JP5023117B2 - Elevator with vibration control device - Google Patents

Description

  The present invention relates to an elevator using an active vibration damping device, and is particularly suitable for a small-sized elevator that is more practical as an elevator.

  In the elevator, the car is suspended by a rope, and is lifted up and down by winding the rope with a motor. The car guides the traveling of the elevator to the guide rails installed on the left and right by a guide device using shoes or rollers. In addition, vibrations are generated in the car while the elevator is running. This vibration is roughly divided into vertical and horizontal vibrations.

  In order to balance the improvement of the ride comfort of the car and the running stability of the car, and to control the lateral vibrations generated in the car, the vibration direction and magnitude of the car are detected and the detected vibrations are offset. It is known to provide an active vibration damping device and is described in Patent Document 1.

JP-A-11-116166

  When an active vibration control device is applied to an elevator, the noise generated by the active vibration control device is propagated in the interior of the car by air or solid, and the hoistway space is saved. In addition, it is necessary to secure a space, and it is necessary to reduce the size of the entire apparatus, to have a stable control operation, and not to cause unnecessary vibration. Therefore, as in Patent Document 1, simply providing an active vibration damping device does not provide high utility as an elevator.

  The object of the present invention is to solve the above-mentioned problems of the prior art, and to obtain an elevator with a vibration damping device that is small in size, particularly small in the height direction, and has a more stable control operation despite a large vibration damping force. It is in.

In order to achieve the above object, according to the present invention, a car can move up and down along a guide rail disposed in a hoistway, detects vibration of the car, and drives an actuator based on the detected signal. An elevator with a vibration control device for controlling, comprising: a disk supported so as to be paired by a rotating shaft; and a weight provided at a position eccentric from the rotating shaft in each of the disks, and The disk is rotationally driven , the disk has the same diameter, and includes two rollers for driving each of the disks, the roller having a large diameter part and a small diameter part, and the large diameter part from one to the other , And the disk is driven by the small diameter portion .

  According to the present invention, the disk supported by the rotating shaft so as to form a pair and having a weight provided at an eccentric position is rotationally driven. An elevator with a stable vibration control device can be provided.

The perspective view which shows the whole elevator which is one embodiment by this invention. The perspective view which shows the damping device which is one embodiment by this invention. FIG. 3 is a top view of the vibration damping device of FIG. 2. The side view which shows the damping device which is other embodiment by this invention. The front view which applied the damping device which is one embodiment to the elevator. Furthermore, the front view which applied the damping device which is other embodiment to the elevator.

  In the elevator, the vertical vibration is generated by the torque ripple of the motor of the hoisting machine and the forced displacement due to the eccentricity of the sheave or the pulley propagated to the rope. In order to reduce this, ripples are reduced and the amount of eccentricity of the rotating body is reduced.

  Lateral vibration is generated mainly by bending of the guide rail or forced displacement of the steps on the car. In order to reduce this lateral vibration, the construction is managed so that the installation error of the guide rail is reduced, or damping is added using a vibration isolating rubber or a damper under the guide device or the car.

  In the present embodiment, two disks with weights are used, and a rotary actuator is installed in each. In order to control the rotation amounts of the two actuators equally, a sensor such as an encoder and a controller are provided.

  When the control operation becomes unstable, there is a possibility of causing unnecessary vibration in a direction perpendicular to the direction to be controlled. In other words, it may unnecessarily cause vibrations in the left-right direction with respect to vibrations in the vertical direction. Further, if the reduction gear or the like is not used, the disk is driven by a direct drive motor, so that it is difficult to control a small angle, and a high-resolution encoder with a large number of slits is required. Further, when the disk is configured to be able to rotate 360 degrees, the dimension in the height direction of the elevator increases.

  An embodiment will be described below with reference to the drawings. FIG. 1 is a perspective view of an elevator car 1, where a depth direction is defined as an X direction, a horizontal direction as a Y direction, and a vertical direction as a Z direction with respect to the front of the car 1.

  The illustrated elevator is a machine room-less type having a hoisting sheave 4 at the bottom of the hoistway. The car 1 and the counterweight 2 are respectively provided with lower pulleys 6a, 6b, and 8 corresponding to moving pulleys. When the moving amount of the car 1 is 1, the winding machine 5 is wound up. A 2: 1 roping configuration with an amount of 2 is used.

  A pair of left and right guide rails 34a and 34b having a T-shaped cross section are provided in the elevator hoistway in the vertical direction, and the car 1 moves up and down along the guide rails 34a and 34b. The ropes 3 wound around the sheave 4 are respectively wound around the car 1 and the counterweight 2 and fixed to a top base (not shown) connected to the guide rails 34a and 34b, respectively. In the machine room-less type, the car lower pulleys 6a and 6b are installed under the car 1 in order to reduce the gap size at the car top when the car stops on the top floor.

  Since the guide rails 34a and 34b are stepped or bent at their connection points during installation, they act on the car 1 as forced displacement. In order to prevent the vibration caused by the forced displacement from propagating to the car 1, anti-vibration rubber is provided between the car 1 and the car frame (not shown). In addition, a guide device is attached to each of the upper and lower portions of the car frame to guide the traveling of the car, and rubber rollers and dampers are also used for this guide device.

  The vibration damping device 32 is installed under the car 1 and performs feedback control according to the output of the acceleration sensor 33 attached to the car 1. A control panel 42 for driving the vibration damping device 32 is installed under the car 1.

  FIG. 2 shows details of the vibration damping device 32, and shows a mechanism for damping in the z direction in the figure. Two disks 21a and 21b having the same diameter (diameter) are coaxially attached to the rotating shaft 41, and weights 22a and 22b are attached near the outer periphery thereof. The initial positions of the weights 22a and 22b are set to the left and right on the horizontal axis, and the disks 21a and 21b are rotated in the reverse direction. Accordingly, the reaction force applied to the rotating shaft 41 by the two weights 22a and 22b cancels the horizontal force, so that a force in the vertical direction (z direction) can be obtained.

  If the rotary actuators 27 are attached to the two disks 21a and 21b, two high-torque actuators 27 are required. Actuators are required to be small and have a minimum number in order to reduce costs. For this reason, it is driven by one small actuator below.

  In the disks 21a and 21b having the weights 22a and 22b, cylindrical rollers 26a and 26b in contact with the outer circumferences are attached to the disks 21a and 21b. The rollers 26a and 26b include large diameter portions 25a and 25b and small diameter portions 24a and 24b. The large diameter portions 25a and 25b are opposed to each other, and the other roller 26b is frictionally driven by using an actuator 27 attached to the one roller 26a. Thus, the two rollers 26a and 26b are rotated in the reverse direction. The small-diameter portions 24a and 24b are in contact with the disks 21a and 21b, respectively, and the disks 21a and 21b are frictionally driven to rotate the weights 22a and 22b. Although not shown, a stable driving force without slipping can be provided by pressing the opposing rollers using a spring.

  When the weights 22a and 22b are free-falling, the disks 21a and 21b rotate until the weights 22a and 22b come to the lowermost end. To prevent this, the actuator 27 gives the gravity compensation torque of the weight. That is, the rotation angle of the weights 22a and 22b is measured, and the torque corresponding to this is given by the actuator 27.

  Further, if the springs 23a and 23b are attached to the weights 22a and 22b or the disks 21a and 21b and one end of the springs 23a and 23b is fixed to the frame side, the weights 22a and 22b have a role of preventing free fall. At this time, the springs 23a and 23b are selected so that the natural frequency of the rotating body including the springs 23a and 23b, the weights 22a and 22b, and the disks 21a and 21b is higher than the frequency to be controlled. Although the drawing shows a tension spring, it may be other than a coil spring such as a torsion spring.

  FIG. 3 shows a top view, where the large diameter portions 25a, 25b have a diameter D1, and the small diameter portions 24a, 24b have a diameter D2. The rollers 26a and 26b are driven from one side 26a to the other side 26b at the large diameter portions 25a and 25b, and the disk 21b is driven at the small diameter portion 24a from the disks 21a and 24b.

  When the shafts of the rollers 26a and 26b are supported at both ends, the support bodies 38a and 38b are required. However, when the diameters are the same as the diameters D1 and D2, the distance A between the rollers is small. There is a possibility that the rollers 26a and 26b and the supports 38a and 38b may interfere with each other, or may interfere with the actuator 27 and the coupling 28.

  In order to increase the distance A between the roller shafts, the diameter may be increased. However, since the ratio with the diameter D3 of the disks 21a and 21b is decreased, the reduction ratio D3 / D1 is decreased and the actuator is downsized. Disadvantageous. On the other hand, the actuator is miniaturized by increasing the distance A between the roller shafts by increasing the two step diameter ratios D1 / D2 in the two rollers 26a and 26b.

  In addition, the distance between the rollers B in the axial direction of the disks 21a and 21b is reduced, and the moment around the vertical axis (around the z axis in FIG. 2) is reduced to prevent an unnecessary moment from acting on the car. .

  Next, another embodiment of the vibration damping device 32 will be described with reference to FIG. This figure is a front view in which two disks 21a and 21b arranged on the same axis are arranged side by side. When the disks 21a and 21b rotate reversely, the weights 22a and 22b installed on the horizontal axis in the initial state move to positions 22a 'and 22b', respectively, but centrifugal forces acting on the weights 22a 'and 22b' respectively. The left weight 22a 'is in the -Z direction and -Y direction, and the right weight 22b' is in the -Z direction and + Y direction. Accordingly, the forces acting on the two weights cancel each other in the Y direction, and the reaction forces 36a and 36b of the centrifugal force in the Z direction act in the + Z direction at the center of the disk. Using this force, the car 1 is controlled in the vertical direction.

  On the other hand, in the initial state, the weights 35a and 35b installed on the vertical axis move to the positions of 35a 'and 35b', respectively, but the centrifugal force acting on the weights 35a 'and 35b' is the left weight 35a '. Are the + Z direction and -Y direction, and the right weight 35b 'is the + Z direction and -Y direction. For this reason, the center of the disk receives the forces 37a and 37b in the + Y direction, and controls the car 1 in the lateral direction.

The form which applied the damping device 32 to the elevator is demonstrated in detail with reference to FIG.
This figure represents a front view of the elevator car 1 and performs vibration control in the vertical direction. Pulleys 6a and 6b are installed under the car 1, and the rope 3 passes through these lower ends. The vibration damping device is arranged above the rope 3 in order to reduce the height of the car 1. Furthermore, about the left-right direction, it installs in the space | gap between the two lower pulleys 6a and 6b. The base 30 of the vibration damping device is integrally coupled to the rotating shafts of the disks 21a and 21b, and a drive unit 40 including small diameter portions 24a and 24b and an actuator (27 in FIG. 3) is connected to the base via a support rod 43. Fix to 30. A spring 39 is installed at the end of the rod 43 in order to stably press the small diameter portions 24a, 24b and the disks 21a, 21b without slipping.

  Since an unnecessary horizontal force is generated between the small diameter portions 24a and 24b and the disks 21a and 21b, sensors 31a and 31b for measuring the rotation amounts of the small diameter portions 24a and 24b are provided. The phase difference between the two disks 21a and 21b is constantly monitored. The measuring means may be formed by forming protrusions or steps on a part of the disk, configuring the sensor as a proximity sensor, and measuring the delay amount of the pulse according to the rotation.

  FIG. 6 shows another embodiment in which the vibration damping device 32 is applied to an elevator. When the diameter Dp of the car lower pulleys 6a and 6b is reduced, the installation space in the vertical direction of the vibration damping device is further reduced. The mass of the weight is determined so that the amount of rotation of the disk is, for example, ± 60 °, and the disks 21a and 21b are formed in a semicircular shape. Thereby, the height direction can be reduced as compared with the circular shape. Note that the disks 21a and 21b are not limited to a semicircular shape as long as they have an arc shape that forms an arc by the amount of rotation of the weights 22a and 22b at the portions that contact the lower small diameter portions 24a and 24b. .

  As described above, weights are provided at positions eccentric to the two disks, and these are rotated in reverse. For example, when the two weights are initially set in a state where the phase is shifted 180 degrees to the left and right on the horizontal axis, and rotation control is started from this state, the lateral force can obtain a translational force in the vertical direction. The translational forces in the horizontal direction will cancel each other. Furthermore, if the weight is reduced in size and the amount of rotation is increased, a large damping force can be obtained.

  Further, by reducing the diameter of the roller and simultaneously increasing the diameter of the disk, a large reduction ratio can be obtained and the actuator can be downsized. Furthermore, since a small actuator is disposed below the rotating disk having the weight, a large space is not required in the vertical direction of the elevator. Furthermore, since no mechanical components such as a ball screw or a linear guide are added, the apparatus can be configured at low cost.

  Furthermore, since the two disks are mechanically operated in a cooperative manner by frictionally driving the two disks on the rotating cylindrical surface, it is possible to control more minute angles and perform the disk control at a high rotational speed. . Furthermore, if the rotation amount of the weight is limited to within ± 60 degrees, the height of the vibration damping device can be reduced by making the disk into a fan shape.

DESCRIPTION OF SYMBOLS 1 Car 2 Balance weight 3 Rope 4 Sheave 5 Hoisting machine 6a, 6b Car lower pulley 7a, 7b, 7c Top pulley 8 Balance weight pulley 21a, 21b Disk 22a, 22b Weight 23a, 23b Spring 24a, 24b Small diameter part 25a, 25b Large diameter part 26a, 26b Roller 27 Actuator 30 Base 31a, 31b Sensor 32 Damping device 33 Acceleration sensor 34a, 34b Guide rail 41 Rotating shaft 42 Control panel D1 Large diameter part diameter D2 Small diameter part diameter D3 Disk diameter Dp Cage Lower pulley diameter A Roller shaft distance B Roller distance (axial direction)

Claims (4)

In an elevator with a vibration damping device that allows a car to move up and down along a guide rail disposed in a hoistway, detects vibration of the car, and drives and controls an actuator based on the detected signal.
A disk supported in pairs by a rotating shaft;
A weight provided at a position eccentric from the rotation axis in each of the disks;
The disk is rotated by the actuator ,
The disk has the same diameter, and includes two rollers for driving each of the disks. The roller has a large-diameter portion and a small-diameter portion, and the large-diameter portion drives one to the other, and the small-diameter portion An elevator with a vibration damping device , wherein the disk is driven by   2. The elevator with a vibration damping device according to claim 1, wherein the disk has an arc shape in which an arc corresponding to the amount of rotation is formed.   The elevator with a vibration damping device according to claim 1, wherein the disk is reversely rotated. 2. The vibration damping device according to claim 1, wherein one of the two rollers is a main driving roller driven to rotate by the actuator, and the other is a driven roller driven by the main driving roller. Elevator with equipment.

Images