CN107021412B - Chain loading device and passenger conveyors and chain elongation detection method - Google Patents
Chain loading device and passenger conveyors and chain elongation detection method Download PDFInfo
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- CN107021412B CN107021412B CN201610415904.XA CN201610415904A CN107021412B CN 107021412 B CN107021412 B CN 107021412B CN 201610415904 A CN201610415904 A CN 201610415904A CN 107021412 B CN107021412 B CN 107021412B
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- China
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- chain
- sprocket
- electric current
- angular speed
- ripple amplitude
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B31/00—Accessories for escalators, or moving walkways, e.g. for sterilising or cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B23/00—Component parts of escalators or moving walkways
- B66B23/02—Driving gear
- B66B23/024—Chains therefor
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- Escalators And Moving Walkways (AREA)
Abstract
The present invention relates to chain loading device and passenger conveyors and chain elongation detection method, the chain loading device and passenger conveyors and chain elongation detection method of a kind of elongation that chain can be detected without using dedicated utensil are provided.The chain loading device of embodiment has motor, the 1st sprocket wheel, chain, the 2nd sprocket wheel, inverter and controller.The controller carries out vector controlled to the motor and the inverter, and the elongation of the chain is calculated according to the torque component electric current of the element as the vector controlled.
Description
The application is with the Japanese patent application 2016-018142 (applyings date：02/02/2016) it based on, is enjoyed based on this application
By priority.The application is by referring to this application, including all the contents of the application.
Technical field
Embodiments of the present invention are related to chain loading device and passenger conveyors equipped with the chain being driven by a motor
And chain elongation detection method.
Background technology
As the chain loading device equipped with the chain being driven by a motor, such as there are the passenger conveyors such as escalator.
The rotation of motor is transmitted to drive sprocket by escalator, is transmitted the rotation of the drive sprocket by drive chain
To driven sprocket (also referred to as relaying sprocket wheel).Step drive sprocket and handrail drive sprocket are fixed to the rotation of driven sprocket
Axis.Also, between step drive sprocket and step driven sprocket set up step drive chain, handrail drive sprocket with help
Handrail drive chain is set up between hand strap driven sprocket.
Drive chain include a large amount of chain link, the tubular being respectively configured on the inside of the both ends of these chain links sleeve,
The chain roller that is respectively configured on the outside of these sleeves and each sleeve is respectively interposed across the both ends of each chain link
Axis pin links each chain link to state annular in shape by these axis pins.
In addition, drive chain is engaged to the tooth of drive sprocket and driven sprocket on one side in the state of persistently by tension,
Bending elongation is repeated on one side, the circular flow between drive sprocket and driven sprocket.It is followed along with this if be repeated
The bending elongation of inscription of loop then will produce the gap caused by wearing in the contact portion of axis pin 25 and sleeve 23 soon.If
Gap is generated, then becomes the state that drive chain has extended in appearance.
If the length of drive chain is more than the 1.0~1.5% of initial length, drive chain engages generation with sprocket wheel
It is abnormal.For example, generating the so-called climbing tooth phenomenon that drive chain is no longer engaged to the tooth of sprocket wheel.Sometimes sprocket wear is also resulted in.
Therefore, it whens inspecting periodically equal, needs to make the operation of escalator to stop temporarily in escalator, repairs
Personnel confirm the operation of the elongation of drive chain.But in the operation, the framework lid for dismantling escalator is needed, so consumption
It is labor intensive but also expend the time.This is big burden for maintenance personal, also can be in a long time to escalator
User forces inconvenience.
Invention content
The object of the present invention is to provide a kind of chains for the elongation that chain can be detected without using dedicated utensil
Loading device and passenger conveyors and chain elongation detection method.
The rotation of motor is transmitted to the 1st sprocket wheel by the chain loading device of embodiment, by chain by the 1st sprocket wheel
Rotation is transmitted to the 2nd sprocket wheel, and has inverter of the output to the driving power of the motor, and the chain carries dress
It sets and has controller.Detected in the electric current that the controller is flowed through from the motor torque component electric current in the motor and
Excitation component electric current speculates the speed of the motor according to detected torque component electric current and excitation component electric current, control
The inverter is so that the supposition speed becomes target velocity.The controller is according to the torque component electric current, described in calculating
The ripple amplitude of " angular speed " or " angular acceleration " of the 2nd sprocket wheel.Further, the controller and the chain are engaged to
The opportunity of 1st sprocket wheel and predetermined multiple " offsets " on the opportunity that the chain is engaged to the 2nd sprocket wheel are right
Calculate the ripple amplitude of " the theoretical angular speed " or " theoretical angular acceleration " that either keeps the 2nd sprocket wheel with answering.Moreover, institute
State controller according to calculate either keep described in " theoretical angular speed " or " theoretical angular acceleration " ripple amplitude in,
" offset " corresponding to ripple amplitude identical with calculated " angular speed " or the ripple amplitude of " angular acceleration ",
Calculate the elongation of the chain.
According to the chain loading device of above structure, the elongation of chain can be detected without using dedicated utensil.
Description of the drawings
Fig. 1 is the sectional view of the structure for the elevator for roughly showing each embodiment.
Fig. 2 is the figure for enlargedly showing drive sprocket in Fig. 1, driven sprocket, drive chain.
Fig. 3 is the figure from a part for the drive chain in Fig. 1 in terms of side.
Fig. 4 is the figure of the drive chain of Fig. 3 and part of it section seen from above.
Fig. 5 is the block diagram of the major part for the control circuit for showing the 1st embodiment.
Fig. 6 is the figure of the relationship of the rotation for showing the drive sprocket in each embodiment and the operation of drive chain.
Fig. 7 is the figure for the speed for showing the drive chain in each embodiment.
Fig. 8 is the figure for the acceleration for showing the drive chain in each embodiment.
Fig. 9 is the chain roller on the drive sprocket in the case that the drive chain for showing in each embodiment does not extend
The figure of rotation angle and the relationship of the rotation angle of the chain roller on driven sprocket.
Figure 10 is the chain roller on the drive sprocket in the case that the drive chain for showing in each embodiment has elongation
Rotation angle and driven sprocket on chain roller rotation angle relationship figure.
Figure 11 is the figure for the angular speed that the driven sprocket in each embodiment is shown using phase offset angle α as parameter.
Figure 12 is the pass of the ripple amplitude and phase offset angle α for the angular speed for showing the driven sprocket in the 1st embodiment
The figure of system.
Figure 13 is the block diagram of the major part for the control circuit for showing the 2nd embodiment.
Figure 14 is the figure for the structure for showing the handrail driven sprocket in the 2nd embodiment.
Figure 15 is the block diagram of the major part for the control circuit for showing the 3rd embodiment.
Figure 16 is the relationship of the amplitude amplitude and phase offset angle α that show the theoretical angular acceleration in the 4th embodiment
Figure.
Figure 17 is the block diagram of the major part for the control circuit for showing the 5th embodiment.
Figure 18 is the relationship of the amplitude amplitude and phase offset angle α that show the theoretical angular acceleration in the 5th embodiment
Figure.
Specific implementation mode
[1] the 1st embodiment
With reference to attached drawing, illustrate the 1st embodiment.
In Fig. 1, it as the chain loading device equipped with the chain being driven by a motor, discloses as passenger conveyors
Such as escalator 1.Escalator 1 has truss 2.Truss 2 has the lower layer side horizontal part for the floor 1F for being placed in lower layer
2a, be placed in upper layer floor 2F upper layer side horizontal part 2b and will be between lower layer side horizontal part 2a and upper layer side horizontal part 2b
The rake of connection.
Machine Room 3 is configured in the upper layer side horizontal part 2b of truss 2.In Machine Room 3, horse is contained as power source
Up to 4, and contain the drive sprocket of the speed reducer 5 for the rotational deceleration for making the motor 4, the output shaft for being fixed on the speed reducer 5
(the 1st sprocket wheel；Main drive sprocket) 6 etc..Drive shaft 7 is rotatably configured near drive sprocket 6, by driven sprocket
(the 2nd sprocket wheel；Principal and subordinate's movable sprocket) 8 and step drive sprocket 9 be coaxially fixed to the drive shaft 7 respectively.Also, in drive sprocket
Drive chain (main drive chain item) 10 is set up between 6 and driven sprocket 8.Driven sprocket 8 also referred to as relays sprocket wheel.
When motor 4 is acted, the rotation of motor 4 is transmitted to drive sprocket 6 via speed reducer 5, and drive sprocket 6 carries out
Rotation.When drive sprocket 6 is rotated, rotation is transmitted to driven sprocket 8 via drive chain 10, and driven sprocket 8 carries out
Rotation.When driven sprocket 8 is rotated, the step drive sprocket 9 for being fixed on same drive shaft 7 is also rotated.
Driven shaft 11 is rotatably configured in the lower layer side horizontal part 2a of truss 2, step driven sprocket 12 is same
It is fixed to the driven shaft 11 to axis.Between the step driven sprocket 12 and step drive sprocket 9, step drive chain is set up
13.Along with the rotation of step drive sprocket 9, step drive chain 13 step drive sprocket 9 and step driven sprocket 12 it
Between annularly circular flow.
Step drive chain 13 includes the outlet 13a of the carrying for passenger and the return road positioned at the lower section of outlet 13a
13b.It is linked with a large amount of step 14 in the step drive chain 13.Step 14 is wanted using what the passenger of escalator 1 was multiplied by
Element is respectively provided with front-wheel 14a and trailing wheel 14b.Front-wheel 14a and trailing wheel 14b rotatably freely with configure in the truss 2 it is not shown
Guide rail connect.As a result, when step drive chain 13 is run, in the outlet 13a of step drive chain 13, multiple steps 14
It is moved with the state arranged stepwise along the rake of truss 2.From the floor 1F of lower layer to the floor 2F on upper layer or
Person transports the passenger for being multiplied by each step 14 from the floor 2F on upper layer to the floor 1F of lower layer.
Handrail drive sprocket 15 is coaxially fixed to be fixed with the drive shaft of driven sprocket 8 and step drive sprocket 9
7.In the position detached with the handrail drive sprocket 15, handrail driven sprocket 16 is rotatably configured, in the handrail
Handrail drive chain 17 is set up between driven sprocket 16 and handrail drive sprocket 15.Handrail drive chain 17 receives handrail
Rotation with drive sprocket 15, the circular flow between the handrail drive sprocket 15 and handrail driven sprocket 16.
Handrail driven roller 18 is coaxially fixed to the rotation axis of handrail driven sprocket 16.What is erected from truss 2
The peripheral part of bannister 19 is movably equipped with handrail 20, and a part for the handrail 20 is engaged to handrail driven roller
18.It is rotated by handrail driven roller 18, handrail 20 carries out circular flow along bannister 19.It is multiplied by multiplying for each step 14
Visitor can hold the handrail 20.
Drive sprocket 6, driven sprocket 8, drive chain 10 are enlargedly shown in fig. 2.In addition, being shown in FIG. 3 from side
While seeing the state of a part for drive chain 10, the shape of drive chain 10 and part of it section seen from above is shown in FIG. 4
State.Drive chain 10 is alternately and with annularity connection to obtain a large amount of outer link 21 with a large amount of inner link 22
, so along with the rotation of drive sprocket 6, bending elongation is repeated on one side in the state of persistently by tension, on one side
The circular flow between drive sprocket 6 and driven sprocket 8.Outer link 21 by the carrier bar 21a of opposite a pair of of rigid body,
21b and constitute.Inner link 22 is made up of carrier bar 22a, 22b of opposite a pair of of rigid body.
The linking portion of outer link 21 and inner link 22 is that the both ends of carrier bar 22a, 22b enter carrier bar by predetermined size
The inside at the both ends of 21a, 21b and overlapped state.It is rotated freely respectively in the inside at the both ends of carrier bar 22a, 22b
Ground configures the sleeve 23 of tubular, and chain roller 24 is rotatably assembled respectively in the peripheral surface of these sleeves 23.Then, from
In the state that the both ends of carrier bar 21a, 21b are by the both ends of carrier bar 22a, 22b and the inside of each sleeve 23, by connection
Axis pin 25 is respectively interposed.Each axis pin 25 sliding freely connects with the inner peripheral surface at the both ends of carrier bar 22a, 22b and each sleeve 23.
The mutual length (pin axle base) of each axis pin 25 is known as chain pitch P.
The peripheral surface of axis pin 25 is tightly connected with the inner peripheral surface of sleeve 23 by the tension applied to drive chain 10.
But if flexural deformation when by drive sprocket 6 and driven sprocket 8 repeated, soon in axis pin 25 and sleeve 23
Contact portion will produce the gap caused by wearing.The length of outer link 21 and inner link 22 does not change in a long time, but
Gap between axis pin 25 and sleeve 23 slowly increases due to abrasion.Therefore, drive chain 10 becomes to be equal in appearance
The state that outer link 21 and inner link 22 have extended.If the elongation can be measured, drive chain 10 can be probably held
Deterioration state.
The major part for the control circuit for being equipped on escalator 1 is shown in FIG. 5.
Inverter 31 is connected in commercial ac power source 30, said motor 4 is connected in the output end of the inverter 31.Inverter
The alternating voltage of commercial ac power source 30 is transformed into direct current by 31, by switch motion will the obtained DC voltage conversion of transformation at
The alternating voltage of assigned frequency and level and output.By the output, motor 4 is acted.Inverter 31 output end with
Current sensor 32 is installed in the electrical path between motor 4, the result of detection of the current sensor 32 is supplied to controller
40.Current sensor 32 detects the electric current (being known as motor current) flowed through in motor 4.
Controller 40 is made of microcomputer and its peripheral circuit, including motor control part 41, angular speed calculating part 42,
Theoretical value calculating part 43, lengthening variable portion 44, notification unit 45.Operation to the controller 40 connection display and escalator 1
The display unit 50 of relevant various information.
Motor control part 41 carries out well known ensorless control.That is, from the motor detected by current sensor 32
In electric current, the torque component electric current Iq and excitation component electric current Id in motor 4 are detected, according to the torque component electric current Iq detected
The speed (spinner velocity) that motor 4 is speculated with excitation component electric current Id, by PI control find out and the supposition speed in advance
The corresponding target torque current weight Iqref of difference and target excitation component electric current Idref of determining target velocity, to inversion
The switch motion of device 31 carries out pulse width modulation (PWM) and controls, so that above-mentioned torque component electric current Iq and above-mentioned excitation point
Measuring electric current Id becomes target torque current weight Iqref and target excitation component electric current Idref.
Angular speed calculating part 42 captures the torque of motor 4 from the torque component electric current Iq detected by motor control part 41
Pulsation calculates the angular speed v2 of driven sprocket 8 successively by carrying out the operation of aftermentioned formula (12) based on the pulsation captured
(=v2real) and angular speed v2 ripple amplitude (also referred to as pulse amplitude).
Theoretical value calculating part 43 by the reference radius R of chain pitch P, drive sprocket 6 based on drive chain 10, from
The operation of the aftermentioned formula (8) of the various elements such as the reference radius R2 of movable sprocket 8 progress and the defined 1st of drive chain 10 the
Chain roller 24 is engaged to the opportunity of drive sprocket 6 and defined 2nd chain roller 24 of drive chain 10 is engaged to driven chain
Predetermined multiple " offsets " on the opportunity of wheel 8 calculate the theoretical angular speed v2theory of driven sprocket 8 with being mapped
With the ripple amplitude of theory angular speed v2theory." offset " is known as phase offset angle α.Theoretical angular speed v2theory
It is different according to phase offset angle α.Then, theoretical value calculating part 43 is kept in the form of being mapped with each phase offset angle α
The calculated theory angular speed v2theory of institute and its ripple amplitude.
Lengthening variable portion 44 is being calculated multiple theoretical angular speed v2theory's of (holding) by theoretical value calculating part 43
In ripple amplitude, select and by identical " the theoretical angle speed of angular speed calculating part 42 calculated " ripple amplitude of angular speed v2 "
Spend the ripple amplitude of v2theory ", it is obtained and the selected " pulsation of theoretical angular speed v2theory from theoretical value calculating part 43
The phase offset angle α that amplitude " is mapped, the elongation of drive chain 10 is calculated according to accessed phase offset angle α
dL。
Notification unit 45 notified by the text importing of display unit 50 by 44 calculated elongation dL of lengthening variable portion,
And elongation dL calculated to institute is compared with predetermined setting value, in the feelings that elongation dL is setting value or more
It is shown by text importing, the image of display unit 50 under condition or luminescence display (including flicker display) notifies to need replacing drive
The case where dynamic chain 10.Display unit 50 is set to can if not unloading framework lid user, the maintenance personal of escalator 1
The position of easily visuognosis.
In addition, period, such as of escalator 1 is not taken in the calculation processing of angular speed calculating part 42 preferably in passenger
It is carried out in the trial operation etc. before being provided with the shop of escalator 1, the running a shop of station.When the period in occupant ride into
In the case of row calculation processing, in order to exclude the influence of occupant ride, or in order to weaken the influence of occupant ride, it can also ask
The average value is supplied to lengthening variable portion 44 by the average value for going out the result of calculation repeatedly measured.
Next, illustrating the relationship of the rotation of drive sprocket 6 and the operation of drive chain 10 by Fig. 6.
Each chain roller 24 of drive chain 10 on one side successively with the tooth of the drive sprocket 6 rotated with constant speed into
Row engagement, is moved on one side.In the movement, the rotary speed (angular speed) and chain of the drive sprocket 6 that chain roller 24A is engaged
The speed v1 of roller 24B movements is completely inconsistent.Speed v1 is in geometrically pulsed (variation).
The speed v1 including the geometric pulsation can be calculated in theory.Illustrate this method.
The chain roller 24A engaged with drive sprocket 6 along with drive sprocket 6 rotation, with constant angular speed to
Right advance slight rotation angles d θ.At this point, chain roller 24B is geometrically passing through following formula relative to the position X1 of drive sprocket 6
(1) it finds out.
P is chain pitch (mutual spacing of each axis pin 25 from), and R is the reference radius of drive sprocket 6, and θ is drive chain
The rotation angle (rotation position) of chain roller 24 on wheel 6.
Speed v1 is the time diffusion of " P-X1 ", so, it is calculated by the form of following formula (2).
After calculating formula (2), speed (speed of service) v1 of drive chain 10 is indicated with following formula (3).
As shown in fig. 7, speed v1 is engaged by each chain roller 24 and the tooth of drive sprocket 6 of drive chain 10
Constant cycle, include a few percent of peripheral speed relative to drive sprocket 6 or so the i.e. so-called pulsation of variation wave
Shape.By carrying out differential to speed v1, as shown in figure 8, the acceleration v1acc of drive chain 10 can be found out.Acceleration
V1acc is also the waveform for including pulsation.Dotted line in Fig. 7 indicates the speed v1's in the case that drive chain 10 extends
Value.If the variation of speed v1 can be captured, then it is assumed that the elongation of drive chain 10 can be detected.
However, in the case where drive chain 10 has extended 1%, the ripple amplitude of the acceleration v1acc of drive chain 10
At most also only change 1~2% or so.The small variable quantity is buried in deviation of cogging of motor 4 etc., it is difficult to straight
Connect detection.
In contrast, the pulsation of the acceleration v1acc of drive chain 10 is rendered as driving as by drive chain 10
Inertia load driven sprocket 8 angular speed v2 in be further overlapped pulsation in the state of big pulsation.Angle speed
The pulsation of degree v2 reliably appears in the cogging of motor 4.Also, the cogging of motor 4 is appeared in by motor control
In the waveform for the torque component electric current Iq that portion 41 is detected.Therefore, angular speed calculating part 42 is according to torque component electric current Iq, Neng Gouji
Calculate the ripple amplitude of the angular speed v2 and angular speed v2 of driven sprocket 8.
Next, when drive chain 10 is run with theoretical speed v1 while being pulsed, driven sprocket 8 is calculated
Angular speed v2 how to change in theory.
In addition, in calculating here, about the drive chain 10 between drive sprocket 6 and driven sprocket 8, it is contemplated that chain link
The case where number is " n ".In this case, the distance between drive sprocket 6 and driven sprocket 8 L are indicated by following formula (4).
L=nP ... formulas (4)
The drive chain 10 has equably extended the variable quantity of distance L in the case of m% i.e. since long-time uses
Elongation dL is calculated by following formula (5).
DL=nPm/100 ... formulas (5)
It is roughly shown as new product in fig.9 and the drive chain 10 that not yet extends is engaged to drive sprocket 6 and driven
The state of sprocket wheel 8.The rotation angle (rotation position) of 1st chain roller 24 as defined on drive sprocket 6 is shown as θ 1, it will be driven
The rotation angle of defined 2nd chain roller 24 on sprocket wheel 8 is shown as θ 2.
In the case where the drive chain 10 uses in a long time and has extended, as shown in Figure 10, even if drive sprocket 6
On the rotation angle of defined 1st chain roller 24 be all θ 1, the rotation of defined 2nd chain roller 24 on driven sprocket 8
Angle also rearward offsets by phase angle [alpha] from initial θ 2.The phase offset angle α is set as by the reference radius of driven sprocket 8
In the case of R2, calculated by following formula (6).
α=dL/R2=nPm/ (100R2) ... formulas (6)
If phase offset angle α can be found out by some way, chain elongation dL can be unique by following formula (7)
Ground calculates.
DL=α R2 ... formulas (7)
Next, calculating the angular speed v2 of driven sprocket 8.Pass through the speed v1 for the drive chain 10 that drive sprocket 6 drives
It is calculated by above-mentioned formula (3).The angular speed v2 of the driven sprocket 8 driven by the drive chain 10 of speed v1 is in drive chain
Item 10 extends in the case of producing phase offset angle α, becomes the form of following formula (8).
It, as shown in figure 11, can be by the pulsation width of the angular speed v2 of driven sprocket 8 and angular speed v2 according to the formula (8)
Degree is mapped with multiple phase offset angle α and is calculated in theory.For easy understanding, phase offset angle α is only shown
0 degree, 15 degree, 30 degree of 3 result of calculations, but about the phase offset α of the conceivable range in actual calculating, be
It is calculated in wide range.The data of Figure 12 by calculated angular speed v2 ripple amplitude with as the multiple of parameter
Phase offset angle α is shown with being mapped.The ripple amplitude of angular speed v2 is small in the small regions phase offset angle α, but with
Phase offset angle α increases and slowly becomes larger.
Theoretical value calculating part 43 calculates the ripple amplitude of angular speed v2 and angular speed v2 by above-mentioned formula (8), is made
For the ripple amplitude of theoretical angular speed v2theory and theory angular speed v2theory, as shown in figure 12 with phase offset angle
The form for the data form that α is mapped is kept.
Next, illustrating that the pulsation of the speed of step drive chain 13 is influenced caused by the torque of motor 4.
The rotation of the driven sprocket 8 rotated with angular speed v2 via the rotary shaft for being fixed on driven sprocket 8 step
Drive sprocket 9 is transmitted to step drive chain 13.Step drive chain 13 and a large amount of step 14 are in step drive sprocket as a result,
Circular flow between 9 and step driven sprocket 12.The angular speed v2 of driven sprocket 8 is directly becoming in the state of including pulsation
The movement velocity of step drive chain 13 and each step 14.14 respective quality of step is being set as mm, by the number of step 14
In the case of being set as nn, total inertia weight Mtotal of whole steps 14 is following formula (9).
Mtotal=mmnn ... formulas (9)
Total inertia weight Mtotal is driven with angular speed v2, so the inertia force F generated in the driving is following formula
(10)。
F=Mtotal × dv2/dt ... formulas (10)
In order to drive it, the torque T of motor 4 probably includes the pulsation Ttotal indicated by following formula (11).
Ttotal=F/R=Mtotal/Rdv2/dt ... formulas (11)
Waveform is similar obtained from pulsation Ttotal carries out differential to angular velocity v2 shown in Figure 11, appears in by horse
In the waveform of the torque component electric current Iq detected up to control unit 41.
Angular speed calculating part 42 captures the pulsation Ttotal occurred in the waveform of torque component electric current Iq, executes to use and be somebody's turn to do
Pulse Ttotal following formula (12) operation, so as to calculated as v2real driven sprocket 8 angular speed v2 reality
Value.
Then, lengthening variable portion 44 is in the multiple theoretical angular speed for calculating (holding) by theoretical value calculating part 43
In the ripple amplitude of v2theory, select and by the calculated " pulsation of angular speed v2 (=v2real) of angular speed calculating part 42
Amplitude " is identical " ripple amplitude of theoretical angular speed v2theory ", is obtained and selected " theory from theoretical value calculating part 43
The phase offset angle α that the ripple amplitude of angular speed v2theory " is mapped is executed and is used accessed phase offset angle α
Above-mentioned formula (7) operation, so as to calculate the elongation dL of drive chain 10.
By notification unit 45, elongation dL calculated to institute carries out text importing in display unit 50.User, repair people
Member is by seeing the display unit 50, without stopping and unloading the framework lid etc. of escalator 1 temporarily into the operation for exercising escalator 1
Large-scale operation can easily and reliably identify the elongation dL of drive chain 10.It can mitigate and maintenance personal is made
At burden, and the inconvenience of the user caused by the stopping of operation can be eliminated.
It is configured to carry out vector controlled to motor 4 and inverter 31 by controller 40, according to as the vector controlled
The torque component electric current Iq of element, the controller 40 calculate the elongation dL of drive chain 10, so without motor control
Swivel plate, pulse counter, and need not also be installed on the adjunct of step drive chain, by the dedicated device such as sensor
Tool, can easily and reliably capture the elongation dL of drive chain 10 by simple structure.Therefore, cost is not generated
Rise.The adjustment operation of utensil is not needed, so the burden of operator can be mitigated yet.
In the case where the calculated elongation dL of institute is predetermined setting value or more, by notification unit 45, pass through
Text importing, the image of display unit 50 are shown or luminescence display (including flicker display) notifies to need replacing drive chain 10
The case where.Thereby, it is possible to before the engaging and be abnormal of drive chain 10 and sprocket wheel 6,8, and worn in sprocket wheel 6,8
Before, drive chain 10 is replaced with new product.
[2] the 2nd embodiments
The control circuit of 2nd embodiment in figure 13 illustrates.
Controller 40 include extraction unit 46, angular speed calculating part 42a, 42b, 42c, theoretical value calculating part 43a, 43b, 43c,
Lengthening variable portion 44a, 44b, 44c, notification unit 45.
Extraction unit 46 is from the torque component electric current Iq detected by motor control part 41, and extraction includes driven sprocket 8 respectively
Angular speed v2 pulsation frequency band torque component electric current (the 1st torque component electric current) Iq1 including step driven sprocket 12
Torque component electric current (the 2nd torque component electric current) Iq2 of the frequency band of the pulsation of angular speed v2 and including handrail driven sprocket
Torque component electric current (the 3rd torque component electric current) Iq3 of the frequency band of the pulsation of 16 angular speed v2, extraction unit 46 use such as band
Bandpass filter.
Angular speed calculating part 42a is captured and the angle of driven sprocket 8 from the torque component electric current Iq1 extracted by extraction unit 46
The pulsation of the torque of the corresponding motor 4 of pulsing of speed v2, passes through the fortune that above-mentioned formula (12) is carried out based on the pulsation captured
It calculates, calculates the ripple amplitude of the angular speed v2 and angular speed v2 of driven sprocket 8 successively.
Angular speed calculating part 42b is captured and step driven sprocket from the torque component electric current Iq2 extracted by extraction unit 46
The pulsation of the torque of the corresponding motor 4 of pulsing of 12 angular speed v2, by carrying out above-mentioned formula based on the pulsation captured
(12) operation calculates the ripple amplitude of the angular speed v2 and angular speed v2 of step driven sprocket 12 successively.
Angular speed calculating part 42c is captured and handrail driven chain from the torque component electric current Iq3 extracted by extraction unit 46
The pulsation of the torque of the corresponding motor 4 of pulsing of the angular speed v2 of wheel 16, by carrying out above-mentioned formula based on the pulsation captured
(12) operation calculates the ripple amplitude of the angular speed v2 and angular speed v2 of handrail driven sprocket 16 successively.
The theoretical value calculating part 43 of the function of theoretical value calculating part 43a and lengthening variable portion 44a and the 1st embodiment and
The function in lengthening variable portion 44 is identical.Therefore, the description thereof will be omitted.
The indexing that theoretical value calculating part 43b passes through chain pitch P, step drive sprocket 9 based on step drive chain 13
Radius of circle R, step driven sprocket 12 the various elements such as reference radius R2 carry out operation and the step driving of above-mentioned formula (8)
Defined 1st chain roller 24 of chain 13 is engaged to the defined of opportunity of step drive sprocket 9 and step drive chain 13
Predetermined multiple phase offset angle α that 2nd chain roller 24 is engaged to the opportunity of step driven sprocket 12 are mapped ground
Calculate and keep the ripple amplitude of the theoretical angular speed v2theory and theory angular speed v2theory of step driven sprocket 12.
Theoretical value calculating part 43c passes through chain pitch P based on handrail drive chain 17, handrail drive sprocket 15
Reference radius R, handrail driven sprocket 16 the various elements such as reference radius R2 carry out the operation of above-mentioned formula (8), and help
Defined 1st chain roller 24 of hand strap drive chain 17 is engaged to opportunity and the handrail drive chain of handrail drive sprocket 15
Articles 17 defined 2nd chain roller 24 is engaged to predetermined multiple phase offsets on the opportunity of handrail driven sprocket 16
Angle α is calculated and is kept the theoretical angular speed v2theory and the theory angular speed of handrail driven sprocket 16 with being mapped
The ripple amplitude of v2theory.
The function of lengthening variable portion 44a is identical as the function in lengthening variable portion 44 of the 1st embodiment.Therefore, it saves
Slightly its explanation.
Lengthening variable portion 44b is in the multiple theoretical angular speed v2theory for calculating (holding) by theoretical value calculating part 43b
Ripple amplitude in, select " theoretical angle speed identical with angular speed calculating part 42b calculated " ripple amplitude of angular speed v2 "
Spend the ripple amplitude of v2theory ", it is obtained and the selected " arteries and veins of theoretical angular speed v2theory from theoretical value calculating part 43b
The phase offset angle α that dynamic amplitude " is mapped, step drive chain 13 is calculated according to accessed phase offset angle α
Elongation dL.
Lengthening variable portion 44c is from the multiple theory angular speed v2theory for calculating (holdings) by theoretical value calculating part 43c
Ripple amplitude in, select " theoretical angle speed identical with angular speed calculating part 42c calculated " ripple amplitude of angular speed v2 "
Spend the ripple amplitude of v2theory ", it is obtained and the selected " arteries and veins of theoretical angular speed v2theory from theoretical value calculating part 43c
The phase offset angle α that dynamic amplitude " is mapped, handrail drive chain 17 is calculated according to accessed phase offset angle α
Elongation dL.
Notification unit 45 notifies to be calculated separately by lengthening variable portion 44a, 44b, 44c by the text importing of display unit 50
Each elongation dL gone out, and the calculated each elongation dL of institute is compared respectively with predetermined setting value, pass through
Text importing, the image of display unit 50 are shown or luminescence display (including flicker display) notifies to need replacing and each elongation
Some in dL is the corresponding drive chain of situation more than setting value.
Since the weight of a large amount of step 14 is applied to step drive chain 13, so the angular speed of step driven sprocket 12
The pulsation of v2 is appeared in as the torque pulsation that can be captured in torque component electric current Iq2.Accordingly, with respect to step drive chain
13 elongation dL also can reliably be detected in the same manner as the elongation dL of drive chain 10.
But the handrail 20 driven by handrail drive chain 17 is mainly manufactured by resin and Bu Lai, so weight
Gently.Consider this point, it is as shown in figure 14, built-in for making total inertia weight in the rotary shaft 16a of handrail driven sprocket 16
The increased inertial mass elements of Mtotal 60.
The weight of inertial mass elements 60 is applied to handrail driven sprocket 16, to the angle speed of handrail driven sprocket 16
The pulsation of degree v2 is appeared in as the torque pulsation that can be captured in torque component electric current Iq3.It is driven accordingly, with respect to handrail
The elongation dL of chain 17, also can be in the same manner as the elongation dL of drive chain 10 and the elongation dL of step drive chain 13
Reliable detection.
Other structures, effect, effect are identical as the 1st embodiment.
In addition it is also possible to be configured to pulsation and the handrail driven sprocket 16 of the angular speed v2 about step driven sprocket 12
Angular speed v2 pulsation, find out average value respectively, by calculated average value variation be used as elongation detection element.
[3] the 3rd embodiments
The control circuit of the 3rd embodiment is shown in FIG. 15.
Controller 40 replaces the theoretical value calculating part 43 of the 1st embodiment including theoretical value storage part 47.Other structures
It is identical as the 1st embodiment.
The phase for calculating and keeping with the theoretical value calculating part 43 of the 1st embodiment is calculated by external computer etc.
Same theoretical angular speed v2theory and its ripple amplitude, theoretical value is stored in advance in using its result of calculation as data form
In storage part 47.
Other structures, effect, effect are identical as the 1st embodiment.
[4] the 4th embodiments
In the 1st embodiment, by the pulsation of the angular speed v2 of driven sprocket 8 as the element of elongation detection, but
In 4th embodiment, angular velocity v2 is subjected to the element that angular acceleration v2acc obtained from differential is used as elongation detection.
Theoretical value calculating part 43 calculates the ripple amplitude of angular acceleration v2acc and angular acceleration v2acc, as reason
By the ripple amplitude of angular acceleration v2acctheory and theory angular acceleration v2acctheory, as illustrated in fig. 16 with phase
The form for the data form that position offset angle is mapped is kept.
Lengthening variable portion 44 is by carrying out differential by 42 calculated angular speed v2 of angular speed calculating part, finding out angle and adding
The ripple amplitude of speed v2acc and angular acceleration v2acc.Then, lengthening variable portion 44 is counted from by theoretical value calculating part 43
In the ripple amplitude of multiple theoretical angular acceleration v2acctheory for calculating (holding), select and the above-mentioned " angular acceleration found out
The ripple amplitude of v2acc " is identical " ripple amplitude of theoretical angular acceleration v2acctheory ", is obtained from theoretical value calculating part 43c
The phase offset angle α being mapped with selected " ripple amplitude of theoretical angular acceleration v2acctheory " is taken, according to being obtained
The phase offset angle α got calculates the elongation dL of drive chain 10.
Other structures, effect, effect are identical as the 1st embodiment.
[5] the 5th embodiments
The control circuit of the 5th embodiment is shown in FIG. 17.
Controller 40 in addition to including the 1st embodiment extraction unit 46, angular speed calculating part 42, theoretical value calculating part 43,
Further include maintaining part 48 except lengthening variable portion 44, notification unit 45.
Maintaining part 48 regularly, for example keeps to each two moon by 42 calculated angular speed v2 of angular speed calculating part and is somebody's turn to do
The ripple amplitude of angular speed v2.
Lengthening variable portion 44 executes elongation whenever carrying out the regular holding of maintaining part 48 of stipulated number such as 3 times
Measure the processing calculated.
As the angular speed v2 regularly kept, such as shown in figure 18, mutually different value is obtained.In this example embodiment,
The angular speed v2 of 3 secondary amounts kept at first is slowly reduced, and then, the angular speed v2 of 3 secondary amounts kept slowly increases.That is, angle
Speed v2 becomes in use initial stages of the phase offset α less than 10 degree, along with the increase of phase offset α to reduction direction
Change (3 circular marks), thereafter, in the stage that phase offset α increases to 10 degree or more, along with the increase of phase offset α
And to increase direction change (3 triangle marks).
Other structures, effect, effect are identical as the 1st embodiment.
In addition it is also possible to be configured to that the change of angular speed v2 shown in Figure 18 is turned to theoretical angular speed curve and is stepped in advance
In the internal storage for remembering controller 40, whenever maintaining part will be remained to by 44 calculated angular speed v2 of lengthening variable portion
When in 48, phase offset α corresponding with the angular speed v2 of the holding is extracted from theoretical angular speed curve, according to what is extracted
Phase offset α calculates the elongation dL of drive chain 10.
[6] effect of embodiment
The chain loading device and passenger conveyors and chain elongation of at least one embodiment as stated above are examined
Survey method calculates the elongation dL of drive chain 10 according to torque component electric current Iq, so just without using dedicated utensil
The elongation of drive chain 10 can be reliably detected.
[7] variation
Even with the drive chain 10 at initial stage, according to the nibbling for drive sprocket 6 and driven sprocket 8 of drive chain 10
Conjunction state, it is also possible to which from starting to there is ignorable phase offset α, it occurs as the error of elongation detection.
As countermeasure, phase offset α will can also be artificially measured when beginning to use drive chain 10 and be surveyed
Determine the structure that result is input to controller 40 as the initial value α 0 of phase offset α and is attached to the respective embodiments described above.For example,
It will be connected to controller 40 for inputting the operation portion of initial value α 0.In this case, lengthening variable portion 44 is according to from operation
The phase offset angle α that the amount for the initial value α 0 that portion pre-enters is got to reduction correction for direction from theoretical value calculating part 43, root
The elongation dL of drive chain 10 is calculated according to the phase offset angle α corrected.
According to this structure, the elongation dL of drive chain 10 can more reliably be detected.
In the respective embodiments described above, carry out having being sweared without sensor for speed supposition with the motor control part 41 of controller 40
It is illustrated in case of amount control, but is being configured to prepare to detect the velocity sensor of the speed of motor 4 and incite somebody to action
In the case that the speed of detection of the velocity sensor feeds back to controller 40, can also be configured to motor control part 41 is not had
The vector controlled that speed speculates.
In the respective embodiments described above, it illustrates to multiply as the chain loading device equipped with the chain being driven by a motor
Objective conveyer and escalator 1 as its concrete example are being arranged but as long as being the device equipped with the chain being driven by a motor
In road surface, floor moving elevator, sling cargo crane, lift cargo come in forklift for transporting etc., also can be same
Implement on ground.
In addition, the respective embodiments described above are to propose as an example, it is not intended that limit the range of invention.The new reality
The mode of applying can be implemented by various other ways, without departing from the spirit of the invention, can carry out it is various omit,
Displacement, change.This embodiment and its modifications are contained in the range of invention, purport, and are contained in claims and are remembered
In the invention of load and its equivalency range.
Claims (6)
1. a kind of chain loading device, the 1st sprocket wheel is transmitted to by the rotation of motor, by chain by the rotation of the 1st sprocket wheel
It is transmitted to the 2nd sprocket wheel, and has inverter of the output to the driving power of the motor, and the chain loading device has
Preparation controller detects torque component electric current and excitation in the motor in the electric current that the controller is flowed through from the motor
Current weight, speculates the speed of the motor according to detected torque component electric current and excitation component electric current, described in control
Inverter so that the supposition speed become target velocity,
The chain loading device is characterized in that,
The controller carries out control as follows：
According to the torque component electric current, the ripple amplitude of " angular speed " or " angular acceleration " of the 2nd sprocket wheel is calculated,
With the chain be engaged to opportunity of the 1st sprocket wheel and the chain be engaged to the 2nd sprocket wheel opportunity it is advance
Determining multiple " offsets " accordingly calculate " the theoretical angular speed " for either keeping the 2nd sprocket wheel or " theoretical angle accelerates
The ripple amplitude of degree ",
According to calculate either keep described in " theoretical angular speed " or " theoretical angular acceleration " ripple amplitude in, with meter
" offset " corresponding to the identical ripple amplitude of ripple amplitude of " angular speed " or " angular acceleration " that calculates calculates
The elongation of the chain.
2. the rotation of motor is transmitted to main drive sprocket by a kind of passenger conveyors, by main drive chain item by the main driving
The rotation of sprocket wheel is transmitted to principal and subordinate's movable sprocket, and step drive sprocket and handrail drive sprocket are set to principal and subordinate's movable sprocket
Rotary shaft sets up step drive chain between the step drive sprocket and step driven sprocket, in the handrail drive chain
Handrail drive chain is set up between wheel and handrail driven sprocket, and has the inverse of driving power of the output to the motor
Become device, and have controller, the torque point in the motor is detected in the electric current which flows through from the motor
Electric current and excitation component electric current are measured, the speed of the motor is speculated according to detected torque component electric current and excitation component electric current
Degree, control the inverter so that the supposition speed become target velocity,
The passenger conveyors are characterized in that,
The controller includes：
Unit the 1st calculates " angular speed " or " angular acceleration " of principal and subordinate's movable sprocket according to the torque component electric current
Ripple amplitude；
Unit the 2nd, and the main drive chain item are engaged to opportunity of the main drive sprocket and are engaged with the main drive chain item
Predetermined multiple " offsets " to the opportunity of principal and subordinate's movable sprocket accordingly calculate or keep the main driven chain
The ripple amplitude of " the theoretical angular speed " or " theoretical angular acceleration " of wheel；And
Unit the 3rd calculates " the theoretical angular speed " or " theoretical angular acceleration " that either keeps according to by Unit the 2nd
It is in ripple amplitude, with by Unit the 1st calculated " angular speed " or the identical arteries and veins of the ripple amplitude of " angular acceleration "
" offset " corresponding to dynamic amplitude, calculates the elongation of the main drive chain item.
3. passenger conveyors according to claim 2, which is characterized in that
The controller further includes：
Extraction unit, from the torque component electric current, extraction includes the pulsation of " angular speed " of principal and subordinate's movable sprocket
2nd torque of the frequency band of the pulsation of the 1st torque component electric current of frequency band and " angular speed " including the step driven sprocket point
Measure electric current；
It is driven to calculate the step according to the 2nd torque component electric current extracted by the extraction unit for Unit the 4th
The ripple amplitude of " angular speed " or " angular acceleration " of sprocket wheel；
Unit the 5th, and the step drive chain are engaged to the opportunity of the step drive sprocket and the step drive chain
Item is engaged to described in predetermined multiple " offsets " on the opportunity of the step driven sprocket accordingly calculate or keep
The ripple amplitude of " the theoretical angular speed " or " theoretical angular acceleration " of step driven sprocket；And
Unit the 6th calculates " the theoretical angular speed " or " theoretical angular acceleration " that either keeps according to by Unit the 5th
It is in ripple amplitude, with by Unit the 4th calculated " angular speed " or the identical arteries and veins of the ripple amplitude of " angular acceleration "
" offset " corresponding to dynamic amplitude, calculates the elongation of the step drive chain,
Unit the 1st calculates the main driven chain according to the 1st torque component electric current extracted by the extraction unit
The ripple amplitude of " angular speed " or " angular acceleration " of wheel.
4. passenger conveyors according to claim 3, which is characterized in that
The handrail driven sprocket will be for making the increased inertial mass elements packet of the inertia weight of the handrail driven sprocket
It is contained in the rotary shaft of the handrail driven sprocket,
The extraction unit extracts the 1st torque component electric current, the 2nd torque component from the torque component electric current
3rd torque component electric current of the frequency band of the pulsation of electric current and " angular speed " including the handrail driven sprocket,
The controller further includes：
Unit the 7th, according to the 3rd torque component electric current that is extracted by the extraction unit, calculate the handrail from
The ripple amplitude of " angular speed " or " angular acceleration " of movable sprocket；
Unit 8, and the handrail drive chain are engaged to the opportunity of the handrail drive sprocket and the handrail
Drive chain be engaged to predetermined multiple " offsets " on the opportunity of the handrail driven sprocket accordingly calculate or
Keep the ripple amplitude of " the theoretical angular speed " or " theoretical angular acceleration " of the handrail driven sprocket；And
Unit the 9th calculates " the theoretical angular speed " or " theoretical angular acceleration " that either keeps according to by the unit 8
It is in ripple amplitude, with by Unit the 7th calculated " angular speed " or the identical arteries and veins of the ripple amplitude of " angular acceleration "
" offset " corresponding to dynamic amplitude, calculates the elongation of the handrail drive chain.
5. chain loading device according to claim 1 or according to any one of claim 2 to claim 4 institute
The passenger conveyors stated, which is characterized in that
The controller further includes notification unit, which notifies the calculated elongation, and in the elongation
To notify the situation in the case of more than setting value.
6. a kind of chain elongation detection method, this method is the chain elongation detection method of following device, and the device is by motor
Rotation is transmitted to the 1st sprocket wheel, and the rotation of the 1st sprocket wheel is transmitted to the 2nd sprocket wheel by chain, and has output to the horse
The inverter of the driving power reached, detect in the electric current flowed through from the motor torque component electric current in the motor and
Excitation component electric current speculates the speed of the motor according to detected torque component electric current and excitation component electric current, control
The inverter so that the supposition speed become target velocity,
The chain elongation detection method is characterized in that,
According to the torque component electric current, the ripple amplitude of " angular speed " or " angular acceleration " of the 2nd sprocket wheel is calculated,
With the chain be engaged to opportunity of the 1st sprocket wheel and the chain be engaged to the 2nd sprocket wheel opportunity it is advance
Determining multiple " offsets " accordingly calculate " the theoretical angular speed " for either keeping the 2nd sprocket wheel or " theoretical angle accelerates
The ripple amplitude of degree ",
According to calculate either keep described in " theoretical angular speed " or " theoretical angular acceleration " ripple amplitude in, with meter
" offset " corresponding to the identical ripple amplitude of ripple amplitude of " angular speed " or " angular acceleration " that calculates calculates
The elongation of the chain.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-018142 | 2016-02-02 | ||
| JP2016018142A JP6074076B1 (en) | 2016-02-02 | 2016-02-02 | Chain mounting device, passenger conveyor and chain stretch detection method |
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| Publication Number | Publication Date |
|---|---|
| CN107021412A CN107021412A (en) | 2017-08-08 |
| CN107021412B true CN107021412B (en) | 2018-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610415904.XA Active CN107021412B (en) | 2016-02-02 | 2016-06-14 | Chain loading device and passenger conveyors and chain elongation detection method |
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| JP (1) | JP6074076B1 (en) |
| CN (1) | CN107021412B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3569558B1 (en) | 2018-05-16 | 2022-07-13 | Otis Elevator Company | Chain defect monitoring in a people conveyor |
| JP6795261B1 (en) * | 2019-06-10 | 2020-12-02 | 東芝エレベータ株式会社 | Passenger conveyor control method |
| JP6940227B2 (en) * | 2019-11-29 | 2021-09-22 | 東芝エレベータ株式会社 | Passenger conveyor chain loosening detector |
| JP7362562B2 (en) * | 2020-08-03 | 2023-10-17 | 東芝エレベータ株式会社 | Passenger conveyor chain stretch detection device |
| KR102454822B1 (en) * | 2022-08-26 | 2022-10-14 | (주)한국알앤드디 | Trim adjustment device for drive of ships |
| JP7268792B1 (en) | 2022-11-01 | 2023-05-08 | 三菱電機ビルソリューションズ株式会社 | Anomaly detector for passenger conveyor |
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| EP1850087A1 (en) * | 2006-04-25 | 2007-10-31 | Prüftechnik Dieter Busch Ag | Method and apparatus for monitoring the elongation of a drive chain |
| CN101397113A (en) * | 2007-09-25 | 2009-04-01 | 株式会社日立制作所 | Diagnosis device of chain slack for passenger conveying equipment and diagnosis method |
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Also Published As
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|---|---|
| CN107021412A (en) | 2017-08-08 |
| JP6074076B1 (en) | 2017-02-01 |
| JP2017137156A (en) | 2017-08-10 |
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