CN107840217A - lifter acceleration compensation control method and device - Google Patents
lifter acceleration compensation control method and device Download PDFInfo
- Publication number
- CN107840217A CN107840217A CN201710900412.4A CN201710900412A CN107840217A CN 107840217 A CN107840217 A CN 107840217A CN 201710900412 A CN201710900412 A CN 201710900412A CN 107840217 A CN107840217 A CN 107840217A
- Authority
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- China
- Prior art keywords
- carrier
- acceleration
- movable floor
- lifter
- control method
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a kind of lifter acceleration compensation control method and device, the lifter includes the carrier of carrying load, in being provided with movable floor in the carrier, the movable floor is used to support the load, and can relatively described carrier slide up and down, the lifter acceleration compensation control method includes：Detect acceleration magnitude and the direction of the carrier；When the acceleration of the carrier is zero, the relatively described carrier of the movable floor remains static；When the acceleration of the carrier is not zero, the movable floor accelerates to slide, and follows the carrier synchronously to produce one and carrier acceleration backward acceleration in opposite direction；It can reduce lifter using the lifter of above-mentioned lifter acceleration compensation control method starting and braking amount of acceleration of the blood in moment passenger's body relative to body, effectively lift the ride quality of lifter, space is opened for lifter speed-raising.
Description
Technical field
The present invention relates to lifter technical field, more particularly to one kind to be located at lifter when lifter starts and brakes
In people carry out acceleration compensation lifter acceleration compensation control method, device and corresponding computer-readable storage medium
Matter.
Background technology
Social development is more and more faster, residential building also more and more higher, to the demand of the express elevator as lifter increasingly
It is more, but during many express elevator operations now, because the moment lifter for starting and braking needs bigger acceleration, people
Body produces identical acceleration with lifter, but due to effect of inertia, the blood in body can not follow body synchronously to do
Go out reaction, the poised state of such blood and the person will be broken, then people will feel under the weather, and start and make in elevator
Dynamic moment, acceleration is bigger, this uncomfortable to feel stronger.Influence based on this transient acceleration to the person, in reality
In the application of border, many express elevators are that reduction of speed uses, and this causes the operational efficiency of elevator to substantially reduce.With regard to the operation skill of elevator
For art, present elevator has had the elevator of 10m/s speed, and later elevator speed can be higher, but such express elevator, electricity
Ladder car in startup and braking will certainly produce bigger acceleration, if the passenger's degree not being pointed in elevator is added
Velocity compensation adjusts, and elevator ride comfort level will substantially reduce, and even occurs for the people of some hypertension constitutions to body
The unfavorable trouble of body, so there is implacable contradiction on elevator speed and ride quality for existing elevator.
The content of the invention
It is an object of the present invention to provide a kind of lifter acceleration compensation control method and device, to alleviate because of lifter
Start and brake the excessive sense of discomfort brought to passenger of brief acceleration.
It is another object of the invention to provide a kind of computer-readable recording medium, is stored with and performs the lifting
The computer program of device acceleration compensation control method.
To achieve these goals, the invention discloses a kind of lifter acceleration compensation control method, the lifter
Carrier including carrying load, in being provided with movable floor in the carrier, the movable floor is described for supporting
Load, and can relatively described carrier slide up and down, the lifter acceleration compensation control method includes：
1) acceleration magnitude and the direction of the carrier, are detected；
2), when the acceleration of the carrier is zero, the relatively described carrier of the movable floor remains static；
3), when the acceleration of the carrier is not zero, the movable floor accelerates to slide, and follows the carrier same
Step produces one and carrier acceleration backward acceleration in opposite direction.
Compared with prior art, lifter acceleration compensation control method disclosed by the invention in carrier by setting
Movable floor passenger can be moved with respect to carrier, when the acceleration magnitude and direction for detecting carrier, dump bottom
The passenger that strip is moved in carrier follows carrier to produce one and carrier acceleration backward acceleration in opposite direction, so,
When carrier accelerates startup or retarding braking, acceleration caused by carrier is multiplying with acceleration caused by movable floor
It is superimposed with visitor, so as to equivalent to weakening the amount of acceleration that is carried in by carrier with passenger, then also reduce liter
Drop device starting and braking amount of acceleration of the blood in moment passenger's body relative to body, the seating for effectively lifting lifter is relaxed
Appropriateness, space is opened for lifter speed-raising.
It is preferred that when the acceleration of the carrier is not zero, backward acceleration caused by the movable floor and institute
The acceleration magnitude for stating carrier is equal.
It is preferred that when the carrier accelerates up, the relatively described carrier of the movable floor accelerates descending；
When the carrier accelerates descending, the relatively described carrier of the movable floor accelerates up；
Traveled at the uniform speed or during inactive state when the carrier is in, the relatively described carrier of the movable floor keeps quiet
Only；
When the up deceleration of the carrier, the relatively described carrier of the movable floor accelerates up；
When the descending deceleration of the carrier, the relatively described carrier of the movable floor accelerates descending.
It is preferred that the pressure change born by detecting the movable floor before and after the carrier brings into operation is sentenced
The acceleration magnitude of the disconnected carrier and direction.
It is preferred that the initial pressure value born before the movable floor brings into operation in the carrier and the fortune
When the real-time pressure value that the movable floor is born when carrier is run is equal, the acceleration of the carrier is zero；
The initial pressure value born before the movable floor brings into operation in the carrier is less than the carrier
During the real-time pressure value that the movable floor is born during operation, the carrier has acceleration straight up；
The initial pressure value born before the movable floor brings into operation in the carrier is more than delivery running body
During the real-time pressure value that Shi Suoshu movable floors are born, the carrier has acceleration straight down.
It is preferred that the pressure that the lifter acceleration compensation control method also includes being arranged on the movable floor passes
Sensor, the pressure sensor are used for the action that the movable floor is controlled according to the input value of the pressure sensor.
It is preferred that the lifter acceleration compensation control method also includes the control being electrically connected with the pressure sensor
Device processed, the controller are used for the action of the movable floor.
It is preferred that the lifter acceleration compensation control method also includes the driving machine being electrically connected with the controller
Structure, the drive mechanism are used for the power for providing holding power for the movable floor and sliding up and down.
It is preferred that the carrier includes bottom wall, the drive mechanism is controllable telescoping rod, the one of the controllable telescoping rod
End is connected with the movable floor, and the other end of the controllable telescoping rod is arranged on the bottom wall.
It is preferred that the lifter is elevator, the carrier is car.
The invention also discloses a kind of lifter acceleration compensation device, including：One or more processors,
Memory and one or more programs, wherein one or more programs are stored in the memory, and
It is configured to by one or more of computing devices, described program includes being used to perform lifter acceleration as described above
The instruction of compensating control method.
The invention also discloses a kind of computer-readable recording medium, including the computer journey being used in combination with lifter
Sequence, the computer program can be executed by processor to complete lifter acceleration compensation control method as described above.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram of the carrier in the embodiment of the present invention.
Fig. 2A is that acceleration when carrier acceleration direction is upward in Fig. 1 on movable floor loads schematic diagram.
Fig. 2 B are that acceleration when carrier acceleration direction is downward in Fig. 1 on movable floor loads schematic diagram.
Fig. 3 is the control principle schematic diagram of lifter acceleration compensation control device of the embodiment of the present invention.
Embodiment
To describe technology contents, architectural feature, realization principle and the objects and the effects of the present invention in detail, tie below
Close embodiment and coordinate accompanying drawing to be explained in detail.
The lifter run up and down can all produce an acceleration in Acceleration of starting stage and braking deceleration stage, positioned at lifting
Passenger's body in device can also follow lifter to produce identical acceleration simultaneously, and due to effect of inertia, the blood in body exists
This has little time to make a response in a flash, then blood will relative body produce acceleration, if the lifter speed of service compares
Greatly, then start and the acceleration of deboost phase will be bigger, this can bring very uncomfortable sensation such as dizziness to passenger,
In order to solve this technical problem, the invention discloses a kind of lifter acceleration compensation device, including：One or more processing
Device, memory and one or more programs, wherein one or more programs are stored in the memory, and by with
It is set to by one or more of computing devices, described program includes being used to perform lifter acceleration compensation control method
Instruction.
It refer to Fig. 1, lifter includes the carrier 10 of carrying load, in being provided with movable floor in carrier 10
20, movable floor 20 is used to support load, and can be slided up and down with respect to carrier 10.
Above-mentioned lifter acceleration compensation control method includes：
1) acceleration magnitude and the direction of carrier 10, are detected；
2), when the acceleration of carrier 10 is zero, movable floor 20 remains static with respect to carrier 10；
3), when the acceleration of carrier 10 is not zero, movable floor 20 accelerates to slide, and follows carrier 10 is synchronous to produce
One with the acceleration of carrier 10 backward acceleration in opposite direction.
Compared with prior art, the lifter in the present invention is provided with controllable movable floor 20, load (such as passenger)
It is that when movable floor 20 slides up and down, passenger moves with movable floor 20 on movable floor 20.Such as Fig. 2A institutes
Show, when lifter accelerates to start, carrier 10 is up by static acceleration, produces acceleration a straight up, is located at accordingly
Movable floor 20 in carrier 10 also has upward acceleration a, at this moment moves movable floor 20 with respect under the acceleration of carrier 10
OK, corresponding movable floor 20 produces a direction downward acceleration b, acceleration a and acceleration b and acts on dump bottom simultaneously
Plate 20, because the two is in opposite direction, the result being overlapped mutually is equivalent to the activity as caused by lifter accelerates startup that weakens
The upward acceleration a in direction on bottom plate 20 amount, because passenger and movable floor 20 are integral, then also just cut accordingly
The amount of acceleration a straight up with weak passenger, that is, reduce blood in passenger's body body relative to body plus
Speed amount, alleviates sense of discomfort.Preferably, when acceleration a and acceleration b it is equal in magnitude when, be superimposed upon it is with passenger plus
The amount of speed is zero, then poised state of the passenger's body with the blood in body still in geo-stationary, so as to also just eliminate
The sense of discomfort brought by acceleration when lifter starts to passenger.
When lifter, which is in, travels at the uniform speed the stage, the acceleration of the passenger in carrier 10 is zero, passenger's body
The state of relative equilibrium is in the blood in body, then movable floor 20 is with respect to the transfixion of carrier 10.
When lifter needs retarding braking in uphill process, as shown in Figure 2 B, carrier 10 needs to produce a direction
Acceleration c straight down, acceleration c are acted on passenger by movable floor 20, and at this moment passenger's body also produces perpendicular
Straight downward acceleration c, similarly, the relative balance state due to the blood in effect of inertia passenger's body and body is beaten
Broken, in order to alleviate influence of this state change to passenger, movable floor 20 accelerates up with respect to carrier 10, then meeting simultaneously
The upward acceleration d in a direction with passenger is acted on, because acceleration c and acceleration d are in opposite direction, the result of superposition
Acceleration c amount is exactly weakened, that is, reduces amount of acceleration of the blood in passenger's body relative to body, alleviates passenger
Sense of discomfort.Preferably, when acceleration c and acceleration d it is equal in magnitude when, the acceleration acted on passenger is zero, that
Poised state of the passenger's body with the blood in body still in geo-stationary, so as to also eliminate the need for because lifter brakes institute
The sense of discomfort that caused acceleration is brought to passenger.
Carrier 10 is described above and starts up, uniform ascending and up movable floor 20 during braking this
Action process, equally, carrier 10 is starting the process of descending, uniform descending and descending braking, movable floor 20 it is dynamic
It is similar to the above to make process, i.e., when carrier 10 accelerates descending, movable floor 20 accelerates up with respect to carrier 10, works as delivery
During 10 descending deceleration of body, movable floor 20 accelerates descending with respect to carrier 10.
The present invention to lifter carry out acceleration compensation technical principle be：When lifter produces acceleration, lifting
Movable floor 20 inside device follows lifter synchronously to produce another and lifter acceleration backward acceleration in opposite direction,
So as to amount of acceleration of the weakening effect with movable floor 20 namely passenger, passenger's body and the blood in body are effectively reduced
Relative acceleration amount, alleviate passenger with it is this imbalance caused by sense of discomfort.
Super weightlessness effect principle is had when being moved up and down with acceleration according to object, in the present embodiment, passes through detection
Movable floor 20 brings into operation the front and rear pressure change carried to judge the direction of acceleration and size, specifically in carrier 10
Determination methods are as follows：
Lived when the initial pressure value born before movable floor 20 brings into operation in carrier 10 is run with carrier 10
When the real-time pressure value that dynamic bottom plate 20 is born is equal, the acceleration of carrier 10 is zero；
When the initial pressure value born before movable floor 20 brings into operation in carrier 10, which is less than carrier 10, to be run
During the real-time pressure value that movable floor 20 is born, carrier 10 has acceleration straight up；
When the initial pressure value born before movable floor 20 brings into operation in carrier 10, which is more than carrier 10, to be run
During the real-time pressure value that movable floor 20 is born, carrier 10 has acceleration straight down.
In addition, according to force equation, F=m*a, the acceleration being carried in by carrier 10 with passenger can be also specifically calculated
Size.
The pressure change born according to movable floor 20 is foregoing described to detect the method for the acceleration of carrier 10,
In another embodiment of the invention, by setting pressure sensor 40 to be held to detect movable floor 20 on movable floor 20
The pressure received.In addition, the also settable controller being electrically connected with pressure sensor 40, the work that pressure sensor 40 will detect
The pressure value of dynamic bottom plate 20 is transferred to controller, and controller is calculated by comparing, output control instruction, control movable floor 20
Traffic direction and acceleration magnitude.Movable floor 20 slides up and down with respect to carrier 10 can be by the driving that is electrically connected with controller
Mechanism 30 performs, and the drive mechanism 30 is that movable floor 20 provides holding power and the power slided up and down.Specifically, carrier 10
Including bottom wall, the drive mechanism 30 is controllable telescoping rod, and one end of controllable telescoping rod is connected with movable floor 20, controllable telescoping rod
The other end be arranged on bottom wall on.In order to increase the stability of movable floor 20, controllable telescoping rod is provided with 4, set respectively
At four angles of movable floor 20.It should be noted that the power resources of controllable telescoping rod are unrestricted, according to mounting bar
Part, controllable telescoping rod can use hydraulic-driven or air pressure driving again or oil pressure actuated, can also use other skilled in the art
Think suitable type of drive.
It is to the specific control process of lifter using lifter acceleration compensation control method of the present invention：Pressure sensor
The pressure value that movable floor 20 is born is transferred to controller by 40, and controller is by calculating the total of all pressure sensors 40
With calculate the pressure that movable floor 20 is born, controller is brought into operation front and rear institute by movable floor 20 in carrier 10
The change that is stressed judges the running status of carrier 10, and the action of drive mechanism 30 is controlled according to judged result.Controller is also
It is electrically connected with the control system of lifter, when the door of carrier 10 is opened, passenger enters the station of carrier 10 in movable floor
When on 20, pressure sensor 40 will be conveyed to one reset pressure value of controller, when the control system of lifter prompts controller
After lifter brings into operation, the real-time pressure value suffered by movable floor 20 is transferred to controller by pressure sensor 40 in real time,
Controller compared with real-time pressure value, represents the reset pressure value suffered by movable floor 20 when the difference of the two is not zero
Carrier 10 generates acceleration, and now controller controls drive mechanism 30 to act, and drives movable floor 20 to produce one and fortune
The backward acceleration in opposite direction of carrier 10.When carrier 10 acceleration straight up when, passenger is in overweight state, then
When real-time pressure value is more than reset pressure value, controller control telescoping mechanism accelerates descending, drive one side of generation of movable floor 20
To downward acceleration, certain controller can also be specific by the difference of the real-time pressure value and reset pressure value of movable floor 20
The size of the acceleration of carrier 10 is calculated, then controller control drive mechanism 30 drives movable floor 20 to produce and deliver
The acceleration magnitude identical direction downward acceleration of body 10, is zero so as to act on the acceleration with passenger.When carrier 10
Acceleration straight down when, passenger is in state of weightlessness, and real-time pressure value is less than reset pressure value, then controller control drive
Motivation structure 30 accelerates up, the upward acceleration in one direction of the drive generation of movable floor 20 of drive mechanism 30, likewise, controller
The size of the acceleration of carrier 10 can be also specifically calculated by the difference of real-time pressure value and reset pressure value, is then controlled
Device control drive mechanism 30 drives the generation of movable floor 20 and the upward acceleration in the acceleration magnitude identical direction of carrier 10,
It is zero so as to act on the acceleration with passenger.If real-time pressure value illustrates that carrier 10 is in even equal to reset pressure value
Fast running status, drive mechanism 30 are failure to actuate.
In order to further improve the stability that movable floor 20 slides in carrier 10, in the two opposite side walls of carrier 10
On be additionally provided with for the up and down chute 50 of movable floor 20, referring again to Fig. 1, movable floor 20 glides along chute 50
It is dynamic, so as to avoid shifting.
It is above-mentioned specifically to describe lifter of the present invention in startup and braking to the specific of the acceleration in wherein passenger
Compensation way and process, the lifters of lifter of the invention concretely with operation above and below the elevator of car or other, especially
It is adapted to express elevator, if being provided with above-mentioned lifter acceleration compensation device in the car of elevator, then even if elevator
Full speed running start and the deboost phase significant sense of discomfort will not be also brought to passenger, not only increase Consumer's Experience, also for
The speed-raising of elevator opens space.
The above disclosed right model for being only the preferred embodiments of the present invention, the present invention can not being limited with this certainly
Enclose, therefore the equivalent variations made according to scope of the present invention patent, still fall within the scope that the present invention is covered.
Claims (12)
1. a kind of lifter acceleration compensation control method, the lifter includes the carrier of carrying load, and its feature exists
In in being provided with movable floor in the carrier, the movable floor is used to support the load, and can relatively described fortune
Carrier slides up and down, and the lifter acceleration compensation control method includes：
1) acceleration magnitude and the direction of the carrier, are detected；
2), when the acceleration of the carrier is zero, the relatively described carrier of the movable floor remains static；
3), when the acceleration of the carrier is not zero, the movable floor accelerates to slide, and follows the carrier synchronously to produce
Life one and carrier acceleration backward acceleration in opposite direction.
2. lifter acceleration compensation control method according to claim 1, it is characterised in that when adding for the carrier
When speed is not zero, backward acceleration caused by the movable floor is equal with the acceleration magnitude of the carrier.
3. lifter acceleration compensation control method according to claim 1, it is characterised in that
When the carrier accelerates up, the relatively described carrier of the movable floor accelerates descending；
When the carrier accelerates descending, the relatively described carrier of the movable floor accelerates up；
Traveled at the uniform speed or during inactive state when the carrier is in, the relatively described carrier remains stationary of the movable floor；
When the up deceleration of the carrier, the relatively described carrier of the movable floor accelerates up；
When the descending deceleration of the carrier, the relatively described carrier of the movable floor accelerates descending.
4. lifter acceleration compensation control method according to claim 1, it is characterised in that by detecting the activity
The pressure change that bottom plate is born before and after the carrier brings into operation judges acceleration magnitude and the direction of the carrier.
5. lifter acceleration compensation control method according to claim 4, it is characterised in that
When the initial pressure value born before the movable floor brings into operation in the carrier is with the delivery running body
When the real-time pressure value that the movable floor is born is equal, the acceleration of the carrier is zero；
The initial pressure value born before the movable floor brings into operation in the carrier is less than the delivery running body
During the real-time pressure value that Shi Suoshu movable floors are born, the carrier has acceleration straight up；
The initial pressure value born before the movable floor brings into operation in the carrier is more than delivery running body when institute
When stating the real-time pressure value that movable floor is born, the carrier has acceleration straight down.
6. lifter acceleration compensation control method according to claim 4, it is characterised in that also described including being arranged on
Pressure sensor on movable floor, the pressure sensor are used to control the work according to the input value of the pressure sensor
The action of dynamic bottom plate.
7. lifter acceleration compensation control method according to claim 6, it is characterised in that also include and the pressure
The controller that sensor is electrically connected with, the controller are used for the action of the movable floor.
8. lifter acceleration compensation control method according to claim 7, it is characterised in that also include and the control
The drive mechanism that device is electrically connected with, what the drive mechanism was used to provide holding power for the movable floor and slide up and down moves
Power.
9. lifter acceleration compensation control method according to claim 8, it is characterised in that the carrier includes bottom
Wall, the drive mechanism are controllable telescoping rod, and one end of the controllable telescoping rod is connected with the movable floor, described controllable to stretch
The other end of contracting bar is arranged on the bottom wall.
10. lifter acceleration compensation control method according to claim 1, it is characterised in that the lifter is electricity
Ladder, the carrier are car.
11. a kind of lifter acceleration compensation device, including：
One or more processors；
Memory；
And one or more programs, wherein one or more programs are stored in the memory, and be configured to by
One or more of computing devices, described program include being used to perform the lifting as described in any one of claim 1 to 10
The instruction of device acceleration compensation control method.
12. a kind of computer-readable recording medium, it is characterised in that including the computer program being used in combination with lifter, institute
Stating computer program can be executed by processor to complete the lifter acceleration compensation control as described in any one of claim 1 to 10
Method processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710900412.4A CN107840217B (en) | 2017-09-28 | 2017-09-28 | Lifter acceleration compensation control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710900412.4A CN107840217B (en) | 2017-09-28 | 2017-09-28 | Lifter acceleration compensation control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107840217A true CN107840217A (en) | 2018-03-27 |
| CN107840217B CN107840217B (en) | 2019-06-18 |
Family
ID=61661817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710900412.4A Active CN107840217B (en) | 2017-09-28 | 2017-09-28 | Lifter acceleration compensation control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107840217B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB697202A (en) * | 1950-09-16 | 1953-09-16 | Otis Elevator Co | Elevator system |
| GB1309135A (en) * | 1969-06-30 | 1973-03-07 | Westinghouse Electric Corp | Variable voltage drive system |
| CN203187242U (en) * | 2013-04-11 | 2013-09-11 | 长安大学 | Semi-active shock absorption elevator |
| CN103648947A (en) * | 2011-11-30 | 2014-03-19 | 三菱电机株式会社 | Elevator vibration reduction device |
| CN104220355A (en) * | 2012-04-16 | 2014-12-17 | 三菱电机株式会社 | Elevator device |
| CN104326352A (en) * | 2014-11-07 | 2015-02-04 | 康力电梯股份有限公司 | Guide rail deviation prevention device for rotating ends of hand strap |
-
2017
- 2017-09-28 CN CN201710900412.4A patent/CN107840217B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB697202A (en) * | 1950-09-16 | 1953-09-16 | Otis Elevator Co | Elevator system |
| GB1309135A (en) * | 1969-06-30 | 1973-03-07 | Westinghouse Electric Corp | Variable voltage drive system |
| CN103648947A (en) * | 2011-11-30 | 2014-03-19 | 三菱电机株式会社 | Elevator vibration reduction device |
| CN104220355A (en) * | 2012-04-16 | 2014-12-17 | 三菱电机株式会社 | Elevator device |
| CN203187242U (en) * | 2013-04-11 | 2013-09-11 | 长安大学 | Semi-active shock absorption elevator |
| CN104326352A (en) * | 2014-11-07 | 2015-02-04 | 康力电梯股份有限公司 | Guide rail deviation prevention device for rotating ends of hand strap |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107840217B (en) | 2019-06-18 |
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