JP2002187680A - Car frame attitude control device and elevator equipped with the device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To make it possible to appropriately correct the inclination of a car frame and to reduce the spring constant of a roller portion spring that presses a guide roller against a guide rail. SOLUTION: A main rope supporting portion 27 for supporting an end of a main rope 15 on a car frame side is provided on the car frame 20 so as to be movable in a lateral direction with respect to the car frame 20. A load sensor 17 is provided between the car 1 and the car frame 20 to detect an eccentric load acting on the car 1 disposed in the car frame 20.
Is provided. Based on a signal from the load sensor 17, the main rope support 27 is moved in a direction to correct the inclination of the car frame 20 using the actuator 25.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a car frame attitude control device for controlling the attitude of a car frame in an elevator provided with a car frame suspended by a main rope, and an elevator equipped with the same.

[0002]

2. Description of the Related Art A conventional elevator will be described with reference to FIGS. FIG.
FIG. 1 is a configuration diagram of an elevator described in Japanese Patent Publication No. 703-703.
As shown in FIG. 10, the conventional elevator has a car 1,
A guide rail 3 arranged on the side of the car 1 and a car frame 20
And a roller spring 4 for pressing the guide roller 2 against the guide rail 3, an electromagnet 5, a displacement detector 6, and an acceleration detector 7.

Generally, it is effective to reduce the spring constant of the roller spring 4 in order to reduce the vibration transmitted to the car frame 20. However, if the spring constant is too small, the inclination of the car frame 20 becomes excessive due to the eccentric load acting on the car 1, and the amount of deformation of the roller part spring 4 exceeds its allowable range, and the vibration from the guide rail 3 causes vibration. Is transmitted directly to the car frame 20.

In the conventional elevator described above, for example, when an eccentric load acts on the car 1 due to passengers getting into and out of the car 1 disposed in the car frame 20, the car frame 20 is inclined. The displacement of the car frame 20 with respect to the guide rail 3 by the displacement detector 6 or the acceleration detector 7;
That is, the relative displacement of the car frame 20 with respect to the guide rail 3 is detected. Then, the car frame 2 is made using the electromagnetic force of the electromagnet 5.
The inclination of the car frame 20 is corrected by eliminating the inclination of 0, the use of the roller portion spring 4 having a small spring constant is enabled, and the vibration of the car frame 20 is reduced.

[0005]

However, in the above-mentioned conventional elevator, the relative displacement of the car frame 20 with respect to the guide rail 3 is detected, so that the car frame 20 is not used.
When the inclination is detected, it is not easy to determine whether the inclination is due to the eccentric load acting on the car frame 20 or the bending of the guide rail 3 itself. In addition, there is a problem that it is necessary to always supply a current to the electromagnet 5 even when an unbalanced load is not acting on the car frame 20. In addition, basket frame 20
There is a problem that the size and weight of the electromagnet 5 increase because the whole is moved.

FIG. 11 is a block diagram of an elevator disclosed in Japanese Patent Application Laid-Open No. 5-155560. As shown in FIG. 11, this elevator has a car frame upper beam 20a,
Main rope 15, rope shackle 9a, shackle spring 9b, nut 9c, rope hitch plate 10
, Bearing receiving portion 10a, bearing guide 10
b, 10c, 10d, bearings 11, 12, actuator 13a, actuator mounting bracket 14
And a link 13b.

In the conventional elevator described above, the inclination of the car frame 20 is obtained by detecting the relative displacement of the car frame 20 with respect to the guide rail 3 by a sensor provided on the guide roller portion, and the rope hitch plate 10 is actuated by the actuator 13a. Is moved to correct the inclination of the car frame 20 to enable the use of the roller unit spring 4 having a small spring constant, thereby reducing the vibration of the car frame 20.

However, also in the conventional elevator shown in FIG.
Because of the relative displacement between the guide rail 3 and the
When the inclination is detected, it is not easy to determine whether the inclination is due to the eccentric load acting on the car frame 20 or the bending of the guide rail 3 itself.

The present invention has been made in view of the above-mentioned circumstances, and it is possible to appropriately correct the inclination of a car frame, and furthermore, a roller spring for pressing a guide roller against a guide rail is provided. It is an object of the present invention to provide a car frame attitude control device capable of reducing a spring constant and an elevator including the same.

[0010]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides an elevator car frame attitude control apparatus for controlling the attitude of the car frame in an elevator having a car frame suspended from a main rope. A main rope supporting portion provided on the car frame so as to be movable in the lateral direction with respect to the car frame, and supporting an end of the main rope on the car frame side; A load sensor installed between the car and the car frame to detect an unbalanced load acting on the placed car, and a direction for correcting a tilt of the car frame based on a signal from the load sensor. An actuator for moving the main rope support portion,
It is characterized by having.

Preferably, a linear guide is provided between the main rope support and the car frame.

In order to solve the above-mentioned problems, the present invention relates to an elevator car frame attitude control device for controlling the attitude of the car frame in an elevator in which a car frame is suspended from a main rope. A main rope restraining member provided on the car frame so as to be movable in a lateral direction with respect to the frame, for restraining a lateral displacement of the main rope with respect to the car frame; and a car arranged in the car frame. A load sensor installed between the car and the car frame to detect an eccentric load acting on the car rope, and a main rope in a direction for correcting a tilt of the car frame based on a signal from the load sensor. And an actuator for moving the restraining member.

In addition, instead of the load sensor, a displacement sensor for detecting the inclination of the car with respect to the car frame may be provided between the car and the car frame.

Further, instead of the load sensor, a displacement sensor for detecting the inclination of the car frame as viewed from a stationary coordinate system may be provided.

Preferably, the actuator has a ball screw, a nut screwed on the ball screw, and a servomotor for driving the ball screw.

Preferably, the actuator has an electromagnet.

Preferably, the actuator has a piezoelectric element.

Preferably, the driving force from the piezoelectric element is transmitted to the main rope support or the main rope restraining member via a link.

Preferably, a compensator is provided on the car frame so as to be movable in the lateral direction with respect to the car frame, and supports a car frame side end of a compensating rope hanging down from the car frame. The vehicle further includes a rope support, and an actuator that moves the compensate rope support in a direction to correct the inclination of the car frame based on a signal from the load sensor or the displacement sensor.

In order to solve the above problems, an elevator according to the present invention is provided with any one of the above-described car frame attitude control devices, a main rope, a car frame suspended by the main rope, and disposed in the car frame. It is characterized by having a basket.

In this specification, the term "main rope" is used to indicate a concept including a rope shackle.

[0022]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) FIGS. 1 and 2 are block diagrams showing a first embodiment of an elevator and an elevator car frame attitude control apparatus according to the present invention.

As shown in FIG. 1, the elevator according to the present embodiment includes a car frame 20 suspended from the main rope 15 via a rope shackle 21a.
A main rope support 27 supporting the end of the main rope 15 on the side of the car frame 20 is provided on the car frame 20 so as to be movable in the lateral direction with respect to the car frame 20. The car 1 is arranged in the car frame 20.

Each guide roller 2 is provided at each corner of the car frame 20.
These guide rollers 2 are provided with roller portion springs 4.
, So that it comes into contact with the guide rail 3 resiliently. Between the car 1 and the car frame 20, an elastic body 16 made of a vibration-proof rubber or the like and a load sensor 17 are provided.

Also, as shown in FIG.
The main rope support portion 27 attached to the car frame 2a is attached to the upper beam 20a of the car frame via the elastic body 23 and the elastic body 23 attached to the upper beam 20a of the car frame.
A rope hitch plate 22 that can be moved laterally with respect to 0;
It has. Rope shackle 2 of main rope 15
1a, a spring retainer 28 and a spring retainer 2
A nut 21c is provided to prevent the slide 8 from slipping off, and a spring 21b is provided between the spring retainer 28 and the rope hitch plate 22.

Further, in the present embodiment, the upper beam 20
a comprising an actuator 25 attached to
The actuator 25 is connected to the rope hitch plate 22 via a link 24. The actuator 25 is
For example, a servo motor is provided as a drive source,
The ball screw is provided on one of the link 0a and the link 24, and the nut is provided on the other.

Next, the operation of the present embodiment having the above configuration will be described.

In the elevator car frame attitude control device configured as described above, when an eccentric load is applied to the car 1 due to the passenger eccentrically riding on a part of the car 1, the eccentric load is applied to the load sensor. 17 is detected. That is, the unbalanced load is detected based on the difference (load difference) between the output signals of the load sensors 17 arranged on the left and right in FIG. A control signal relating to the offset load is input to the actuator 25, and the actuator 25 moves the rope hitch plate 22 in a direction to correct the inclination of the car frame 20 caused by the offset load acting on the car 1. Thereby, the inclination of the car frame 20 caused by the unbalanced load is corrected.

Therefore, the amount of deformation of the roller portion spring 4 from the balance position can be reduced, the spring constant of the roller portion spring 4 can be reduced, and the cage vibration transmitted from the guide rail 3 can be reduced. Therefore, it is possible to provide a comfortable elevator. Furthermore, since the car vibration can be reduced, the bending of the guide rail 3 and the allowable range of the installation accuracy can be made large, and the installation time of the guide rail 3 can be shortened.

By disposing the load sensor 17 and the actuator 25 in the front-rear direction and the left-right direction of the car 1, it is possible to simultaneously cope with the uneven load in the front-rear direction and the left-right direction of the car 1.

As shown in FIG. 3, an electromagnet 26 is provided on the upper beam 20a of the car frame instead of the servo motor, the ball screw and the nut as the actuator 25, and an electromagnetic force is applied between the electromagnet 26 and the rope hitch plate 22. Can be applied to move the rope hitch plate 22 in the lateral direction. Alternatively, a piezoelectric element may be provided on the upper beam 20a of the car frame, and the rope hitch plate 22 may be moved in the lateral direction by utilizing the deformation of the piezoelectric element. In these configurations, the same effects as above can be obtained.

Second Embodiment Next, a second embodiment of the present invention will be described.
The embodiment will be described with reference to FIG.

In this embodiment, as shown in FIG. 4, the main rope restraining plate provided on the upper beam 20a of the car frame via the link 31 so as to be movable in the lateral direction with respect to the car frame 20. 30 and the main rope restraining plate 30
The lateral displacement of the main rope 15 with respect to the car frame 20 is restrained. Another link 32 is connected to the link 31, and one end of the link 33 is connected to a piezoelectric element (actuator) 33. Figure 1 shows the other parts
FIG. 4 is substantially the same as the first embodiment shown in FIG.
In FIG. 7, the same parts as those in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description is omitted.

In the elevator car frame attitude control device configured as described above, when a passenger gets on or off a part of the car 1, the car 1 is subjected to an eccentric load, and the eccentric load is applied to the load sensor 17 ( (See FIG. 1). A control signal relating to the unbalanced load is input to the piezoelectric element 33, and the driving force due to the deformation of the piezoelectric element 33 is transmitted to the main rope restraining plate 30 via the links 31 and 32. This allows
The main rope restraining plate 30 is moved so as to move the main rope 15 in a direction to correct the inclination of the car frame 20 caused by the unbalanced load acting on the car 1. Thereby, the inclination of the car frame 20 caused by the unbalanced load is corrected.

Here, although the piezoelectric element 33 has a small deformation (elongation), the use of the link 31 allows the main rope restraining plate 3 due to the deformation of the piezoelectric element 33.
The displacement amount of 0 can be enlarged.

Also in this embodiment, the roller spring 4
Since the amount of deformation from the balance position (see FIG. 1) can be reduced, the spring constant of the roller portion spring 4 can be reduced, and the car vibration transmitted from the guide rail 3 can be reduced, so that the rider can ride. A comfortable elevator can be provided.

The piezoelectric element 33 and the links 31, 32
Alternatively, the main rope restraining plate 30 may be moved by transmitting the driving force of the servomotor via a ball screw and a nut. Alternatively, an electromagnet may be provided, and the main rope restraining plate 30 may be moved by generating an electromagnetic force between the main rope restraining plate 30 and the electromagnet. In these cases, the same effects as above can be obtained.

(Third Embodiment) Next, a third embodiment of the present invention will be described.
The embodiment will be described with reference to FIG.

As shown in FIG. 5, in the present embodiment, the elastic member 23 in the first embodiment shown in FIG. 2 is used.
Instead, a linear guide 40 is provided between the car frame upper beam 20a and the rope hitch plate 22. The linear guide 40 includes a linear guide fixed portion 40a and a linear guide movable portion 40b. Other configurations are the same as in the first embodiment.

Also in this embodiment, the actuator 25 is driven based on the output signal from the load sensor 17 (see FIG. 1) as in the first embodiment, and the linear guide 4 is driven.
By moving the rope hitch plate 22 through 0, the inclination of the car frame 20 can be corrected, and the same effect as in the first embodiment can be obtained.

(Fourth Embodiment) Next, a fourth embodiment of the present invention will be described.
The embodiment will be described with reference to FIG.

As shown in FIG. 6, in this embodiment, an elastic body 16 is provided between the car 1 and the car frame 20 in place of the load sensor 17 in the first embodiment shown in FIG.
And a displacement sensor 50 is provided in parallel. Other configurations are the same as in the first embodiment.

In this embodiment, when a passenger rides on a part of the car 1 in an uneven manner, an uneven load acts on the car 1, and the uneven load causes the car 1 to tilt. The inclination of the car 1 is detected as a difference between output signals of the left and right displacement sensors 50 in FIG. 6 (a difference in displacement).

In this embodiment, based on the output signal from the displacement sensor 50, the actuator 25 is driven in the same manner as in the first embodiment to drive the rope hitch plate 22 (FIG. 2).
) Can correct the inclination of the car frame 20, and the same effect as in the first embodiment can be obtained.

(Fifth Embodiment) Next, a fifth embodiment of the present invention will be described.
The embodiment will be described with reference to FIG.

As shown in FIG. 7, in the present embodiment, instead of the load sensor 17 in the first embodiment shown in FIG. 1, the inclination of the car frame 20 viewed from a stationary coordinate system is detected. The displacement sensor 51 is provided on the car frame 20. Other configurations are the same as in the first embodiment.

In the present embodiment, the displacement sensor 51
Thus, the inclination of the car frame 20 viewed from the stationary coordinate system is detected. More specifically, a displacement δ1 caused by an eccentric load caused by a passenger riding partly in the car 1 and a displacement δ2 caused by an eccentric load caused by a change in the weight of the rope 15 due to the elevation position of the car 1; Displacement δ1 + δ combined with displacement δ3 due to bending of guide rail 3 itself.
2 + δ3 is detected by the displacement sensor 51.

By running the car frame 20 in a state in which an unbalanced load due to the weight of the passenger is not applied, the displacement sensor 51 can detect δ2 + δ3. on the other hand,
Since δ2 changes approximately linearly according to the elevation position of the car frame 20, δ2 and δ3 can be separated.

Therefore, when the rope hitch plate 22 is moved in the lateral direction by the actuator 25, the displacement 25 is controlled by removing the displacement δ3 from the displacement detected by the displacement sensor 51, thereby controlling the displacement δ1 and the displacement δ1 due to the weight of the passenger. The displacement δ2 due to the rope weight can be corrected. As a result, the spring constant of the roller portion spring 4 can be reduced to improve the riding comfort of the elevator.

(Sixth Embodiment) Next, a sixth embodiment of the present invention will be described.
The embodiment will be described with reference to FIGS. 8 and 9. FIG. Note that this embodiment is obtained by partially adding a configuration to the above-described first to fifth embodiments. Hereinafter, portions different from the above-described embodiments will be described.

As shown in FIGS. 8 and 9, in the present embodiment, the compensating rope supporting portion 53 is provided so that the compensating rope supporting portion 53 can be moved laterally with respect to the car frame 20.
It is provided in. The compens rope support portion 53 supports an end of the compens rope 52 hanging from the car frame 20 on the car frame side.

As shown in FIG. 8, the compensating rope support portion 53 is provided with the elastic member 1 attached to the lower beam 20b of the car frame.
23, and a rope hitch plate 122 attached to the car frame lower beam 20b via an elastic body 123 and movable in the lateral direction with respect to the car frame 20. Compensation rope 5
At the end of the second rope shackle 121a, a spring retainer 128 and a nut 121c for preventing the spring retainer 128 from slipping off are provided, and a spring 121b is provided between the spring retainer 128 and the rope hitch plate 122. .

Further, in the present embodiment, the lower beam 20
b. The actuator 125 is connected to the rope hitch plate 122 via a link 124. The actuator 125 is provided with, for example, a servomotor as a drive source,
It is configured by providing a ball screw on one of the cage frame lower beam 20b and the link 124 and providing a nut on the other.

Next, the operation of the present embodiment having the above configuration will be described.

In the elevator car frame attitude control device configured as described above, when an eccentric load is applied to the car 1 by the passenger eccentrically riding on a part of the car 1, the eccentric load is applied to the load sensor. 17 is detected. That is, the unbalanced load is detected based on the difference (load difference) between the output signals of the load sensors 17 arranged on the left and right in FIG. A control signal relating to this eccentric load is applied to the actuators 25, 12
5 and the actuators 25 and 125
The rope hitch plates 22 and 122 are moved in a direction to correct the inclination of the car frame 20 caused by the unbalanced load acting on the rope hitch plates 22 and 122.
Thereby, the inclination of the car frame 20 caused by the unbalanced load is corrected.

Therefore, the amount of deformation of the roller spring 4 from the balance position can be reduced, the spring constant of the roller spring 4 can be reduced, and the cage vibration transmitted from the guide rail 3 can be reduced. Therefore, it is possible to provide a comfortable elevator. Furthermore, since the car vibration can be reduced, the bending of the guide rail 3 and the allowable range of the installation accuracy can be made large, and the installation time of the guide rail 3 can be shortened.

By disposing the load sensor 17 and the actuators 25 and 125 in the front-rear direction and the left-right direction of the car 1, it is possible to simultaneously cope with the uneven load of the car 1 in the front-rear direction and the left-right direction.

As the actuators 25 and 125, electromagnets are provided on the upper beam 20a and the lower beam 20b of the car frame in place of the servomotor, the ball screw and the nut.
By applying an electromagnetic force between these electromagnets and the rope hitch plates 22, 122, the rope hitch plates 22, 122 can be moved in the lateral direction. Alternatively, the cage frame beam 20
A piezoelectric element may be provided on the lower beam 20a and the car frame lower beam 20b, and the rope hitch plates 22, 122 may be moved in the lateral direction by utilizing the deformation of the piezoelectric element. In these configurations, the same effects as above can be obtained.

As a modification of the present embodiment,
Even if the actuator 25 on the main rope 15 side is deleted and the rope hitch 22 is not controlled in the lateral direction, only the rope hitch plate 122 on the compensating rope 52 side is controlled to move in the lateral direction by the actuator 125. good.

[0061]

As described above, according to the present invention, the main rope is used to correct the inclination of the car frame by using the actuator based on the signal from the load sensor for detecting the eccentric load acting on the car. Since the support portion or the main rope restraining member is displaced, the amount of deformation of the roller portion spring for pressing the guide roller against the guide rail from the balance position can be reduced, and the spring constant of the roller portion spring is reduced. As a result, the vibration of the car frame can be reduced, and the riding comfort of the elevator can be improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a first embodiment of an elevator according to the present invention.

FIG. 2 is a configuration diagram showing an enlarged part of the car frame attitude control device of the first embodiment shown in FIG. 1;

FIG. 3 is a configuration diagram showing a portion of a car frame attitude control device according to a modification of the first embodiment shown in FIG. 1;

FIG. 4 is a configuration diagram showing a part of a car frame attitude control device in an elevator according to a second embodiment of the present invention.

FIG. 5 is a configuration diagram showing a part of a car frame attitude control device in an elevator according to a third embodiment of the present invention.

FIG. 6 is a configuration diagram showing a fourth embodiment of an elevator according to the present invention.

FIG. 7 is a configuration diagram showing a fifth embodiment of an elevator according to the present invention.

FIG. 8 is a configuration diagram showing a part of a car frame attitude control device in a sixth embodiment of the elevator according to the present invention.

FIG. 9 is a configuration diagram showing a sixth embodiment of an elevator according to the present invention.

FIG. 10 is a configuration diagram illustrating an example of a conventional elevator.

FIG. 11 is a configuration diagram showing another example of a conventional elevator.

[Explanation of symbols]

 Reference Signs List 1 car 2 guide roller 3 guide rail 4 roller spring 15 main rope 16 elastic body 17 load sensor 20 car frame 20a car frame upper beam 20b car frame lower beam 21a, 121a rope shackle 22, 122 rope hitch plate 23, 123 elastic body 24, 124 Link 25, 125 Actuator 26 Electromagnet 27 Main rope support 30 Main rope restraint plate 31, 32 Link 33 Piezoelectric element 40 Linear guide 40a Linear guide fixing part 40b Linear guide movable part 50, 51 Displacement sensor 52 Compensation rope 53 Compensation Rope support

Claims (11)

[Claims] An elevator car frame attitude control device for controlling the attitude of the car frame in an elevator in which a car frame is suspended from a main rope, the elevator car frame attitude control apparatus being movable in a lateral direction with respect to the car frame. A main rope support portion provided on the car frame so as to support a car frame side end of the main rope, and the main rope supporting portion for detecting an unbalanced load acting on a car arranged in the car frame. A load sensor installed between the car and the car frame; and an actuator for moving the main rope support in a direction to correct the inclination of the car frame based on a signal from the load sensor. A car frame attitude control device for an elevator. 2. An elevator car frame attitude control device according to claim 1, wherein a linear guide is provided between said main rope support portion and said car frame. 3. An elevator car frame attitude control device for controlling the attitude of the car frame in an elevator in which the car frame is suspended from a main rope, wherein the elevator car frame attitude control apparatus is capable of moving in a lateral direction with respect to the car frame. A main rope restraining member that is provided on the car frame so as to restrict the lateral displacement of the main rope with respect to the car frame, and for detecting an eccentric load acting on a car disposed in the car frame. A load sensor installed between the car and the car frame, and an actuator that moves the main rope restraining member in a direction to correct the inclination of the car frame based on a signal from the load sensor. An elevator car frame attitude control device, comprising: 4. The car frame according to claim 1, wherein a displacement sensor for detecting an inclination of the car with respect to the car frame is provided between the car and the car frame in place of the load sensor. The elevator car frame attitude control device according to any one of claims 1 to 4. 5. The elevator according to claim 1, wherein a displacement sensor for detecting an inclination of the car frame as viewed from a stationary coordinate system is provided in place of the load sensor. Car frame attitude control device. 6. The actuator according to claim 1, wherein the actuator includes a ball screw, a nut screwed to the ball screw, and a servomotor that drives the ball screw. Elevator car frame attitude control system. 7. The elevator car frame attitude control device according to claim 1, wherein the actuator includes an electromagnet. 8. The elevator car frame attitude control device according to claim 1, wherein the actuator has a piezoelectric element. 9. The elevator car frame attitude control device according to claim 8, wherein the driving force from the piezoelectric element is transmitted to the main rope support portion or the main rope restraining member via a link. 10. A compensating rope support portion provided on the car frame so as to be movable in the lateral direction with respect to the car frame, and supporting a car frame side end of a compensating rope hanging down from the car frame. And an actuator for moving the compensating rope support in a direction to correct the inclination of the car frame based on a signal from the load sensor or the displacement sensor. The elevator car frame attitude control device according to any one of claims 9 to 9. 11. The elevator car frame attitude control device according to claim 1, a main rope, a car frame suspended by the main rope, and a car frame suspended in the car frame. An elevator, comprising: a cage.