CN105984764A - Elevator device - Google Patents
Elevator device Download PDFInfo
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- CN105984764A CN105984764A CN201510089928.6A CN201510089928A CN105984764A CN 105984764 A CN105984764 A CN 105984764A CN 201510089928 A CN201510089928 A CN 201510089928A CN 105984764 A CN105984764 A CN 105984764A
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- car
- acceleration
- stop
- flat bed
- control device
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Abstract
The invention relates to an elevator device, comprising a well (102), a traction machine (110), a lift car (104) driven by the traction machine through a tractive rope (106) and a control device (130) controlling the lift car running. The lift car is provided with an acceleration sensor (126). Based on the accelerated speed of the lift car detected by the acceleration sensor, the control device is capable of conducting leveling operation through calculating the actual location of the lift car and controlling the speed of the lift car. The elevator device achieves the leveling smoothly and accurately.
Description
Technical field
The present invention relates to a kind of lift appliance, comprising: hoistway, traction machine, car and control are described
The control device of cage operation.
Background technology
For traction elevator device, on traction machine, generally it is provided with the rotary coding that can detect car position
Device.The device that controls of elevator utilizes the signal of rotary encoder to control position and the speed of car, enters car
Row flat bed.But, during car stops stop, owing to the change of car acceleration causes hoist ropes
Telescopic variation, just with rotary encoder signal control car, it tends to be difficult to realize mild flat bed.
Such as, when the car declined stops a stop, in moderating process, due to the inertia masterpiece of car
With, hoist ropes will be elongated generation elastic deformation.But, do not reflect in the signal of rotary encoder
The change of this hoist ropes.When controlling device signal based on rotary encoder flat bed, after car stops, by
It is retracted to the original length in the reply of hoist ropes elastic deformation, i.e. hoist ropes, car generation click one will be made
Under shake, make passenger feel very ill.
It addition, as disclosed in Japanese patent gazette JP 2004-67252 technology, now a lot of lift appliances
The position corresponding to each stop at hoistway is provided with dark slide, and is provided with photoelectric sensor on car, utilizes
The position control flat bed of the dark slide that photoelectric sensor detects.For example, it is assumed that the above-below direction of this dark slide
Height be H, and the centre position of dark slide (i.e. the position of H/2) is corresponding to the level position (ground of car
The position that board plane is highly consistent with the floor level of stop), then screening detected when the photoelectric sensor on car
The edge of tabula rasa, elevator control gear just can calculate the position of car and only remain H/2 from level position, carry out with this
Flat bed controls.But, it is that hoist ropes is also in elasticity by the car position obtained by detection dark slide edge
Car position during deformation, carries out flat bed as benchmark, along with the reply of hoist ropes elastic deformation after flat bed,
Do not only exist above-mentioned car jitter phenomenon, and the position on stop floor can be deviateed in the position of car floor.Example
As, stop is stopped for the car declined, after car stops, due to the contraction of hoist ropes, car floor
Position can be higher than the position on stop floor.
Summary of the invention
The technical problem to be solved is to provide a kind of lift appliance, and it can realize mild, accurate
Flat bed.
For solving described technical problem, the lift appliance of the present invention includes: hoistway；Traction machine；Draged by described
Draw the car that machine is driven by hoist ropes；And control the control device of described cage operation.Described car sets
There is acceleration transducer.The car acceleration that described control device detects based on described acceleration transducer, meter
Calculating the position of described car, the speed controlling described car carries out flat bed.
Owing to the lift appliance of the present invention is the position of acceleration calculation car based on car, even if accelerating
The stage of degree change can also calculate the physical location of car, and controls car with this, it is possible to realizes flat
Slow, flat bed accurately.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the embodiment being schematically indicated lift appliance of the present invention.
Fig. 2 is the schematic diagram of the acceleration/speed/positional change being schematically indicated in running process of elevator.
Fig. 3 is the flow chart of an embodiment of the lift appliance control flat bed of the present invention.
Fig. 4 is the flow chart of another embodiment of the lift appliance control flat bed of the present invention.
Fig. 5 is the flow chart of another embodiment of the lift appliance control flat bed of the present invention.
Fig. 6 is the flow chart of another embodiment of the lift appliance control flat bed of the present invention.
Fig. 7 is the flow chart of another embodiment of the lift appliance control flat bed of the present invention.
<labelling in accompanying drawing>
100 lift appliances；102 hoistways；104 cars；106 hoist ropes；108 stops；110 tractions
Machine 112 traction sheave；114 motor 116 rotary encoder 122 dark slides；124 photoelectric sensings
Device 126 acceleration transducer 130 controls device；132 stop test sections；134 car positions calculate
Portion 136 speed controlling portion.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is described in detail.
Fig. 1 is the schematic diagram of the embodiment being schematically indicated lift appliance of the present invention.Elevator shown in Fig. 1
Device 100 includes hoistway 102, car 104, stop 108, traction machine 110, dark slide 122, photoelectric transfer
Sensor 124, acceleration transducer 126 and control device 130.
Traction machine 110 drives car 104 lifting moving in hoistway 102 by hoist ropes 106.Traction machine
110 have traction sheave 112, motor 114 and the rotary encoder 116 rotated with motor synchronous.
Car 104 is provided with acceleration transducer 126, acceleration when car 104 travels can be detected.
In hoistway 102, the position corresponding to each stop 108 is provided with dark slide 122.Dark slide 122 is
One example of detected body.And car 104 is provided with the photoelectric sensor for detecting dark slide 122
124.Photoelectric sensor 124 is an example of stop detection device.When car 104 is by each stop 108
Time, the photoemission cell of photoelectric sensor 124 and photoelectric receiving tube are by respectively from the shading corresponding to this stop
The both sides of plate 122 are passed through, and cause dark slide 122 to cut off the light beam between photoemission cell and photoelectric receiving tube,
Thus can detect stop that car 104 passes through and car 104 position relative to stop.
Control device 130 and control the operation of car 104.Control device 130 and there is stop test section 132, sedan-chair
Position calculation portion, railway carriage or compartment 134 and speed controlling portion 136.Stop test section 132 can be based on rotary encoder
The signal of 116 or signal based on photoelectric sensor 124 calculate the stop 108 residing for car 104.Car
Position calculation portion 134 is possible not only to signal based on rotary encoder 116 and calculates the position of car 104, and
And the acceleration of the car 104 that can detect based on acceleration transducer 126, calculate the position of car 104.
The position of the stop 108 that speed controlling portion 136 calculates based on stop test section 132 and car position calculate
The position of the car 104 that portion 134 calculates, controls the speed of car 104 by controlling the rotating speed of motor 114
Degree, carries out flat bed to car 104.
Fig. 2 is showing of being schematically indicated that elevator runs that the acceleration during (decline)/speed/positional changes
It is intended to.In figure, the curve of the top represents the car of elevator from the acceleration started to during stopping at any time
Between change, middle curve represents the change of the car speed corresponding with this acceleration change, lower section
Curve represents the acceleration with top and the change of the corresponding car position of speed.
The velocity amplitude of the rate curve shown in Fig. 2 be negative number representation elevator be to travel downwards.Can from rate curve
Knowing, the traveling of car is broadly divided into the stage of initial point 0 startup at time shaft, from initial point 0 to time T1
Boost phase, from time T1 to T2, keep the stage of certain speed, deceleration rank from time T2 to T5
Section and the stage finally stopped at time T5.
And on the curve of acceleration, from initial point 0 to the boost phase of time T1, have an acceleration (to add
The absolute value of speed) rise, then keep process certain, that decline.In this stage, due to car
Acceleration changes, and the power suffered by hoist ropes 106 can change therewith, so can send out on hoist ropes 106
Raw elastic telescopic deformation.In order to keep speed certain between T1 and T2, acceleration is zero, at this moment because adding
The elastic telescopic deformation of the produced hoist ropes 106 of change of speed also can disappear therewith.And from T2 to T5
Decelerating phase, acceleration be on the occasion of, represent contrary with velocity attitude.This decelerating phase also can be divided into and adding
Speed rises, then keeps process certain, that decline.So, in the decelerating phase of T2 to T5, again can
The dilatation of the hoist ropes 106 that generation is caused because of the change of acceleration.
First between T2 to T3, the acceleration contrary with car direct of travel is gradually increased, hoist ropes 106
Suffered pulling force is increasing, so hoist ropes 106 can occur elongation strain.Between T3 to T4, by
Certain in acceleration, the elongation of hoist ropes 106 is constant.Between T4 to T5, owing to acceleration gradually becomes
Little, the part of hoist ropes 106 elongation the most gradually bounces back.At T5 time point, acceleration reduces to zero, cause
Elongation in the hoist ropes 106 of acceleration change disappears the most therewith.
Owing to the change hoist ropes 106 along with acceleration occurs above-mentioned stretching, so car 104 is travelling
Time physical location often with control the position that device 130 signal based on rotary encoder 116 calculates
There is certain deviation.Here it is the described in the background reason being difficult to mild flat bed.
And between the physical location of car 104 and acceleration, there is the corresponding relation shown in Fig. 2.Lift appliance
The acceleration that the car position calculating part 134 of 100 detects according to the acceleration transducer 126 being mounted in car 104
Degree, can calculate the physical location of car 104.And speed controlling portion 136 is based on car position calculating part
The physical location of 134 cars 104 calculated, the speed controlling car 104 carries out flat bed, it is possible to make to put down
During Ceng, the actual acceleration of car 104 realizes mild decline, and the elongation of hoist ropes 106 is the most gradually
Retraction, finally when the physical location of car 104 arrives level position, acceleration gently reduces to zero, rises
Because the elongation of the hoist ropes 106 in acceleration change disappears the most therewith, thus realize mild flat bed.
Fig. 3 is the flow chart of an embodiment of the lift appliance control flat bed of the present invention.From step S302
Car sets out, and the car position calculating part 134 controlling device 130 just starts based on acceleration transducer 126
The acceleration of the car 104 of detection, calculates the position (step S304) of car 104.And control device 130
The physical location of car 104 that calculates based on car position calculating part 134 of speed controlling portion 136, control
The speed (step S306) of car 104, carries out flat bed (step S308).
Fig. 4 is the flow chart of another embodiment of the lift appliance control flat bed of the present invention.Car sets out and (walks
Rapid S402) after, speed controlling portion 136 is primarily based on car position calculating part 134 and utilizes rotary encoder 116
Signal calculate car position control car 104 speed (step S404).Because shown in Fig. 2 time
Between put before T1, result from the change of acceleration and the flexible of hoist ropes 106 that occur all will be at T1 and T2
Between disappear, so utilizing the physical location of acceleration calculation car 104 can be only in the time of T2 to T5
Carry out in interval.
In step S406, control device 130 and judge car 104 according to the signal of acceleration transducer 126
Travel and whether enter the decelerating phase, i.e. the stage of T2 to T5 in Fig. 2.If when car 104 is close to purpose
Stop enters the decelerating phase, and car position calculating part 134 transfers sedan-chair based on acceleration transducer 126 detection to
The acceleration in railway carriage or compartment 104, calculates the position (step S408) of car 104.And speed controlling portion 136 is based on sedan-chair
The physical location of the car 104 that position calculation portion 134, railway carriage or compartment calculates, controls the speed (step S410) of car 104,
Carry out flat bed (step S412).If in step S406, the traveling of car 104 has not been entered into deceleration rank
Section, control flow will return to step S404, and the signal continuing with rotary encoder 116 calculates car 104
Position, control car 104 speed.
Fig. 5 is the flow chart of another embodiment of the lift appliance control flat bed of the present invention.Car sets out and (walks
Rapid S502) after, speed controlling portion 136 is primarily based on car position calculating part 134 and utilizes rotary encoder 116
Signal calculate car position control car 104 speed (step S504).Control the stop of device 130
Test section 132 detects the stop 108 (step S506) that car 104 is passed through.In step S508, control dress
Put 130 and judge that whether car 104 is by entering the previous stop in decelerating phase.Such as, when elevator is from 10
When dropping to 5th floors downstairs, the time point T2 entering the decelerating phase is that then " entrance subtracts between 7th floors and 6th floors
The previous stop in speed stage " it is exactly 7th floors.
In step S508, before photoelectric sensor 124 detects and enters the decelerating phase corresponding to car 104
The dark slide 122 of one stop, i.e. car 104 are by entering the previous stop in decelerating phase, control flow
Enter step S510.Car position calculating part 134 transfers car 104 based on acceleration transducer 126 detection to
Acceleration, calculate car 104 position (step S510).And speed controlling portion 136 is based on car position
The physical location of the car 104 that calculating part 134 calculates, controls the speed (step S512) of car 104, enters
Row flat bed (step S514).If in step S508, car 104 is also not over entering the decelerating phase
Previous stop, control flow will return to step S504, repeat the circulation of S504 to S508.
When car 104 is by entering the previous stop in decelerating phase, and car is in T1 to T2 shown in Fig. 2
Between close to the time point of T2.The position of acceleration calculation car 104 is started with from this time point,
It is also ensured that utilize the physical location of acceleration calculation car 104 in the time interval of T2 to T5.
It addition, the present embodiment can also utilize the data detecting previous stop dark slide 122 as required,
The deviation of car 104 position caused due to other reasons is once maked corrections, then utilizes accelerometer
The position calculating car carries out flat bed.
Fig. 6 is the flow chart of another embodiment of the lift appliance control flat bed of the present invention.This control flow phase
When in the combination of shown in Fig. 4 and Fig. 5 two flow processs.Step S502 of step S602 to S608 and Fig. 5 arrives
S508 is identical.As it has been described above, it is possible if desired to utilize and detect previous stop dark slide 122
Data, once make corrections to the deviation of car 104 position.
Step S610 is identical with step S406 of Fig. 4.Control device 130 according to acceleration transducer 126
Signal judge whether the traveling of car 104 enters the decelerating phase, i.e. the stage of T2 to T5 in Fig. 2.As
Fruit enters the decelerating phase when car 104, and car position calculating part 134 transfers to based on acceleration transducer 126
The acceleration of the car 104 of detection, calculates the position (step S612) of car 104.Speed controlling portion 136
Physical location based on the car 104 that car position calculating part 134 calculates, controls the speed (step of car 104
Rapid S614), carry out flat bed (step S616).
The present embodiment, as embodiment illustrated in fig. 5, is possible not only to ensure in the time interval of T2 to T5
Utilize the physical location of acceleration calculation car 104, and can utilize and detect previous layer as required
The data of dark slide of standing 122, once mend the deviation of car 104 position caused due to other reasons
Just, the position then utilizing acceleration calculation car carries out flat bed.
Fig. 7 is the flow chart of another embodiment of the lift appliance control flat bed of the present invention.Step S702 arrives
Step S602 to the S614 of S714 with Fig. 6 is identical, repeats no more.
In step S716, control device 130 and judge photoelectric sensor 124 according to the signal of photoelectric sensor 124
The edge of the dark slide 122 corresponding to purpose stop whether detected.As it is shown in figure 1, dark slide 122 has
Having certain height, such as 200 arrive 300mm.Dark slide 122 has a top edge 122a and one below
Edge 122b.The edge of detection dark slide 122 mentioned here refers to, detects its top edge when elevator declines
122a, detects its lower limb 122b when elevator rises.The generally centre position of dark slide above-below direction is corresponding
In level position.If the height of dark slide is H, then the position of H/2 corresponds to level position.So working as sedan-chair
Photoelectric sensor 124 on railway carriage or compartment detects the edge of dark slide 122, then the position of car 104 is from flat bed position
Put only surplus H/2.
In step S716, when photoelectric sensor 124 detects the limit of the dark slide 122 corresponding to purpose stop
Edge, the car position calculating part 134 controlling device 130 transfers to and utilizes the signal of rotary encoder 116 to calculate
The position of car 104, controls the speed (step S718) of car 104, carries out flat bed (S720).Utilize
The control flow of the present embodiment, it is possible to achieve utilize Signal Regulation car 104 flat of rotary encoder 116
Layer position.
The shortest distance is only remained from the edge of dark slide 122 to level position.And before this, from car 104
Enter the decelerating phase edge to the dark slide 122 of testing goal stop, control device 130 and have been based on sedan-chair
The acceleration in railway carriage or compartment 104, calculates the physical location of car 104, controls the speed of car 104, so arriving
When reaching the edge of dark slide 122, the acceleration of car 104, the most gently close to zero, results from acceleration
The elongation of the hoist ropes 106 of change disappears the most substantially.Therefore, even if when shading purpose stop being detected
Behind plate 122 edge, transfer to and utilize the signal of rotary encoder 116 to control flat bed, also can realize mild flat bed.
In actual control, any one in control flow shown in Fig. 3 to Fig. 7 can be selected as required to enter
Row flat bed controls, to realize mild flat bed.
The present invention is not limited to the above embodiments, and it also includes various variation.Such as, upper
In the embodiment stated, in order to make it easy to understand, the present invention is described in detail, but it is not by the present invention
It is defined in the embodiment with all above-mentioned ingredients.Furthermore it is possible to by the portion of techniques of certain embodiment
Character displacement is the technical characteristic in other embodiments, it is also possible to the ingredient of certain embodiment is appended to it
In the composition of his embodiment.It addition, the local of the composition to each embodiment, other technologies feature can be used
Carry out adding, replacing, or be deleted.Such as, the lift appliance of the present invention can also utilize elevator to limit
The signal of the rotary encoder arranged on speed device calculates car position, controls car speed and carries out flat bed.
Claims (4)
1. a lift appliance, comprising: hoistway；Traction machine；Driven by hoist ropes by described traction machine
Car；And control the control device of described cage operation,
It is characterized in that:
Described car is provided with acceleration transducer,
The car acceleration that described control device detects based on described acceleration transducer, calculates described car
Position, the speed controlling described car carries out flat bed.
Lift appliance the most according to claim 1,
It is characterized in that:
When described car enters the decelerating phase close to purpose stop, and described control device passes based on described acceleration
The car acceleration of sensor detection, calculates the position of described car, and the speed controlling described car carries out flat bed.
3. according to the lift appliance described in claims 1 or 2,
It is characterized in that:
Have: be arranged in described hoistway the detected body corresponding to each landing position；And it is arranged at institute
State car and detect device for the stop detecting described detected body,
When described stop detection device detects the previous stop corresponding to the described car entrance decelerating phase
After described detected body, the car acceleration that described control device detects based on described acceleration transducer, meter
Calculating the position of described car, the speed controlling described car carries out flat bed.
Lift appliance the most according to claim 3,
It is characterized in that:
The rotary encoder that can detect described car position it is provided with at described traction machine,
When described stop detection device detects the edge of the described detected body corresponding to purpose stop, described
Control device and transfer the position utilizing the signal of described rotary encoder to calculate described car to, control described car
Speed carry out flat bed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510089928.6A CN105984764B (en) | 2015-02-27 | 2015-02-27 | Lift appliance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510089928.6A CN105984764B (en) | 2015-02-27 | 2015-02-27 | Lift appliance |
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| Publication Number | Publication Date |
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| CN105984764A true CN105984764A (en) | 2016-10-05 |
| CN105984764B CN105984764B (en) | 2019-05-28 |
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Family Applications (1)
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|---|---|---|---|
| CN201510089928.6A Active CN105984764B (en) | 2015-02-27 | 2015-02-27 | Lift appliance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132770A (en) * | 2018-11-15 | 2019-01-04 | 上海麦信数据科技有限公司 | A kind of combined type carriage built-in state of elevator sensor entirely |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109132770A (en) * | 2018-11-15 | 2019-01-04 | 上海麦信数据科技有限公司 | A kind of combined type carriage built-in state of elevator sensor entirely |
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| CN105984764B (en) | 2019-05-28 |
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