CN106006319A - Angle-variable inclination mechanism - Google Patents
Angle-variable inclination mechanism Download PDFInfo
- Publication number
- CN106006319A CN106006319A CN201610612912.3A CN201610612912A CN106006319A CN 106006319 A CN106006319 A CN 106006319A CN 201610612912 A CN201610612912 A CN 201610612912A CN 106006319 A CN106006319 A CN 106006319A
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- Prior art keywords
- car
- actuator
- screw
- angle
- leaning device
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- 230000007246 mechanism Effects 0.000 title claims abstract description 9
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 8
- 230000008901 benefit Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 230000000979 retarding effect Effects 0.000 claims description 2
- 230000035800 maturation Effects 0.000 claims 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
- B66B11/0226—Constructional features, e.g. walls assembly, decorative panels, comfort equipment, thermal or sound insulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
Landscapes
- Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
Abstract
The invention provides an angle-variable inclination mechanism. When a lift car is started and braked, the car lift can be inclined at a certain angle to offset horizontal action force on a passenger, so a novel, quick and efficient inclined lift can economically and efficiently run like common vertical lifts. Meanwhile, no discomfort influences are generated on the passenger. The inclined lift can generate horizontal action force during acceleration or deceleration. Due to the horizontal action force, the passenger feels unstable, uncomfortable and unhappy. The figure is the structural drawing of the inclination mechanism.
Description
Technical field
The invention belongs to field of electromechanical integration；
Background technology
Machine Design, automated control technology etc..
Summary of the invention
The present invention devises a kind of variable-angle leaning device, enable car tilt when starting and braking certain angle with
Negative function horizontal applied force with passenger, so that this oblique elevator novel, rapidly and efficiently can be general
The operation of the same economical and efficient of vertical ladder, will not produce again any uncomfortable impact simultaneously on passenger.Oblique elevator is accelerating
Or when running slowly, passenger can be produced horizontal applied force, this horizontal applied force makes passenger feel unstable, uncomfortable and beg for
Detest.
Accompanying drawing explanation
Fig. 1 is leaning device control principle drawing.
Fig. 2 is planetary ball leading screw.
Fig. 3 is electromechanical actuator.
Fig. 4 is rotatable car.
Fig. 5 is leaning device sketch.
Fig. 6 is leaning device operating diagram.
Fig. 7 is leaning device structure chart.
Detailed description of the invention
If car is to be freely hanging at upper articulation mechanism, plus-minus turn of speed will act directly on car, theoretically
Need not any leaning device, car will automatically speed up rotation θ angle, and passenger also will not feel health stress, but this scheme
Problem be unstable.When dragging system starts, passenger will not the centrage of car relatively be uniformly distributed, also will not be stably
Stand in certain position in car, but as compound pendulum, have the trend swung back and forth, make passenger feel very ill.Though
So can pass through control system or take free vibration reducing measure to improve these problems, but this is not the most a preferable scheme.This needs
Want a mechanism arrangement, make car can be maintained at optimum tilt angle position at any time, and interference-free, pass through open loop
Or closed loop and feedback control system make it be operated by the function curve being pre-designed.
Control system: the level that variable-angle leaning device is measured car by the acceleration transducer being arranged on car adds
Rate signal, obtains the skewed control signal of car after filtered, correction and time delay.In order to improve car riding comfort and
Reliability, could be used for after acceleration signal need are low-pass filtered controlling to tilt, its control system such as accompanying drawing 1.
The selection of actuator control mode controls: variable-angle leaning device will use computer control, the master of power-assisted
Dynamic inclination, its actuator can be pneumatic type, fluid pressure type or electromechanical.The present invention uses electromechanical actuator, by watching
Take the pinion rotation that the rotational movement of motor is arranged on motor shaft, slowed down by gear, be delivered to ball wire bar pair
Nut, is rotated by the nut of ball screw, is converted into the stretching motion of screw mandrel.Electromechanical actuator have system bulk little,
Lightweight, control accuracy advantages of higher, and developing rapidly along with AC conversion technology, the one-tenth of AC frequency conversion drive system
Ripe, brushless ac is raised and is taken buncher, frequency-variable controller and all have the reliable finished product of performance, adds gapless, high thrust, in high precision
The succeeding in developing of planetary roller screw so that use electromechanical actuator form to become optimal selection.
The selection of turn-screw: in electromechanical actuator, electromechanical actuator uses the motor of power amplifier control to drive
The screw mechanism of dynamic high transmission efficiency, utilizing ball-screw is linear motion by convert rotational motion.Between leading screw and nut it is
Zero-clearance connects, and kinematic accuracy is high, remains to be accurately positioned after rotating, and transmission efficiency is high, and it can also bear and jolt and vibrate,
Having only to the least maintenance, ball-screw is commonly used in lathe straight-line feed moves.Owing to ball-screw is ball and rolling
Point cantact power transmission between road, contact stress is relatively big, and bearing capacity is relatively small, occurs in that novel planetary roller screw.As attached
Fig. 2.
Planetary roller screw have employed the face contact power transmission of profile of tooth engagement, and the bearing capacity of leading screw is greatly reinforced, and has
There is kinematic accuracy high, the advantage of leading screw life-span length.Therefore, designed variable-angle leaning device electromechanical actuator is by use row
Star ball-screw.
Electromechanical actuator structure designs, design such as accompanying drawing 3.
Servomotor rotates with nut, and nut drives leading screw, makes lead screw straight-line.Gear ratio elects 10 as, by motor
Institute V belt translation than be 5 planetary reduction gear head and the one-stage gear transmission that gear ratio is 2 realize.Rotatable car structure sets
Meter, design such as accompanying drawing 4.
Playing traction and supporting an affixed bracing frame on the bottom coaster of car effect, car is by linkwork and props up
Support is connected, and bracing frame needs enough strength and stiffness can support the weight of car, the most also to reserve certain sky
Between car is not interfered when rotating.From safety considerations, car can not be more than 8 °, i.e. with the tiltangleθ of plumb line
Car is on the basis of the plumb line by linkwork center, and angle rotatable θ is-8 ° of ＜ θ ＜ 8 °.
Variable-angle leaning device master-plan, variable-angle leaning device is by tilt actuator, actuator and control
System forms.First accelerated to start according to oblique elevator by control system or retarding braking control actuator work, then by
The power source of input is converted to car inclination power by actuator, and output is to tilt actuator.Tilt actuator makes car again
Run-off the straight, is the most still detected car inclination angle by control system, controls the work of actuator.
Such as accompanying drawing 5 and accompanying drawing 6, when actuator does not works, AB bar and CD bar are symmetrical, and car center of gravity is positioned at line of symmetry
On.During actuator work, leading screw is flexible promotes leaning device motion, so that car run-off the straight, θ is car inclination angle.
When actuator action to the left, AB bar and DC bar are rotationally clockwise.Such as accompanying drawing 6, AB bar vertical-direction length is less than CD bar
Vertical-direction length, then BC bar is tilted to the right, and center of gravity P offsets the most to the right, i.e. car is tilted to the right；Otherwise, actuator is to the right
During action, center of gravity P left shift, i.e. car incline to the left pendulum.Owing to leaning device is symmetrical, so when the positive and negative stroke of actuator
Time equal in magnitude, car inclination angle is equal in magnitude.Wherein, V represents electromechanical actuator, and P represents car center of gravity.When motor power-off is made
During output that dynamic device is unpowered, owing to leaning device is symmetrical, car under self gravitation effect by self-aligning.This is effectively
Avoid when burst accident car owing to the just danger toppled can not be returned.
For ensureing that car rotates backrake θ and changes in the range of-8 °-8 °, and leaning device fork will not be sliding with car
Car interferes, and chooses the actuator top rake mechanism design parameter that do not works and is:
AB, CD pole length l1, l3 are 580mm；
BC pole length l2 is 1100mm；
AD pole length l4 is 650mm；
A length of 1024mm when actuator does not extends；
Actuator is fixed and held the distance of the plumb line by car center is 640mm；
Fork AB, CD are 23 ° with the angle of plumb line.
Leaning device structure such as accompanying drawing 7.
Claims (1)
1. the feature of variable-angle leaning device:
(1) control system: the level that variable-angle leaning device is measured car by the acceleration transducer being arranged on car adds
Rate signal, obtains the skewed control signal of car after filtered, correction and time delay.In order to improve car riding comfort and
Reliability, could be used for after acceleration signal need are low-pass filtered controlling to tilt.
(2) selection of actuator control mode controls: variable-angle leaning device will use computer control, the active of power-assisted
Tilting, its actuator can be pneumatic type, fluid pressure type or electromechanical.The present invention uses electromechanical actuator, passes through servo
The rotational movement of motor is arranged on the pinion rotation on motor shaft, is slowed down by gear, is delivered to the spiral shell of ball wire bar pair
Mother, is rotated by the nut of ball screw, is converted into the stretching motion of screw mandrel.It is little, heavy that electromechanical actuator has system bulk
Amount is light, control accuracy advantages of higher, and developing rapidly along with AC conversion technology, the maturation of AC frequency conversion drive system,
Brushless ac is raised and is taken buncher, frequency-variable controller and all have the reliable finished product of performance, adds gapless, high thrust, high-precision
Succeeding in developing of planetary roller screw so that employing electromechanical actuator form becomes optimal selection.
(3) selection of turn-screw: in electromechanical actuator, electromechanical actuator uses the motor of power amplifier control to drive
The screw mechanism of high transmission efficiency, utilizing ball-screw is linear motion by convert rotational motion.It it is nothing between leading screw and nut
Gap connects, and kinematic accuracy is high, remains to be accurately positioned after rotating, and transmission efficiency is high, and it can also bear and jolt and vibrate, only
Needing the least maintenance, ball-screw is commonly used in lathe straight-line feed moves.Owing to ball-screw is ball and raceway
Between point cantact power transmission, contact stress is relatively big, and bearing capacity is relatively small, occurs in that novel planetary roller screw.Planet rolls
Post leading screw have employed the face contact power transmission of profile of tooth engagement, and the bearing capacity of leading screw is greatly reinforced, and it is high to have kinematic accuracy, silk
The advantage of thick stick life-span length.Therefore, designed variable-angle leaning device electromechanical actuator will use planetary ball leading screw.
(4) electromechanical actuator structure design, servomotor rotates with nut, and nut drives leading screw, makes lead screw straight-line.Pass
Dynamic ratio elects 10 as, and planetary reduction gear head and the one-stage gear transmission that gear ratio is 2 by motor institute V belt translation ratio is 5 realize.
(5) rotatable car structure design, is playing traction and is supporting an affixed bracing frame on the bottom coaster of car effect, sedan-chair
Railway carriage or compartment is connected with bracing frame by linkwork, and bracing frame needs enough strength and stiffness can support the weight of car, with
Time also to reserve certain space car is not interfered when rotating.From safety considerations, the inclining of car and plumb line
Bevel angle θ can not be more than 8 °, and i.e. car is on the basis of the plumb line by linkwork center, and angle rotatable θ is-8 ° of ＜ θ ＜
8°。
(6) variable-angle leaning device master-plan, variable-angle leaning device is by tilt actuator, actuator and control system
System composition.First accelerated to start still retarding braking by control system according to oblique elevator and control actuator work, then by making
The power source of input is converted to car inclination power by dynamic device, and output is to tilt actuator.Tilt actuator makes car send out again
Raw inclination, is the most still detected car inclination angle by control system, controls the work of actuator.When actuator does not works
Time, AB bar and CD bar are symmetrical, and car center of gravity is positioned on line of symmetry.During actuator work, leading screw is flexible promotes leaning device
Motion, so that car run-off the straight, θ is car inclination angle.When actuator action to the left, AB bar and DC bar side clockwise
To rotation.Such as accompanying drawing 6, AB bar vertical-direction length is less than CD bar vertical-direction length, and then BC bar is tilted to the right, and center of gravity P is also
Offset to the right, i.e. car is tilted to the right；Otherwise, during actuator action to the right, center of gravity P left shift, i.e. car incline to the left pendulum.By
It is symmetrical in leaning device, so when the positive and negative stroke of actuator is equal in magnitude, car inclination angle is equal in magnitude.Wherein, V generation
Table electromechanical actuator, P represents car center of gravity.When the unpowered output of motor power-off actuator, owing to leaning device is symmetrical,
Car under self gravitation effect by self-aligning.This effectively avoids the car when burst accident just to send out owing to not returning
The raw danger toppled.
(7) actuator does not works top rake mechanism design parameter:
AB, CD pole length 11,13 is 580mm；
BC pole length 12 is 1100mm；
AD pole length 14 is 650mm；
A length of 1024mm when actuator does not extends；
Actuator is fixed and held the distance of the plumb line by car center is 640mm；
Fork AB, CD are 23 ° with the angle of plumb line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610612912.3A CN106006319A (en) | 2016-07-29 | 2016-07-29 | Angle-variable inclination mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610612912.3A CN106006319A (en) | 2016-07-29 | 2016-07-29 | Angle-variable inclination mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106006319A true CN106006319A (en) | 2016-10-12 |
Family
ID=57115688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610612912.3A Pending CN106006319A (en) | 2016-07-29 | 2016-07-29 | Angle-variable inclination mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106006319A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20240010466A1 (en) * | 2020-11-30 | 2024-01-11 | Inventio Ag | Car floor for an elevator car and method for installing an elevator car |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1284044A (en) * | 1998-12-21 | 2001-02-14 | 三菱电机株式会社 | Elevator |
| JP4289623B2 (en) * | 2002-09-19 | 2009-07-01 | 三菱電機株式会社 | Elevator equipment |
| KR20090119090A (en) * | 2008-05-15 | 2009-11-19 | 윤일식 | Display device of elevator |
| CN202687675U (en) * | 2012-07-02 | 2013-01-23 | 上海德圣米高电梯有限公司 | Automatic elevator car leveling device |
| CN203306882U (en) * | 2013-07-01 | 2013-11-27 | 苏州莱茵电梯制造有限公司 | Automatic lift car level-adjusting device |
-
2016
- 2016-07-29 CN CN201610612912.3A patent/CN106006319A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1284044A (en) * | 1998-12-21 | 2001-02-14 | 三菱电机株式会社 | Elevator |
| JP4289623B2 (en) * | 2002-09-19 | 2009-07-01 | 三菱電機株式会社 | Elevator equipment |
| KR20090119090A (en) * | 2008-05-15 | 2009-11-19 | 윤일식 | Display device of elevator |
| CN202687675U (en) * | 2012-07-02 | 2013-01-23 | 上海德圣米高电梯有限公司 | Automatic elevator car leveling device |
| CN203306882U (en) * | 2013-07-01 | 2013-11-27 | 苏州莱茵电梯制造有限公司 | Automatic lift car level-adjusting device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20240010466A1 (en) * | 2020-11-30 | 2024-01-11 | Inventio Ag | Car floor for an elevator car and method for installing an elevator car |
| US12103820B2 (en) * | 2020-11-30 | 2024-10-01 | Inventio Ag | Car floor for an elevator car and method for installing an elevator car |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161012 |
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| WD01 | Invention patent application deemed withdrawn after publication |