Damping device for elevator and elevator employing the same

[0024] (First embodiment)

[0025] figure 1 It is a perspective view showing an elevator E according to the first embodiment of the present invention.

[0026] (Overall structure of elevator E)

[0027] Such as figure 1 As shown, the elevator E of the first embodiment includes a car 1 that transports people who enter the elevator from a door 1d that opens and closes when people enter and exit the elevator (see figure 1 The arrows α11, α12); pulley 2, which is rotatably installed in the lower part of the car 1; lifting rope 3, which is wound and hung on the pulley 2, and the pulley 2 is rotated by rolling or rolling down, So that the car 1 is raised and lowered ( figure 1 The arrow β1 direction).

[0028] Such as figure 1 As shown, the center of gravity G of the car 1 is located approximately at the center of the car 1.

[0029] In the following description, the side having the door 1d of the car 1 of the elevator E is referred to as the front, the depth direction is referred to as the X direction, the horizontal direction is referred to as the Y direction, and the vertical direction of the elevator E ascending and descending is referred to as the Z direction.

[0030] Lift in car 1 of elevator E ( figure 1 A pair of guide rails (not shown) with a T-shaped cross-section in the lifting passage in the direction of the arrow β1 of the car 1 extend in the vertical direction on the left and right sides of the car 1.

[0031] By winding up or unwinding the lifting rope 3, a rotating roller (not shown) or a guide plate (not shown) installed on the car 1 is rotated or slid on the guide rail, so that the car 1 is raised and lowered along the guide rail.

[0032] That is, by the winding of the lifting rope 3, the pulley 2 rotates, and the car 1 is guided by the guide rail in the vertical direction to rise. On the other hand, by the winding of the lifting rope 3, the pulley 2 rotates, and the car 1 is guided by the guide rail. The guide thus descends.

[0033] Here, since the guide rail generates steps and bends at its connection point when the guide rail is installed, when the car 1 is raised and lowered, the step and bend of the guide rail act as a forced displacement on the car 1 which is raised and lowered along the guide rail.

[0034] Therefore, in order to prevent the occurrence of vibration in the car 1 due to forced displacement when the car 1 is raised and lowered, a solid internal friction is provided between the car 1 and the frame (not shown) supporting the car 1 to reduce Vibration-proof rubber. In addition, guide devices (not shown) are provided on the upper and lower parts of the car frame to guide the movement of the car. The guide devices are also equipped with anti-vibration rubber or a damper with viscous damping force to reduce vibration .

[0035] (Vibration damping device E1 of elevator E)

[0036] figure 1 The elevator E shown has a vibration damping device E1. The vibration damping device E1 is arranged side by side below the car 1 with: a rotary servo motor and other actuators 10a, and a rotary shaft directly connected to the actuator 10a with a hammer 12a. Plate 11a; an actuator 10b such as a rotary servo motor, and a rotating plate 11b directly connected to its rotating shaft and having a hammer 12b.

[0037] The rotating plate 11a may not be directly driven, but may be connected to the actuator 10a through a reduction mechanism. Similarly, the rotating plate 11b may not be directly driven but may be connected to the actuator 10b through a speed reduction mechanism.

[0038] With respect to the front face of the door 1d, the vibration damping device E1 is arranged in such a way that the vertical surface of the Y direction below the car 1 and the rotating plates 11a, 11b are The surfaces are parallel, that is, the respective rotating surfaces of the hammers 12a and 12b are parallel, and the rotary actuators 10a and 10b rotate around the X axis.

[0039] In addition, such as figure 1 As shown, as a vibration detector for detecting the vibration of the car 1, a vibrating meter 16a is provided on the front left side directly above the car 1, and a vibrating meter 16b is provided directly below the car 1 on the right side. In this way, by arranging the pair of vibrating meters 16a and 16b at positions away from the diagonal of the box-shaped car 1, the vibration mode of the car 1 can be accurately detected.

[0040] As the vibrometers 16a and 16b, accelerometers are used, and the speed and displacement of the car 1 are obtained by passing the acceleration signal obtained by the accelerometers through an electric integration circuit.

[0041] It should be noted that as the vibrometers 16a and 16b, a vibration velocity meter other than an accelerometer may be used, and the velocity and acceleration of the car 1 can be obtained by using the velocity signal obtained by the vibration velocity meter. In this way, the vibrometers 16a and 16b are not limited to accelerometers.

[0042] In order to eliminate the vibration based on the signal output of the vibration detected by the vibration meters 16a and 16b, the damper device E1 is driven and controlled by a controller C described later, and the vibration of the car 1 is controlled to suppress the vibration.

[0043] Also, the vibration of car 1 not only exists as figure 1 The illustrated translation modes such as the X direction (depth direction) and the Y direction (horizontal direction) also include a plurality of three-dimensional vibration modes such as a rotation mode around the X axis or a rotation mode around the Y axis.

[0044] figure 1 The elevator E shown exemplifies the case where the vibration damping device E1 is only arranged below the car 1, but depending on the object to be damped, the vibration damping device E1 can also be arranged above the car 1 or below the car 1. Single or multiple. The location and number of the vibration damping device E1 are not limited.

[0045] (Concept of damping device E1)

[0046] Next, use figure 2 The concept of the vibration damping device E1 will be described. figure 2 It is a schematic diagram which shows the operation|movement of the vibration damping device E1 which looked at the rotary vibration damping device E1 of 1st Embodiment from the front side of the elevator E.

[0047] figure 1 The two actuators 10a, 10b of the damping device E1 shown are respectively arranged on the fixed to the car 1 figure 2 Shown on a solid base 14.

[0048] On the two rotating plates 11a, 11b directly connected to the rotating shafts of the actuators 10a, 10b, respectively, hammers 12a, 12b are provided at positions separated from the respective rotation centers 11ao, 11bo by radius distances ra, rb, respectively. The radius distance ra and the radius distance rb have a relationship of ra=rb, and the weight of the hammer 12a is equal to the weight of the hammer 12b.

[0049] Such as figure 2 As shown, as the initial positions before the respective drive control, the hammers 12a and 12b are arranged in a phase relationship shifted by 180 degrees with respect to the respective rotation centers 11ao and 11bo. That is, the weight 12a provided on the rotating plate 11a sets an initial position on the (+) axis in the Z direction, and the weight 12b provided on the rotating plate 11b sets an initial position on the (-) axis in the Z direction.

[0050] Then, based on the vibration output detected by the vibrometers 16a and 16b of the car 1, the weights 12a and 12b of the vibration damping device E1 are respectively given reverse rotation angles θa and θb (θa=θb) with the same rotation amount.

[0051] Here, the rotation angle θa of the hammer 12a and the rotation angle θb of the hammer 12b are respectively set in the range of plus and minus 90 degrees. This is because when θa and θb are rotated by more than plus and minus 90 degrees, respectively, it is necessary to perform control to switch the phase of each of the weights 12a and 12b, and therefore the control becomes complicated.

[0052] Therefore, it is preferable that the rotation angle θa of the weight 12a and the rotation angle θb of the weight 12b be within the range of plus and minus 90 degrees, respectively.

[0053] Such as figure 2 As shown, when the respective hammers 12a, 12b are rotated by the rotation angles θa, θb by the operation of the actuators 10a, 10b, centrifugal forces Fa, Fb act on the respective hammers 12a, 12b, respectively.

[0054] The resultant force of Fay and Fby in the same direction as the component forces of the centrifugal forces Fa and Fb becomes the damping force of the damping device E1. That is, the damping device E1 has a damping force with respect to the translational movement of the car 1 in the Y direction (horizontal direction).

[0055] The two actuators 10a and 10b are respectively provided on a firm base 14. Since the base 14 is fixed to the car 1, the reaction force of the damping force acts on the car 1 as a reaction force.

[0056] That is, as figure 2 As shown, when the initial position of the hammer 12a fixed on the left side of the rotating plate 11a is located on the upper horizontal half of the rotating plate 11a (compared to the connection figure 2 When the lines of the rotation centers 11ao and 11bo shown are on the upper side), the centrifugal force component Faz of the hammer 12a fixed to the left side of the rotating plate 11a acts in the upper direction ( figure 2 On the paper).

[0057] On the other hand, when the initial position of the hammer 12b fixed to the right side of the rotating plate 11b is located on the lower horizontal half of the rotating plate 11b (compared to the connection figure 2 When the lines of the rotation centers 11ao and 11bo shown are on the lower side), the centrifugal force component Fbz of the hammer 12b fixed on the right side of the rotating plate 11b acts in the downward direction ( figure 2 On the underside of the paper).

[0058] Here, the sum of the component force Fay of the centrifugal force Fa of the hammer 12a located below the car 1 and the component force Fby of the centrifugal force Fb of the hammer 12b acts as a torque around the X axis. figure 1 The center of gravity G of the shown car 1 therefore also has a vibration damping force against the rotational vibration around the X axis.

[0059] According to the above configuration, it is possible to suppress the vibration of the translational motion of the car 1 in the Y direction and the rotational vibration about the X axis.

[0060] In addition, the hammer 12a provided on the rotating plate 11a sets the initial position on the (-) axis in the Z direction, and the hammer 12b provided on the rotating plate 11b sets the initial position on the (+) axis in the Z direction to form a relative The respective rotation centers 11ao and 11bo are offset by a phase relationship of 180 degrees, and even if the weights 12a and 12b are respectively given a rotation angle within a range of plus and minus 90 degrees, the same vibration reduction effect can be obtained.

[0061] (Second embodiment)

[0062] Next, use image 3 The elevator 2E of the second embodiment of the present invention will be described.

[0063] image 3 It is a front view showing the elevator 2E of the second embodiment.

[0064] image 3 In order to dampen the lateral vibration of the car 21 in the Y direction (horizontal direction) of the damping device 2E1 of the elevator 2E shown in the second embodiment, a set of weights 22a and 22b are arranged up and down in the vertical direction.

[0065] The damping device 2E1 has a damping effect on the translational movement of the car 21 in the Y direction and a damping effect on the rotational movement of the car 21 around the X axis.

[0066] The configuration other than that is the same as that of the first embodiment, so the same components are denoted by the 20th paragraph and detailed descriptions are omitted.

[0067] Such as image 3 As shown, the rotating plate 21a and the rotating plate 21b of the vibration damping device 2E1 are aligned in the up-and-down direction, that is, in the vertical direction. The hammer 22a fixed to the rotating plate 21a and the hammer 22b fixed to the rotating plate 21b are in the initial state. 180 degrees, symmetrically arranged up and down with hammer 22a on top and hammer 22b on bottom.

[0068] Then, the upper hammer 22a is rotated in the arrow direction at a rotation angle θa within plus and minus 90 degrees, and the lower hammer 22b is rotated in the arrow direction at a rotation angle θb within the range of plus and minus 90 degrees, and reverse each other. Spin. θa and θb are the same rotation angle relationship (θa=θb). Here, the hammer 22a and the hammer 22b have the same mass, and the radius of rotation of the hammer 22a and the radius of rotation of the hammer 22b are the same size.

[0069] Such as image 3 As shown, the centrifugal forces Fa and Fb act on the respective hammers 22a and 22b through the driving of the respective rotary actuators. The resultant force of Fay and Fby in the same direction as the component forces of the centrifugal forces Fa and Fb becomes the damping force of the damping device 2E1. That is, the vibration damping device 2E1 has a vibration damping force with respect to the vibration of the translational movement of the car 21 in the Y direction.

[0070] In addition, the damping force in the Y direction of the damping device 2E1 below the car 21 with respect to the center of gravity G of the car 21 is regarded as around the X axis ( image 3 The torque of the front and back sides of the paper surface), therefore, the vibration damping device 2E1 also has a vibration damping force for the rotational movement around the X axis.

[0071] It should be noted that even if the initial positions of the hammer 22a of the rotating plate 21a and the hammer 22b of the rotating plate 21b of the vibration damping device 2E1 are set as follows, the hammer 22a of the rotating plate 21a is located on the lower side, and the hammer of the rotating plate 21b 22b is located on the upper side, making the phase difference 180 degrees ( image 3 22a′, 22b′ shown by the double-dot chain line), and rotate the same rotation angles θa, θb in opposite directions (θa, θb are the rotation angles within plus and minus 90 degrees from the initial position), and their respective hammers 22a, The centrifugal forces Fa and Fb of 22b also constitute the same relationship as described above, and therefore have the same damping force for translational movement in the Y direction and damping force for rotational movement around the X axis.

[0072] Also, such as image 3 As shown, since the rotating plate 21a with the weight 22a and the rotating plate 21b with the weight 22b of the vibration damping device 2E1 are arranged in the vertical direction, the installation space of the vibration damping device 2E1 tends to increase in the vertical direction. Therefore, due to the presence of centrifugal force = mrω 2 (m: the mass of the rotating body, r: the radius of rotation, ω: the angular velocity of rotation), by increasing the mass of the hammers 22a and 22b (corresponding to m), reducing their radius of rotation (corresponding to r), so that each The centrifugal forces Fa and Fb are the same in magnitude, and the radius of rotation is reduced, whereby the height of the entire vibration damping device 2E1 can be reduced.

[0073] According to the above structure, the vibration of the translational motion of the car 21 in the Y direction and the vibration of the rotational motion about the X axis can be suppressed.

[0074] In addition, by increasing the masses of the weights 22a and 22b, the radius of rotation of the weights 22a and 22b can be reduced, and the height dimension of the vibration damping device 2E1 can be reduced.

[0075] (Modification of the second embodiment)

[0076] Figure 4 It is a top view of the elevator 2E' of the modification of 2nd Embodiment seen from above.

[0077] Figure 4 The car 21' is shown by the edge Figure 4 Guide rails g21' and g22' extending from the front and back of the paper are guided along the Figure 4 The direction of the front and back of the paper is lifted.

[0078] in Figure 4 In the damping device 2E1' of the modified form of the second embodiment shown, the rotating shaft of the rotating plate 21a' directly connected to the rotary actuator 20a' and the rotary shaft of the rotary actuator 20b' directly connected The rotation axis of the rotating plate 21b′ is coaxial when viewed in the Z direction, and the first rotation device 2E1a′ such as the actuator 20a′ and the hammer 22a′ and the first rotation device 2E1a′ such as the actuator 20b′ and the hammer 22b′ are staggered in the X direction. Two rotating device 2E1b'.

[0079] For example, if the first rotating device 2E1a' such as the actuator 20a' and the hammer 22a' and the second rotating device 2E1b' such as the actuator 20b' and the hammer 22b' are arranged at the same height, that is, the same position in the Z direction, and Arranging the rotating shaft of the hammer 22a' of the first rotating device 2E1a' and the rotating shaft of the hammer 22b' of the second rotating device 2E1b' on the same line, the overall height of the vibration damping device 2E1' can be minimized.

[0080] Or, since the first rotating device 2E1a' and the second rotating device 2E1b' are arranged offset in the X direction, the first rotating device 2E1a' and the second rotating device 2E1b' are arranged in the vertical direction (Z direction) The upper overlap configuration can also be compared image 3 The damping device 2E1 of the second embodiment shown reduces the height of the entire damping device 2E1'.

[0081] (Third embodiment)

[0082] Next, use Figure 5 The elevator 3E of the third embodiment will be described.

[0083] Figure 5 This is a plan view of the elevator 3E of the third embodiment viewed from above.

[0084] Figure 5 The car 31 is shown by the edge Figure 5 Guide rails g31 and g32 extending in the front and back directions of the paper guide along the Figure 5 The direction of the front and back of the paper is lifted.

[0085] in Figure 5 In the elevator 3E of the third embodiment shown, in order to dampen the vibration in the X direction (depth direction) of the car 31, the discs 31a and 31b of the vibration damping device 3E1 are directed upward under the car 31 The vibration damping device 3E1 is arranged horizontally in parallel with the XY plane.

[0086] The weight 32a fixed to the circular plate 31a and the weight 32b fixed to the circular plate 31b of the vibration damping device 3E1 are the same as those of the first and second embodiments. In the initial state, the phase is shifted by 180 degrees. The weight 32a is in the Y direction (- The initial position is set on the) axis, and the hammer 32b is set on the (+) axis in the Y direction.

[0087] Then, the hammer 32a and the hammer 32b respectively perform reverse rotations with the same rotation angles θa and θb (θa=θb) within a range of plus and minus 90 degrees in the arrow direction from the initial position.

[0088] Here, the hammer 32a and the hammer 32b have the same mass, and the radius of rotation of the hammer 32a and the radius of rotation of the hammer 32b are the same size.

[0089] Such as Figure 5 As shown, through the rotation of the hammers 32a and 32b, the centrifugal force Fa acts on the hammer 32a, and the centrifugal force Fb acts on the hammer 32b. Therefore, the combined force of Fax and Fbx in the same direction as its component force becomes the damping device 3E1. Vibrating force. That is, the damping device 3E1 has a damping force with respect to the translational movement of the car 31 in the X direction. In addition, since the weights 32a and 32b below the car 31 apply a force in the X direction to the center of gravity G located at the approximate center of the car 31, they have a vibration damping force with respect to the rotation of the car 31 around the Y axis.

[0090] On the other hand, since the component force Fay of the centrifugal force Fa of the hammer 32a and the component force Fby of the centrifugal force Fb of the hammer 32b act in a mutually canceling manner in the Y direction, a force is applied to the car 31 to stop it at the center position, Therefore, the vibration of the car 31 in the Y direction is eliminated.

[0091] Therefore, the vibration in the Y direction can be eliminated by the component force Fay of the centrifugal force Fa of the hammer 32a and the component force Fb of the centrifugal force Fb of the hammer 32b, and the component force Fbx of the centrifugal force Fa of the hammer 32a and the centrifugal force Fb of the hammer 32b can Obtain the damping force in the X direction.

[0092] Here, in order to maximize the damping force with the same amount of rotation, it is preferable that the initial position of the hammer 32a fixed to the circular plate 31a and the initial position of the hammer 32b fixed to the circular plate 31b are arranged so as to pass through the rotation centers 31ao and 31bo. A line parallel to the Y direction.

[0093] This is because when the initial position of the hammer 32a and the initial position of the hammer 32b are on a line parallel to the Y axis, the rotation of the hammer 32a and the rotation of the hammer 32b can eliminate the vibration in the Y direction without changing the phases separately. , And obtain the damping force in the X direction.

[0094] According to the above-mentioned configuration, by rotating the rotary weights 32a and 32b, it is possible to exert a vibration damping force with respect to the vibration of the translational movement of the car 31 in the X direction.

[0095] In addition, the vibration of the car 31 in the Y direction can be suppressed.

[0096] Furthermore, since the vibration damping device 3E1 is arranged in the horizontal direction, the height dimension of the vibration damping device 3E1 can be suppressed, and the height dimension of the entire elevator 3E can be reduced.

[0097] In addition, since the weights 32a and 32b respectively rotate in the horizontal direction, the gravity of the weights 32a and 32b acting in the vertical direction perpendicular to the rotation direction of the weights 32a and 32b does not interfere with the torque applied in the rotation direction. There is no need to use torque to compensate for the influence of gravity, making the control easy.

[0098] (Modification of the third embodiment)

[0099] Image 6 This is a plan view of the rotary vibration damping device 3E1' of the modified form of the third embodiment viewed from above the elevator.

[0100] The deformed rotary vibration damping device 3E1' is the same as the elevator 3E of the third embodiment, and is installed below the car.

[0101] The deformation damping device 3E1′ has been changed Figure 5 The initial position of the hammer 32a and the initial position of the hammer 32b in the elevator 3E of the third embodiment shown provide a damping effect on the movement of the translational movement in the Y direction (horizontal direction) of the car.

[0102] That is, the hammer 32a' provided on the rotating plate 31a' and the hammer 32b' provided on the rotating plate 31b' are the initial positions before the drive control is performed respectively, and they are offset by 18θ degrees from the respective rotation centers 31ao', 31bo'. The phase relationship of the hammer 32a' set on the rotating plate 31a' is set on the (+) axis in the X direction, and the hammer 32b' set on the rotating plate 31b' is set on the (-) axis in the X direction initial position.

[0103] It should be noted that the structure other than that is the same as that of the third embodiment, and therefore the same structural elements are indicated by denoting '(prime) on the symbols of the third embodiment, and detailed descriptions are omitted.

[0104] Based on the vibration output detected by the vibrometer of the car, the weights 32a' and 32b' of the vibration damping device 3E1' are respectively given the same reverse rotation angles θa', θb' (θa'=θb'). The rotation angle θa' of the hammer 32a' and the rotation angle θb' of the hammer 32b' are respectively set within a range of plus and minus 90 degrees.

[0105] Such as Image 6 As shown, through the rotation of the hammers 32a' and 32b', the centrifugal forces Fa' and Fb' act on the respective hammers 32a' and 32b' respectively. Therefore, the resultant force of Fay' and Fby' in the same direction as the component forces becomes a reduction The damping force of the vibration device 3E1'. In this way, the damping device 3E1' has a damping force with respect to the translational movement of the car in the Y direction.

[0106] In addition, since the centrifugal force Fa' of the hammer 32a' below the car and the centrifugal force Fb' of the hammer 32b' exert a force in the Y direction on the center of gravity of the car, it can exert a reduction in the rotation of the car around the X axis. Vibrating force.

[0107] Furthermore, since the component force Fax' of the centrifugal force Fa' of the hammer 32a' and the component force Fbx' of the centrifugal force Fb' of the hammer 32b' act in the X direction to cancel each other, the car 31' is acted on to stop it. The force at the center position eliminates the vibration of the car in the X direction.

[0108] According to the above structure, by rotating the hammers 32a' and 32b', it is possible to exert a damping force against the vibration of the translational movement of the car in the Y direction and the vibration of the rotational movement around the X axis, and it is possible to eliminate the vibration of the car in the X direction. .

[0109] In addition, since the damping device 3E1' is arranged in the horizontal direction, the height dimension of the damping device 3E1' can be suppressed, and the height dimension of the elevator can be reduced.

[0110] In addition, since the weights 32a' and 32b' respectively rotate in the horizontal direction, the weight of the weights 32a' and 32b' acting in the vertical direction perpendicular to the direction of rotation of the weights 32a' and 32b' does not differ from the weight applied in the direction of rotation. The torque interference occurs, so that the torque does not need to be used to compensate for the influence of gravity, making the control easy.

[0111] In addition, the hammer 32a' provided on the rotating plate 31a' sets the initial position on the (-) axis in the X direction, and the hammer 32b' provided on the rotating plate 31b' sets the initial position on the (+) axis in the X direction And as the initial position, the phase relationship is offset by 180 degrees with respect to the respective rotation centers 31ao' and 31bo'. In this case, the same damping effect can be obtained.