide rail 1 is transferred to the conveyors 5a and 5b by the transfer device 2. After the guide rail 1 passed on the conveyors 5a and 5b is inverted in the direction to be measured by the inversion device 4, the guide rails 1 are moved between the position adjusting members 6a and 6b of the centering device 6 by the conveyors 5a and 5b.

The centering device 6 holds the guide rail 1 by the position adjusting members 6a and 6b for centering, and makes the guide rail 1 parallel to the linear guide 11 which is the traveling path of the measuring sensor 12.

Next, the elevating pieces 7a and 7b of the supporting device 7 are raised from under the guide rails, and the attitude is adjusted so that the laser spot emitted from the measuring sensor 12 hits the surface to be measured of the rails.

With the above operation, preparation for measuring the shape of the guide rail 1 is completed. Next, the measurement sensor 12 irradiates the guide rail 1 with a laser beam to move the electric movable portion 13 from one end to the other end on the linear guide 11. The pair of laser displacement sensors forming the measurement sensor 12 scans the measured surface of the guide rail 1 facing each other at each laser spot to measure the displacement of each position in the longitudinal direction of the guide rail 1, It is sent to the arithmetic unit 9 as shape measurement data. Since the guide rail 1 has a T-shaped cross section, it is possible to know the degree of bending by setting the two surfaces orthogonal to each other as the measured surface.

The guide rail 1 ′ whose shape has been measured is placed on the conveyors 5 a and 5 b and transferred to the position of the numbering device 14. Then, the numbering device marks the rail number using an ink jet method or a pen. The rail number is instructed from the arithmetic unit 9 described later via the control unit 8.

As described above, the shapes of all the guide rails 1 to be combined are measured, and the shape measurement data are sequentially sent to the arithmetic unit 9. Next, the processing contents of the arithmetic unit 9 and the combination simulation unit 10 in the control panel 15 will be described in detail.

First, a combination of guide rails that can reduce vibration in the combination of guide rails in the elevator hoistway will be described. FIG. 10 shows various guide rail combination patterns. In the pattern (a), a pair of rails facing each other are curved in the same direction, and a pair of rails following the rail are also curved in the same direction. In the pattern (b), a pair of rails facing each other are curved in the same direction, and a pair of rails following the rail are curved in the opposite direction. In the pattern (c), a pair of rails facing each other are curved outward and are symmetrical, and a pair of rails following the rail are similarly curved outward and are symmetrical. In the pattern (d), a pair of rails facing each other are curved outward and are symmetric, and a pair of rails following the rail are curved inward and are symmetric.

Since the vibration of the elevator is greatly influenced by the distance between the brackets supporting the guide rails, it is included as one condition in the rail combination pattern. The above four patterns, two sets in the longitudinal direction,
Table 1 shows the rail shape and its bending period.

[0030]

[Table 1]

The patterns (a) and (b) can be classified as a parallel movement type because both rails forming a pair are parallel to each other. Further, if the bracket interval is T, the pattern (a)
Has a bending cycle of T, and the pattern (b) has 2T. Further, the patterns (c) and (d) can be classified as a left-right symmetric type because the pair of rails are symmetrical, and the pattern (c) has a period T and the pattern (d) has a period 2.
T.

The relationship between the traveling speed of the elevator and the lateral vibration is
FIG. 11 shows the result of simulation for each of the combination patterns of (a) to (d) above. From the simulation results shown in the figure, when the rail shape is parallel movement type,
That is, for the patterns (a) and (b), the elevator car receives the exciting force, so that the vibration increases as the traveling speed increases. On the other hand, when the rail shape is symmetrical, that is, patterns (c) and (d)
With regard to, the bending force of the rail cancels out the force acting on the car, and the vibration is reduced.

Further, when the bending period is the bracket interval, that is, in the patterns (a) and (c), the vibration resonates at a certain speed and the vibration becomes large. On the other hand, when the bending cycle is twice the bracket interval, that is, in the patterns (b) and (d), the vibration frequency obtained from the bending cycle of the rail does not reach the resonance point of the car, so the traveling speed is Lateral vibration increases as it increases.

From the results of this simulation, when the elevator runs at high speed, it is desirable that the guide rails have a bilaterally symmetrical shape in order to reduce vibrations. To avoid resonance of the car, the rail bending cycle is set to the bracket interval. It turns out that doubling is desirable. That is, the combination of the guide rails is most preferably the structure of the pattern (d), and such a combination makes the elevator comfortable with less vibration. Therefore,
In the present embodiment, the order of combining the guide rails is determined from a large number of guide rails so that the combination of the guide rails becomes the pattern (d).

The process of determining the guide rail combination order in the control panel 15 will be described below with reference to FIG. First, the shape measurement data of the guide rail 1 obtained by the shape measurement described above is input to the arithmetic unit 9. The arithmetic unit 9 represents the rail shape data by a numerical sequence such as d1 _(n) and d2 _(n) . For example, assuming that the measurement points of the measurement sensor 12 are 10 points on one rail, the shapes of certain two guide rails are expressed by the following equation.

D1 _(n) = {d1 ₍₁₎ , d1 ₍₂₎ , ... d1 ₍₁₀₎ } ... (1) d2 _(n) = {d2 ₍₁₎ , d2 ₍₂₎ , ... d2 ₍₁₀₎ } (2) The shape measurement data represented in this way is stored in the memory of the combination simulation device 10.

The simulation apparatus 10 reads the shape data of each guide rail from the memory (S1), and sets the maximum bending allowable range for each guide rail (S2). Then, rails outside the allowable range are excluded from the target of the combination simulation, and the guide rail having the maximum bending within the allowable range is graded as shown in FIG. 5 according to the bending degree (S).
3). Grade A rails are the most accurate, from A to F
The accuracy decreases in sequence.

Once the grades have been classified, the guide rails that are within the allowable range in step S2 are numbered, and the rail numbers determined by the numbering are shown in FIG. It is stored in association with the measurement data. When each guide rail 1 ′ having a rail number is ejected by the transfer device 5, the control device 8 controls the numbering device 14 to draw the numbered rail number on the guide rail 1 ′.

Next, the rail shape of each guide rail is analyzed, and those having similar shapes are collected and classified into patterns (S).
4). For example, it is assumed that the patterns are classified into patterns A to J as shown in FIG.

When the patterns are classified, the pattern (d) shown in FIG. 10, that is, the shape of the guide rail becomes symmetrical, and the bending cycle of the rail becomes twice the bracket interval. A basic combination pattern is created using the classified patterns A to J. For example, A pattern and F pattern are a pair of opposing rails, E pattern and J pattern are a pair of rails,
The combination of (A, F) and the combination of (E, J) are spliced together.

Next, a guide rail with high symmetry is searched from both patterns facing each other in the basic combination pattern (S5). For example, by analyzing each symmetry of the rail in the A pattern and the rail in the F pattern, A, F
Assemble each guide rail between patterns so that symmetry is high.

FIG. 7 shows a method for analyzing the symmetry between each guide rail of a certain group (for example, A pattern) and each guide rail of another group (for example, F pattern) which has a symmetrical shape with that group. It is a representation.

The shape data of the guide rails of both groups are stored in the memory in the state of a sequence of d1 _(n) and d2 _(n) as described above. By using the measured data, the shape data d1 _(n) of the rail 1 and the shape data d of the rail 2
The displacement difference from 2 _(n) is calculated at 10 points in the longitudinal direction of the guide rail, and the total displacement difference T is calculated. The equation for obtaining the total sum T is expressed by equation (3).

[0044]

[Equation 1]

The total sum T thus obtained indicates the difference between the rail shapes of the two rails 1 and 2 to be compared. In this embodiment, the displacement difference and the total sum T are calculated for each guide rail between the patterns facing each other in the basic combination pattern. The set of guide rails having the largest total sum T has the highest symmetry. Therefore, the guide rail combinations between the patterns facing each other in the basic combination pattern are determined in descending order of the total sum T between the guide rails.

On the other hand, when an elevator hoistway is formed by joining a number of guide rails together, as shown in FIG. 13 (b), vibration may occur if the joined portions are not smooth. Therefore, as shown in FIG. 12, it is necessary to arrange the guide rails in order so that the rail shape of the spliced portion becomes smooth.

Therefore, in this embodiment, the suitability of seaming between rails is analyzed and a rail suitable for seaming is searched (S6). The suitability for joining the guide rails is judged from the inclination of the rail ends. It is determined that the guide rails whose inclinations R of the rail ends match each other have the highest joint compatibility. As shown in FIG. 8, the inclination R of the rail end portion is obtained from the displacement of the rail end portion of the guide rail at two locations. The following formula is a formula for obtaining the inclination R of the rail end.

[0048]

[Equation 2]

Next, in the basic combination pattern, a guide rail having a high splicing suitability is searched from both patterns adjacent to each other in the longitudinal direction of the traveling path. As described above, since the guide rails having the same inclination R of the rail ends have the highest joint compatibility, the guide rails are combined so that the inclinations of the rail ends are equal to each other. Search longitudinal direction).

[0050]

[Equation 3]

In step S5, the guide rails that are symmetrical to each other have already been determined. Therefore, in practice, it is necessary to check the compatibility of the rail joints in the relation of the assembly and the assembly. For example, in the case of the set (A, F) and the set (E, J), even if the guide rail of the pattern A and the guide rail of the pattern E have good compatibility,
This is because the compatibility between the guide rails between the pattern F and the pattern J may be poor in some cases.

By the above combination simulation,
A guide rail is selected that approximates the shape of each rail forming the basic combination pattern. The determined installation order of the guide rails is stored in the memory and displayed or printed out as needed.

FIG. 9 shows the installation order of the guide rails determined by the above-mentioned combination simulation as C
An example of output to RT is shown. When installing the guide rails, by referring to the rail numbers described in this output example, it is possible to realize a combination configuration of the guide rails with less vibration during traveling of the elevator.

As described above, according to this embodiment, the shape of each guide rail is measured, the shape of the guide rail is classified into a plurality of patterns, and the classified patterns are combined so that the shape of the guide rail is symmetrical. Also, since a basic combination pattern is created so that the rail bending cycle is twice the bracket interval, and the guide rail installation order is determined so as to match the basic combination pattern,
It is possible to realize a combination configuration of guide rails that causes less vibration during elevator travel.

Further, according to the present embodiment, since the guide rails having high splicing suitability are searched from the two patterns adjacent to each other in the formation direction of the traveling path in the basic combination pattern, the splicing order is determined. Therefore, a smooth running path can be formed, and a guide rail with less vibration can be configured.

Although the guide rails for elevators have been described in the above description, the present invention is not limited to elevators, and guide rails for combining rails for railroads, rails for monorails, and the like to form a traveling path by combining long materials. It is also applicable to the combination of. Further, when the installation order is output to the outside, the data can be output to the printer as a data signal in addition to being printed on the printer or displayed on the CRT.

Further, the shape measurement of the guide rail in the shape measuring apparatus is not limited to the laser displacement sensor, but a non-contact sensor such as an eddy current sensor or an ultrasonic sensor, a shape measuring method using image processing, a wheel or a contact is used. It is also possible to apply the mechanical measurement method used. Furthermore, the number of rail measurement points can be changed. Further, when performing the combination search, not only the end forming the hoistway of the elevator but also the search may be started from the center of the hoistway.

[0058]

As described above, according to the present invention,
It is possible to combine a plurality of guide rails that form a traveling path so as to reduce vibrations, and it is possible to realize an elevator that has less vibrations and is comfortable to ride.

[Brief description of drawings]

FIG. 1 is a block configuration diagram of a guide rail combination determination device according to an embodiment of the present invention.

FIG. 2 is an external view of a guide rail combination determination device of the embodiment shown in FIG.

FIG. 3 is a flowchart of combination simulation.

FIG. 4 is a diagram showing a storage state of guide rail shape data.

FIG. 5 is a diagram illustrating grade classification in combination simulation.

FIG. 6 is a diagram illustrating pattern classification in a combination simulation.

FIG. 7 is a diagram showing a means for performing a combination search.

FIG. 8 is a diagram showing a unit for performing a seam search.

FIG. 9 is a diagram showing an output example of a guide rail combination determining device.

FIG. 10 is a diagram showing a rail combination pattern.

FIG. 11 is a diagram showing the relationship between the traveling speed and vibration of an elevator.

FIG. 12 is a configuration diagram showing a combination of guide rails in which vibration is reduced.

FIG. 13 is a diagram showing an example of a combination of conventional guide rails.

[Explanation of symbols]

1 ... Guide rail, 2 ... Conveying device, 8 ... Control device, 9 ...
Arithmetic device, 10 ... Combination simulation device, 12
… Measurement sensor.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shinkazu Kodera No. 1 in Toshiba Fuchu factory, Fuchu-shi, Tokyo (72) Inventor Koichiro Tajima No. 1 in Toshiba Fuchu, Tokyo Fuchu factory (1) 72) Inventor Kaoru Nakagaki No. 1 in Toshiba Fuchu factory, Fuchu-shi, Tokyo (72) Inventor Masashi Suto No. 1 Toshiba-cho, Fuchu, Tokyo Tokyo Fuchu factory, Co., Ltd.

Claims (4)

[Claims] 1. A rail combination determining method for determining an installation order of guide rails constituting a traveling path of a moving body from a plurality of guide rails, wherein the shape of each guide rail is measured, and the guide rails are symmetrical. A basic combination pattern including at least one combination of the above-mentioned combinations, a guide rail having a shape similar to the guide rail forming the basic combination pattern is searched based on the shape measurement data, and the searched guide rail is the basic combination pattern. A rail combination determination method characterized by allocating to a position corresponding to. 2. A rail combination determining apparatus for determining an installation order of guide rails constituting a traveling path of a moving body from among a plurality of guide rails, comprising: shape measuring means for measuring the shape of each of the guide rails; A storage unit for storing the shape measurement data of each of the guide rails measured by the measurement unit, and a basic combination pattern including at least one combination of left and right symmetrical guide rails are set, and each guide constituting the basic combination pattern is set. Retrieval means for retrieving a guide rail having a shape close to that of the rail based on the shape measurement data of the storage means, and allocating each guide rail retrieved by the retrieving means to a position corresponding to the basic combination pattern, and guiding the guide rails. A rail combination comprising: an order determining means for determining an installation order of rails. Constant apparatus. 3. A rail combination determining method for determining an installation order of guide rails constituting a traveling path of a moving body from a plurality of guide rails, wherein the shape of each guide rail is measured, and the measured shape measurement data is measured. A method for determining a rail combination, wherein guide rails having similar inclinations of rail ends are searched from among, and the installation order of the guide rails is determined so that the searched guide rails are joined to each other. 4. A rail combination determining device for determining an installation order of guide rails constituting a traveling path of a moving body from among a plurality of guide rails, comprising shape measuring means for measuring the shape of each guide rail, and the shape. Storage means for storing the shape measurement data of each of the guide rails measured by the measuring means, and a search means for searching for a guide rail having a similar inclination of the rail end from the shape measurement data stored in the storage means, A rail combination determining device comprising: an order determining unit that determines an installation order of the guide rails so that the guide rails searched by the searching unit are spliced with each other.