CN101336202B - Elevator apparatus and guiding apparatus therewith - Google Patents
Elevator apparatus and guiding apparatus therewith Download PDFInfo
- Publication number
- CN101336202B CN101336202B CN2006800519892A CN200680051989A CN101336202B CN 101336202 B CN101336202 B CN 101336202B CN 2006800519892 A CN2006800519892 A CN 2006800519892A CN 200680051989 A CN200680051989 A CN 200680051989A CN 101336202 B CN101336202 B CN 101336202B
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- Prior art keywords
- guide rail
- lift car
- lift
- guiding device
- sign
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
- B66B7/04—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes
- B66B7/041—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations
- B66B7/042—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations with rollers, shoes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
- B66B7/04—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes
- B66B7/046—Rollers
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- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
- Elevator Control (AREA)
Abstract
In an elevator device (100), an elevator car (1) moves up and down along guide rails (6a-6d) arranged in a hoistway. The car has a guidance device (30) for allowing the car to move up and down along the guide rails. The guidance device has pressing means (31) for pressing the guide rails, an actuator (34) capable of changing the pressing force of the pressing means (31), a controller (9) for the actuator, and an acceleration detector (5) for detecting a shake of the car. Markers (7a-7d) are arranged near joints between guide rails, and detection devices (8a, 8b) capable of detecting the markers are arranged on the car. The controller controls the pressing force of the guidance device according to a signal from the detection devices.
Description
Technical field
The present invention relates to a kind of lift facility, relate in particular to a kind of guiding device that makes lift car along lifting rail.
Background technology
For example, open the patent of invention spy of Japan and disclose a kind of existing lift facility in the flat 5-319739 communique.In the disclosed lift facility of this communique, in order to suppress the vibration intensity of elevator cages, on lift car, be provided with vibration sensor, also be provided with the sensor that detects the guide rail displacement simultaneously in the top and the bottom of the lift car of forming by cage and car frame.Below car, be provided with actuator, use is carried out controlled reset by the detected signal of the sensor of lift car to this actuator, and use by the sensor that detects the guide rail displacement to signal actuator is carried out feed forward control, suppress the vibration of the horizontal direction of lift car thus.
In addition, for example open and disclose another existing lift facility in the 2001-122555 communique the patent of invention spy of Japan.In the disclosed lift facility of this communique, in order under the situation that has produced static displacement and dynamic displacement, also to reduce the vibration of lift car effectively, the actuator fixed part that guiding device had of elevator and the side in the actuator moving part are set to magnet, and the opposing party is set to coil.When car vibrations, produce Lorentz force (Lorentz force) by making coil electricity, reduce vibration with this.Thus, alleviated the interference that the difference of height of and seam crooked because of guide rail produces.
Open in the disclosed lift facility of flat 5-319739 communique above-mentioned spy, detect guide pass by the sensor that is used to detect the guide rail displacement.But, when lift car is run at high speed,, then under the influence of the reflection that causes by gloss, can make the sensor of optical profile type be difficult to correctly detect displacement if the surface of metal guide rail is a brilliant surface.During sensor beyond using optical profile type, though the influence that can avoid gloss to bring, the sensor of optical profile type can cause cost to increase, and the influence that is subjected to scar etc. easily.In addition, because the output of sensor is used for feed forward control, so must therefore, sensor must be installed in than actuator on the position of car frame, at actuator by detecting displacement before so be difficult to save the space.
On the other hand, open in the disclosed elevator of 2001-122555 communique above-mentioned spy, suppress the vibration that produces because of the lift car lifting by the power between coil and the magnet of acting on, but in large-scale lift car or high-revolving lift car etc., consider the weight of lift car and passenger's weight etc., the power of the required generation of coil will increase, thereby need to use large-scale device.
Summary of the invention
The present invention proposes in order to solve existing problem in the above-mentioned prior art, the objective of the invention is to be suppressed at the vibration that produces in the car of lift facility with small-scale structure.
Above-mentioned purpose realizes by following lift facility is provided.In the lift facility of lift car of the present invention lifting in hoist trunk, be used to guide the guide rail of lift car relatively in ground is arranged on hoist trunk, many these guide rails are provided with across the lifting direction of seam along lift car, on rising and this both direction that descends, clip the be arranged at intervals with sign of this seam to predesignate, described lift car is provided with detector that can detect this sign and the guiding device that can apply pressing force according to the output of this detector to described guide rail.
And, preferably be provided with the control unit of control guiding device and the acceleration detecting unit that detects the lift car acceleration/accel, control unit is controlled the pressing force that guiding device applies according to the output of acceleration detecting unit, and preferred control unit has: feedback controller, this feedback controller are used for the acceleration signal of the elevator main body that comprises lift car is fed back; And feedforward controller, this feedforward controller feedovers according to the signal of detector.In addition, can be arranged to control unit has the elevator main body that comprises lift car is simulated and the numerical model that obtains, and can have feedback control loop, this feedback control loop by fader logarithm value model output and the deviation between the acceleration/accel of the detected elevator main body of acceleration detecting unit feed back.Sign can be mounted in protrusion member on the guide rail, be formed on the notch on the guide rail and be installed at least a among this three of bolt on the guide rail.In addition, sign can be the sight shield near the hoist trunk wall that is fixed on the seam of guide rail, detector can be can be relative with this sight shield to electrostatic capacitance detecting unit or magnetic detecting unit.
Above-mentioned purpose also realizes by the guiding device that following lift facility is provided.The guiding device of lift facility of the present invention is along the lift facility guiding device of guide rail to the lift car channeling conduct that lift facility had, it has to what guide rail was pushed pushes the unit, drive the actuator that this is pushed the unit and can change its pressing force, control the control setup of this actuator and the acceleration detector that detects the lift car acceleration/accel, and have the sign and detecting unit, this sign is arranged on many near the guide rail seam that forms between the guide rail of lifting direction setting, be positioned at not and push contacted position, unit, detecting unit can detect this sign on being installed to lift car the time, and control setup is controlled actuator according to the output signal of this detecting unit.
And can also be provided with: adjustment unit, this adjustment unit are according to the output of the operative condition and the acceleration detector of lift facility, and automatic compensation is pushed the pressing force of unit to guide rail; And memory cell, this memory cell stores adjusted result, and preferably detects when sign at detecting unit, and the pressing force of pushing guide rail that control setup will be pushed the unit is controlled at below the value of predesignating.In addition, can be arranged to have: transom, this transom is arranged on the seam portion of guide rail, connects between guide rail; And fixed cell, this fixed cell is fixed on this transom on the guide rail, detecting unit detects this fixed cell as sign, and seam portion and the guide rail that can be arranged in guide rail be adjacent to be provided with sight shield, and detecting unit detects this sight shield as identifying.
According to the present invention, owing near the seam of cage guide, be provided with identification division, and partly be provided with the test section that is used to detect this identification division at lift car, thus the pressing force of lift car can be changed to guide rail, thus can more effectively suppress the vibration of lift car.
Description of drawings
Fig. 1 is the front view of an embodiment involved in the present invention; Fig. 2 is the block diagram of the control system that elevator had shown in Figure 1; Fig. 3 and Fig. 4 are the behavioral illustrations figure of feedforward control system; Fig. 5 is the diagram of circuit of the contents processing of expression feedforward control system; Fig. 6 to Fig. 8 is the front view of each other embodiment of elevator involved in the present invention.
The specific embodiment
Followingly describe with reference to the embodiment of accompanying drawing to elevator guiding device involved in the present invention.Fig. 1 is the front view of expression lift car part.On the relative wall of not shown hoist trunk, be provided with the guide rail 6 that is used to guide lift car 1 along above-below direction.Between this pair of guide rails 6,6, be provided with lift car 1.The top of lift car 1 is connected with not shown hoist cable, and hoist cable is rolled or emitted by not shown actuating device, so that make lift car 1 lifting in hoist trunk.
Two guide rail 6a above lift car 1,6c side are equipped with the guiding device 20,20 that the guiding elevator carries out lifting.Equally, two guide rail 6b, the 6d side below lift car 1 also is equipped with guiding device 30,30.It is that erecting bed 24, lower end are rotated the rod member 22 that is supported on this erecting bed 24 freely and generally perpendicularly extends, rotated the spring 23 on the centre portion of the vertical component that is installed in the roller 21 of rod member 22 upper end side and upper part that two ends are separately fixed at rod member 22 and erecting bed 24 freely that the guiding device 20 on top has at the installation component that usefulness is installed on the lift car 1. Roller 21,21 is pressed against on guide rail 6a, the 6c by means of spring 23.
The structure of the structure of the guiding device 30 of bottom and the guiding device 20 on top is roughly the same, is that with the difference of the guiding device 20 on top the guiding device 30 of bottom is provided with actuator 34 between spring and installation component.That is, the horizontal component that is installed in erecting bed 35 is freely rotated in the upper end of rod member 32.The bottom of rod member 32 is rotated roller 31 is installed freely, is installed in the spring 33 of rod member 32 bottoms by an end, and roller 31 is pressed against on guide rail 6b, the 6d.Another end of spring 33 is fixed on the pressing member 36, and the rear side of pressing member 36 contacts with actuator 34 on the vertical component that is fixed on erecting bed 35.
For the ease of carrying out installation exercise, the length of guide rail 6a～6d length direction is set to the length of regulation.Therefore, in lift facility, be provided with small gap (seam 4a, 4b) along the vertical direction between a plurality of guide rails of She Zhiing.The cross section of each guide rail 6a～6d is T font cross section, and the longitudinal component in T font cross section extend to be provided with towards the lift car side, and contacts with roller 21,31 towards the end that the lift car side is extended this part that is provided with.On the lateral part in the T font cross section of each guide rail 6a～6d that does not contact with roller 21,31, each guide rail 6a～6d is provided with and protrudes member 7a～7d.Protrusion member 7a～7d is arranged near seam 4a, the 4b of guide rail 6a～6d, is positioned at seam 4a, 4b to separate on the position of predetermined distance.
On the other hand, lift car 1 is provided with detector 8a, 8b, and detector 8a, 8b can detect the protrusion member 7a～7d that is arranged on guide rail 6a～6d when each lift car 1 carries out lifting. Detector 8a, 8b only are arranged on the upper side in two sides of lift car 1.The accelerograph 5 that is used to measure lift car 1 vibration is installed on the middle body of the rear side on lift car 1 floor.The output of detector 8a, 8b and accelerograph 5 is sent to the controller 9 that is provided with separately.Controller 9 calculates the control signal of the actuator 34 that sends to the guiding device 30 that is provided with at lift car 1 downside according to these output.Behind the control signal that actuator 34 is accepted to be calculated, the pressing force that is used to push guide rail 6a～6d of control roller 31 is to suppress the vibration of lift car 1.
In the lift facility 100 with said structure, when lift car 1 carried out lifting, detector 8a protruded member 7a, 7b to 2 of the seam 4a that is used to detect left rail 6a, 6b and detects.Equally, detector 8b protrudes member 7c, 7d to 2 of the seam 4b of the guide rail 6c, the 6d that are used to detect the right side and detects.
When lift car 1 upwards travelled, detector 8a, 8b detected protrusion member 7b, the 7d that is arranged on seam 4a, 4b below.After detector 8a, 8b detected seam 4a, 4b and process specific time, guiding device 30 was by seam 4a, 4b.Equally, when lift car 1 travelled downwards, detector 8a, 8b detected protrusion member 7a, the 7c that is arranged on seam 4a, 4b top, and after having passed through specific time, guiding device 30 is by seam 4a, 4b.
Because the distance of protruding between member 7a～7d and seam 4a, the 4b is obtained in advance, so can grasp time according to the rising or falling speed of lift car 1 by seam 4a, 4b.If can detecting, detector 8a, 8b protrude member 7a～7d, then can grasp the time of lift car 1 by guide rail 6a～6d seam 4a, 4b, thus, can with the actuator 35 of guiding device 30 time by seam 4a, 4b drive actuator 35 correspondingly.Therefore, can suppress lift car 1 effectively and by seam 4a, 4b the time, produce vibration.
And, in the embodiment shown in fig. 1, on guide rail 6a～6d, be provided with and protrude member 7a～7d.Protrude member 7a～7d but also can replace, at this moment, can detect the position of seam 4a, 4b according to the variation of reflection of light rate by the sign of pasting sheet.
Fig. 2 represents the block diagram of the control setup 9 of the guiding device 30 in the lift facility shown in Figure 1 100.Control setup 9 have with feed-forward mode with control signal be sent to elevator main body 11 feedforward controller 10, be arranged on the feedback controller 13 on the feedback control loop 17, the fader 14 that is connected in the numerical model 12 on the elevator main body 11 in parallel and is used for the adjusting control signal gain.Control setup 9 reduces vibration as the lift car 1 of the elevator main body 11 of controlled object by using said apparatus.At this moment, by being fed back, the output of accelerograph shown in Figure 15 controls vibration.
Concrete method is, in the signal adder 16 of outgoing side to carrying out additive operation by the acceleration/accel of the accelerograph 5 detected lift cars 1 that are installed in lift car 1 lower surface with by the acceleration/accel that logarithm value model 12 (numerical model 12 is to obtain numerical model by elevator main body 11 being carried out the numerical value displacement) carries out the lift car 1 that computing obtains.Then, the deviation with described 2 acceleration signals is input in the fader 14.Fader 14 is adjusted yield value according to the deviation of acceleration signal, and by feedback control loop 18 this yield value is fed back in the signal adder 15 of input side of elevator main body 11 and numerical model 12.
Owing to be provided with feedback control loop 18, therefore change and to take countermeasure easily when the vibration characteristic that causes elevator main body 11 changes etc. at load weight because of lift car 1.Feedforward controller 10 is according to controller 8a shown in Figure 1, the output of 8b, in the time point output control command of guiding device 30 by guide rail seam 4a, 4b.In order to reduce the vibration of disturbing the lift car 1 that causes because of the pulse feature of guide rail seam 4a, 4b etc., except controlled reset, it is very important to set up the feed forward control this point.At this moment, if can correspondingly carry out feed forward control with lift car 1 by the time of seam 4a, 4b exactly, then can obtain very big effect.
In lift facility 100, iff the rotating speed of measuring not shown winch, then because hoist cable skids and factor such as hoist cable elongation and the tram that can't grasp lift car 1.Its result, the time by seam 4a, 4b can produce deviation.For this reason, in the present embodiment, use detector 8a, 8b to detect the position of seam 4a, 4b, adjust the time of lift car 1 thus by seam 4a, 4b.
The constructive method of feedforward control system below is described.Set the application force f (t) that produces by the feedforward control system loop in the following manner.
f(t)＝k(t){x
c-x
r+b(t)}
In the formula, x
rThe displacement of expression guide rail 6a～6d, x
cThe displacement of the horizontal direction of expression lift car 1.The displacement x of lift car 1
cCan calculate according to the output of accelerograph 5.The displacement x of guide rail 6a～6d
rWhen carrying out lifting, lift car 1 stores by learning functionality.Variable k (t), the b (t) on the right of following formula all are functions of time.
Fig. 3 represents that for example the time of variable k (t) changes.K (t) is at time point 0～t
1Between be maxim k
MaxReduce gradually afterwards, at time point t
2～t
4Between become minimum value k
MinAt time point t
4Increase gradually afterwards, at time point t
5The place reaches k once more
MaxAt time point t
1～t
2, t
4～t
5In, k
MaxAnd k
MinBetween vary stable.
At time point t
3The place, guiding device 30 is by guide rail seam 4a.In the time period t of guiding device 30 by the time point front and back of guide rail seam 4a
2～t
4In, because k (t) is set at minimum value, so can avoid to greatest extent vibrating because of guide rail seam 4a causes lift car 1.
By k (t), b (t) are set, make at time point t
1～t
5In produced with roller 31 by be pressed on guide rail 6a～6d power roughly with time point 0～t
1And t
5Later f (t) is identical.In addition, at time point 0～t
1And t
5After, because k (t) is big, therefore in this scope, b (t) is set at zero.Therefore, at least at k (t) (x
c-x
r) in, the masterpiece greater than the value of predesignating is used on guide rail 6a～6d.
Fig. 5 is the diagram of circuit of expression feedforward control system contents processing.Shown in this diagram of circuit, after lift car 1 beginning lifting, the output of detector 8a, 8b is monitored.In step S 1,, detect and whether passed through protrusion member 7a～7d part according to being arranged on the detector 8a in the lift car 1, the output of 8b.In step S2,, calculate the time of guiding device 30 by guide rail seam 4a, 4b according to the speed of detector 8a, the 8b lift car 1 when protruding member 7a～7d.
Arrived guiding device 30 by after the time of guide rail seam 4a, 4b, in step S3, to actuator 35 output feed forward control instructions, changed the pressing force that is applied to guide rail 6a～6d by roller 31, prevented to produce vibration thus with control actuator 35 by controller 9.Repeat the action of this step S1, till lift facility 100 stops to step S3.In addition, at every turn by guide rail seam 4a, 4b the time, controller 9 is all to guiding device 30 output feed forward controls instructions.
Fig. 6 is the front view of other embodiment of expression lift facility involved in the present invention.Guide rail 40a～the 40d of present embodiment is different with the foregoing description.In the present embodiment, guide rail 40a～40d is formed with notch portion 41a～41d in the part of length direction.Notch portion 41a～41d is formed near seam 4a, the 4b of guide rail 40a～40d, is positioned at seam 4a, 4b to be separated by on the position of predetermined distance.This notch portion 41a～41d be positioned at not with 21,31 contacted on roller on.Notch portion 41a～41d is identical with protrusion member 7a～7d shown in Figure 1, uses as the sign of detector 8a, 8b.
Fig. 7 is the front view of other embodiment of expression lift facility involved in the present invention.Seam 4a, the 4b part of the guide rail 6a～6d of present embodiment is different with the foregoing description.In the present embodiment, the rear side of the seam 4a of guide rail 6a, the 6b in left side is provided with joint plate 45, and uses bolt 46 and nut that 2 guide rail 6a, 6b are coupled together.Protrude on one distolateral surface from guide rail 6a, 6b of bolt 46, thereby can detect the end face of bolt 46 by detector 8a, 8b.The end face of bolt 46 can use as the sign of detector 8a, 8b, so can detect the position of guide rail seam 4a, 4b easily.
Fig. 8 is the block diagram of other embodiment of expression lift facility involved in the present invention.In Fig. 8, only illustrate the part relevant, and omitted the diagram of other parts with the detection of seam 4a.The difference of present embodiment and the foregoing description is, is provided with sight shield 50a, 50b with the guide rail 6a in T font cross section, the position of 6b close proximity.Sight shield 50a, 50b are separated by on the wall of hoist trunk of predetermined distance being fixed near the guide rail seam 4a along its length with guide rail 6a, 6b.The detector 51 of U font is installed in the top of lift car 1 sidepiece.When lift car 1 lifting, the U font of detector is partly clamped sight shield 50a, 50b, and confirms sight shield 50a, 50b according to the variation of electrostatic capacitance or the variation of magnetic.Therefore, the same with protrusion member, notch portion or the bolt shown in the foregoing description, sight shield 50a, 50b also can use as the sign of detector 51.
Each embodiment according to the invention described above, for the vibration that suppresses to produce because of the seam that is arranged on the guide rail in the hoist trunk, the sign that is used to detect seam is installed near the position that separates predetermined distance the seam, and detect this sign by the detector that is installed on the lift car, thus, can before the guiding device arrival seam of lift car, detect seam.Therefore, not only can carry out controlled reset, but also can carry out feed forward control, thus, can suppress the vibration of lift car and hoist cable effectively guiding device.
In addition, cause one of vibrative reason of elevator be lift car and counterbalanced weight staggered by the time blast that produced.Because the staggered position of passing through of lift car and counterbalanced weight is definite by the length of hoist cable etc., and this position is changeless, so also may be controlled to: be utilized as the detection guide rail and interlock by near the sign in position with being positioned in the sign that is provided with, calculate the staggered time of passing through of lift car and counterbalanced weight, and carry out feed forward control and lower the influence that blast brings.
Claims (11)
1. lift facility, the lifting in hoist trunk of the lift car of this lift facility, this lift facility is characterised in that,
Be used to guide the guide rail of lift car relatively in ground is arranged on hoist trunk, many these guide rails are provided with across the lifting direction of seam along lift car, on rising and this both direction that descends, clip the be arranged at intervals with sign of this seam to predesignate, described lift car is provided with detector that can detect this sign and the guiding device that can apply pressing force according to the output of this detector to described guide rail.
2. lift facility as claimed in claim 1, it is characterized in that, be provided with the control unit of the described guiding device of control and the acceleration detecting unit that detects the acceleration/accel of described lift car, described control unit is controlled the pressing force that described guiding device applies according to the output of described acceleration detecting unit.
3. lift facility as claimed in claim 2 is characterized in that, described control unit has: feedback controller, this feedback controller are used for the acceleration signal of the elevator main body that comprises lift car is fed back; And feedforward controller, this feedforward controller feedovers according to the signal of described detector.
4. lift facility as claimed in claim 3, it is characterized in that, described control unit has simulates and the numerical model that obtains the elevator main body that comprises lift car, and having a feedback control loop, this feedback control loop feeds back the deviation between the acceleration/accel of the output of described numerical model and the detected elevator main body of described acceleration detecting unit by fader.
5. lift facility as claimed in claim 1 is characterized in that, described sign is mounted in protrusion member on the described guide rail, be formed on the notch portion on the described guide rail and be installed at least a among this three of bolt on the described guide rail.
6. lift facility as claimed in claim 1, it is characterized in that, described sign is the sight shield near the hoist trunk wall that is fixed on the seam of described guide rail, described detector be can be relative with this sight shield to electrostatic capacitance detecting unit or magnetic detecting unit.
7. the guiding device of a lift facility, it is along the lift facility guiding device of guide rail to the lift car channeling conduct that lift facility had, it is characterized in that, have to what guide rail was pushed and push the unit, drive the actuator that this is pushed the unit and can change its pressing force, control the control setup of this actuator and the acceleration detector that detects the lift car acceleration/accel, and have the sign and detecting unit, this sign is arranged on many near the guide rail seam that forms between the guide rail of lifting direction setting, be positioned at not and the described contacted position, unit of pushing, detecting unit can detect this sign on being installed to lift car the time, and described control setup is controlled described actuator according to the output signal of this detecting unit.
8. the guiding device of lift facility as claimed in claim 7 is characterized in that, is provided with: adjustment unit, this adjustment unit be according to the output of the operative condition and the described acceleration detector of lift facility, the described pressing force of pushing the unit to guide rail of automatic compensation; And memory cell, this memory cell stores adjusted result.
9. the guiding device of lift facility as claimed in claim 8 is characterized in that, when described detecting unit detected described sign, described control setup was controlled at the described pressing force of pushing guide rail of pushing the unit below the value of predesignating.
10. the guiding device of lift facility as claimed in claim 7 is characterized in that, has: transom, and this transom is arranged on the seam portion of guide rail, connects between guide rail; And fixed cell, this fixed cell is fixed on this transom on the guide rail, and described detecting unit detects this fixed cell as sign.
11. the guiding device of lift facility as claimed in claim 7 is characterized in that, is adjacent to be provided with sight shield at the seam portion and the guide rail of guide rail, described detecting unit detects this sight shield as sign.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2006/302572 WO2007091335A1 (en) | 2006-02-08 | 2006-02-08 | Elevator device and guidance device provided in the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101336202A CN101336202A (en) | 2008-12-31 |
| CN101336202B true CN101336202B (en) | 2010-08-18 |
Family
ID=38344944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006800519892A Active CN101336202B (en) | 2006-02-08 | 2006-02-08 | Elevator apparatus and guiding apparatus therewith |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1985568B1 (en) |
| JP (1) | JP4816649B2 (en) |
| CN (1) | CN101336202B (en) |
| WO (1) | WO2007091335A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011051764A (en) * | 2009-09-03 | 2011-03-17 | Toshiba Elevator Co Ltd | Elevator |
| JP5562024B2 (en) * | 2009-12-25 | 2014-07-30 | 東芝エレベータ株式会社 | Elevator guide device |
| JP5879166B2 (en) * | 2012-03-21 | 2016-03-08 | 株式会社日立製作所 | Elevator |
| US9242837B2 (en) | 2013-03-11 | 2016-01-26 | Mitsubishi Research Laboratories, Inc. | System and method for controlling semi-active actuators arranged to minimize vibration in elevator systems |
| JP6399404B2 (en) | 2015-03-20 | 2018-10-03 | フジテック株式会社 | Car roll restraining device and elevator roll restraining method for elevator |
| CN106477423A (en) * | 2015-08-27 | 2017-03-08 | 富士电梯（合肥）有限公司 | A kind of elevator device against shake and its anti-shaking method |
| CN106477419A (en) * | 2015-08-27 | 2017-03-08 | 富士电梯（合肥）有限公司 | A kind of elevator start and stop stabilising arrangement and its control method |
| CN108002185B (en) * | 2017-12-31 | 2020-08-25 | 上海汉神机电股份有限公司 | Elevator track system and using method thereof |
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| CN1693172A (en) * | 2004-05-06 | 2005-11-09 | 株式会社日立制作所 | Elevtor |
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| JP2002173284A (en) * | 2000-12-11 | 2002-06-21 | Toshiba Corp | Roller guide control device of elevator |
| KR20080089673A (en) * | 2005-01-04 | 2008-10-07 | 미쓰비시덴키 가부시키가이샤 | Mover position/speed detecting device |
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- 2006-02-08 JP JP2007557726A patent/JP4816649B2/en active Active
- 2006-02-08 CN CN2006800519892A patent/CN101336202B/en active Active
- 2006-02-08 WO PCT/JP2006/302572 patent/WO2007091335A1/en active Application Filing
- 2006-02-08 EP EP06713713A patent/EP1985568B1/en active Active
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|---|---|---|---|---|
| CN1430573A (en) * | 2001-04-10 | 2003-07-16 | 三菱电机株式会社 | Guide for elevator |
| CN1693172A (en) * | 2004-05-06 | 2005-11-09 | 株式会社日立制作所 | Elevtor |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1985568B1 (en) | 2012-08-15 |
| EP1985568A1 (en) | 2008-10-29 |
| CN101336202A (en) | 2008-12-31 |
| JPWO2007091335A1 (en) | 2009-07-02 |
| WO2007091335A1 (en) | 2007-08-16 |
| JP4816649B2 (en) | 2011-11-16 |
| EP1985568A4 (en) | 2010-09-01 |
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