Elevator active vibration reduction control method and system based on guide shoe rollers

Abstract

The invention discloses an elevator active vibration reduction control method based on guide shoe rollers, which comprises the following steps: judging the running direction of an elevator, and determining the action sequence of guide shoe component roller groups on the elevator; the position of a roller set of a guide shoe assembly on the elevator relative to the elevator guide rail seam is judged; according to a guide rail joint approaching stage, a guide rail joint passing stage and a guide rail joint separating stage, different control and action execution are conducted on a guide shoe assembly roller set; a roller set of the guide shoe assembly is driven to move perpendicular to the working face of the guide rail, different control and execution actions are completed, and vibration of a guide rail seam in the elevator running process is avoided. The guide rail seam does not make contact with the working face of the guide rail when passing through the two roller sets of the stage guide shoe assembly, and vibration at the guide rail seam can be effectively avoided. One roller group is always suspended on the working surface of the guide rail in each stage, and the two roller groups jointly bear the walking distance of the rollers in the running process of the elevator, so that the abrasion of the rollers of the roller groups can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator control, and more particularly to a control method and control system for suppressing elevator vibration. Background Art

[0002] The integral guide rails of an elevator are formed by connecting a plurality of guide rails, and there is a connection part at the joint of two guide rails. Elevators with higher speeds mostly use rolling guide shoes, and when the guide shoes pass through the joint of the guide rails, vibrations will occur due to structural gaps, resulting in elevator jitter and affecting the riding comfort.

[0003] Currently, in addition to improving the installation and manufacturing accuracy as much as possible, active vibration damping guide shoes and other methods are also adopted. There is an objective upper limit to the improvement of installation and manufacturing accuracy, and at the same time, the technical requirements for installers are extremely high. Coupled with uncontrollable factors such as thermal expansion and contraction caused by temperature differences when the building is extremely high, and the sway of the hoistway under the action of wind force, it is difficult to fully guarantee the installation effect of the guide rails.

[0004] Each roller of the active guide shoe can adjust the pressure independently according to the state of the running contact surface and has an adaptive characteristic. However, even with continuous adjustment, it is still necessary to maintain contact with the joint of the guide rails, and due to the inevitable passability of the running path, the vibration generated when passing through the joint of the guide rails still cannot be completely eliminated. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects and deficiencies of the prior art, and provide an elevator active vibration damping control method based on guide shoe rollers. During the stage of passing through the joint of the guide rails, the roller groups of the guide shoe assembly do not contact the working surface of the guide rails, which can effectively avoid the vibration at the joint of the guide rails and reduce the wear of the rollers of the roller groups.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] An elevator active vibration damping control method based on guide shoe rollers, comprising the following steps:

[0008] Judge the running direction of the elevator and determine the action sequence of the roller groups of the upper guide shoe assembly of the elevator;

[0009] Judge the position of the roller groups of the upper guide shoe assembly of the elevator relative to the joint of the elevator guide rails;

[0010] According to the approaching stage of the guide rail joint, the passing stage of the guide rail joint, and the disengaging stage of the guide rail joint, different controls and action executions are respectively performed on the roller groups of the guide shoe assembly;

[0011] Drive the roller groups of the guide shoe assembly to move perpendicular to the working surface of the guide rails, complete different controls and execution actions, and avoid the vibration at the joint of the guide rails during the operation of the elevator.

[0012] Further, two sets of guide shoe assemblies are respectively installed on the first crossbeam and the second crossbeam of the elevator. Each set of guide shoe assemblies includes a first roller group and a second roller group, and the first roller group and the second roller group are connected by a fixed bracket.

[0013] Further, the first roller group and the second roller group respectively include three rollers, and the three rollers of the first roller group and the second roller group are all equipped with independent linear motor assemblies.

[0014] Further, extend 1 / 2 of the guide rail length upward and downward at the guide rail joint respectively, and then add the guide rail joint to form a unit running length. The roller groups of the guide shoe assemblies are controlled in cycles with the unit running length as the period.

[0015] Further, in the stage close to the guide rail joint, the following controls and action executions are carried out on the roller groups of the guide shoe assemblies:

[0016] The initial state is that the first roller group is pressed on the guide rail working surface, and the second roller group is slightly suspended on the guide rail working surface;

[0017] Driven by the linear motor assembly, the second roller group changes from being slightly suspended on the guide rail working surface to being pressed on the guide rail working surface;

[0018] Driven by the linear motor assembly, the first roller group changes from being pressed on the guide rail working surface to being slightly suspended on the guide rail working surface.

[0019] Further, in the stage when the guide rail joint passes through, the following controls and action executions are carried out on the roller groups of the guide shoe assemblies:

[0020] The first roller group remains slightly suspended on the guide rail working surface and passes through the guide rail joint;

[0021] After the first roller group passes through the guide rail joint, it is driven by the linear motor assembly and changes from being slightly suspended on the guide rail working surface to being pressed on the guide rail working surface;

[0022] The second roller group is driven by the linear motor assembly, changes from being pressed on the guide rail working surface to being slightly suspended on the guide rail working surface, passes through the guide rail joint and continues to run.

[0023] Further, in the stage when the guide rail joint disengages, the following controls and action executions are carried out on the roller groups of the guide shoe assemblies:

[0024] The first roller group remains pressed on the guide rail working surface, and the second roller group remains slightly suspended on the guide rail working surface and continues to run until the next stage close to the guide rail joint;

[0025] When the elevator runs in the reverse direction, the first roller group and the second roller group exchange the execution action sequence.

[0026] Further, a magnetic scale is used to determine the position of the roller set of the upper guide shoe assembly of the elevator relative to the joint of the elevator guide rail.

[0027] Further, the magnetic scale determines the absolute position of the elevator in the hoistway in real time. The position of the guide rail in the hoistway is fixed, and the position of the roller set of the upper guide shoe assembly of the elevator relative to the joint of the guide rail is determined.

[0028] An elevator active vibration reduction control system based on guide shoe rollers, applying the elevator active vibration reduction control method based on guide shoe rollers described in any one of the above, includes:

[0029] An elevator control unit, used to judge the running direction of the elevator and determine the action sequence of the roller set of the upper guide shoe assembly of the elevator;

[0030] A position detection unit, used to judge the position of the roller set of the upper guide shoe assembly of the elevator relative to the joint of the elevator guide rail;

[0031] A guide shoe roller control unit, used to perform different controls and action executions on the roller set of the guide shoe assembly respectively according to the approaching stage of the guide rail joint, the passing stage of the guide rail joint, and the disengaging stage of the guide rail joint;

[0032] A linear motor assembly, used to drive the roller set of the guide shoe assembly to move perpendicular to the working surface of the guide rail, complete different controls and execution actions, and avoid vibration at the joint of the guide rail during the operation of the elevator.

[0033] Compared with the prior art, two sets of guide shoe assemblies are respectively installed on the elevator crossbeam. Each set of guide shoe assemblies includes two roller sets, namely a first roller set and a second roller set. During the passing stage of the guide rail joint, since neither of the two roller sets of the guide shoe assembly contacts the working surface of the guide rail, vibration at the joint of the guide rail can be effectively avoided.

[0034] During the approaching stage of the guide rail joint, the passing stage of the guide rail joint, and the disengaging stage of the guide rail joint, there is always one set of roller sets suspended above the working surface of the guide rail in the present invention. The two roller sets jointly bear the distance traveled by the rollers during the operation of the elevator. The distance traveled by each roller set is 1 / 2 of the whole journey, which can effectively reduce the wear of the rollers of the roller sets. Description of the Drawings

[0035] Figure 1 It is a schematic flow chart of the elevator active vibration reduction control method based on guide shoe rollers.

[0036] Figure 2 It is a schematic structural diagram of the elevator active vibration reduction control device based on guide shoe rollers.

[0037] Figure 3 It is a schematic diagram of the linear motor assembly with three independent rollers of the roller set.

[0038] Figure 4 Schematic diagram of the first roller group and the second roller group in the stage when the guide rail joint is approaching.

[0039] Figure 5 Schematic diagram of the first roller group and the second roller group in the stage when the guide rail joint is approaching.

[0040] Figure 6 Schematic diagram of the first roller group and the second roller group in the stage when the guide rail joint is approaching.

[0041] Figure 7 Schematic diagram of the first roller group and the second roller group in the stage when the guide rail joint is passing through.

[0042] Figure 8 Schematic diagram of the first roller group and the second roller group in the stage when the guide rail joint is passing through.

[0043] Figure 9 Schematic diagram of the first roller group and the second roller group in the stage when the guide rail joint is passing through.

[0044] Figure 10 Schematic diagram of the first roller group and the second roller group in the stage when the guide rail joint is disengaging.

[0045] Explanation of the reference numerals in the drawings:

[0046] 1 - First crossbeam; 2 - Second crossbeam; 3 - Guide shoe assembly; 31 - First roller group; 32 - Second roller group; 4 - Fixed bracket; 5 - Position detection unit; 6 - Guide shoe roller control unit; 7 - Linear motor assembly. Specific implementation manners

[0047] The following further describes the elevator active vibration reduction control method and control system based on guide shoe rollers of the present invention in conjunction with the drawings and specific embodiments.

[0048] Please refer to Figure 1 , the present invention discloses an elevator active vibration reduction control method based on guide shoe rollers, including the following steps:

[0049] Judge the running direction of the elevator to determine the action sequence of the roller group of the upper guide shoe assembly of the elevator;

[0050] Judge the position of the roller group of the upper guide shoe assembly of the elevator relative to the guide rail joint of the elevator;

[0051] Carry out different controls and action executions on the roller group of the guide shoe assembly respectively according to the stage when the guide rail joint is approaching, the stage when the guide rail joint is passing through, and the stage when the guide rail joint is disengaging;

[0052] Drive the roller group of the guide shoe assembly to move perpendicular to the working surface of the guide rail to complete different controls and execution actions, and avoid the vibration at the guide rail joint during the operation of the elevator.

[0053] The present invention also discloses an elevator active vibration reduction control system based on a guide shoe roller, and the elevator active vibration reduction control method based on a guide shoe roller described in any one of the above items is applied, comprising:

[0054] The elevator control unit is used to determine the direction of the elevator and the action sequence of the roller group of the elevator guide shoe assembly;

[0055] A position detection unit, used to determine the position of the roller assembly of the elevator upper guide shoe assembly relative to the joint of the elevator guide rail;

[0056] A guide shoe roller control unit is used to perform different controls and actions on the guide shoe assembly roller group according to the guide rail joint approaching stage, the guide rail joint passing stage and the guide rail joint separation stage;

[0057] The linear motor assembly is used to drive the roller assembly of the guide shoe assembly to move perpendicular to the working surface of the guide rail to complete different control and execution actions and avoid vibration at the joints of the guide rail during the operation of the elevator.

[0058] See also Figure 2 Two sets of guide shoe assemblies 3 are respectively installed on the first crossbeam 1 and the first crossbeam 2 of the elevator. Each set of guide shoe assemblies 3 includes a first roller group 31 and a second roller group 32. The first roller group 31 and the second roller group 32 are connected by a fixed bracket 4. A position detection unit 5 and a guide shoe roller control unit 6 are also installed on the first crossbeam 1 of the elevator. The first roller group 31 and the second roller group 32 respectively include three rollers. The three rollers of the first roller group 31 and the second roller group 32 are equipped with independent linear motor assemblies 7, such as Figure 3 shown.

[0059] The elevator control unit has a direction detection function. By receiving encoder data and judging the direction of the elevator according to the rotation direction of the encoder, it determines whether the elevator is in the upward or downward phase. The position detection unit 5 is a magnetic scale. The magnetic tape of the magnetic scale is installed in the elevator shaft and runs through the entire travel of the car. The magnetic tape contains position information composed of magnetic poles. The magnetic scale sensor is fixed on the car to read the position information and transmit it to the elevator control unit, so as to determine the absolute position of the elevator in the shaft in real time. The guide rail is fixed in the shaft, so the relative position of the elevator and the guide rail is determined, and the position of the roller group of the guide shoe assembly 3 on the elevator relative to the joint of the guide rail is determined.

[0060] According to the half of the length of the guide rail extending upward and downward from the guide rail joint, plus the guide rail joint, a unit running length is formed, and the guide shoe roller control unit 6 controls the roller group of the guide shoe assembly 3 with this unit running length as a cycle. In this cycle, different controls and actions are performed according to the guide rail joint approaching stage, the guide rail joint passing stage and the guide rail joint separation stage.

[0061] The guide shoe roller control unit 6 controls the linear motor assembly 7 to drive the rollers to move perpendicular to the working surface of the guide rail, so that the rollers can leave the working surface of the guide rail and compact on the working surface of the guide rail. According to the running direction, for the running action sequence of the roller sets of the guide shoe assembly 3, the front roller set in the forward direction is the first roller set 31, and the rear one is the second roller set 32.

[0062] In the stage approaching the guide rail joint, the following control and action execution are carried out on the roller sets of the guide shoe assembly 3:

[0063] The initial state is that the first roller set 31 is compacted on the working surface of the guide rail, and the second roller set 32 is slightly suspended on the working surface of the guide rail, as Figure 4 shown; driven by the linear motor assembly 7, the second roller set 32 changes from being slightly suspended on the working surface of the guide rail to being compacted on the working surface of the guide rail, as Figure 5 shown; driven by the linear motor assembly 7, the first roller set 31 changes from being compacted on the working surface of the guide rail to being slightly suspended on the working surface of the guide rail, as Figure 6 shown.

[0064] In the stage when the guide rail joint passes through, the following control and action execution are carried out on the roller sets of the guide shoe assembly 3:

[0065] The first roller set 31 remains slightly suspended on the working surface of the guide rail and passes through the guide rail joint. Since it does not contact the working surface of the guide rail, the vibration at the guide rail joint is effectively avoided, as Figure 7 shown; after the first roller set 31 passes through the guide rail joint, it is driven by the linear motor assembly 7 and changes to be compacted on the working surface of the guide rail, as Figure 8 shown; the second roller set 32 is driven by the linear motor assembly 7, changes from being compacted on the working surface of the guide rail to being slightly suspended on the working surface of the guide rail, passes through the guide rail joint and continues to run, as Figure 9 shown.

[0066] In the stage when the guide rail joint disengages, the following control and action execution are carried out on the roller sets of the guide shoe assembly 3:

[0067] The first roller set 31 remains compacted on the working surface of the guide rail, and the second roller set 32 remains in the state of being slightly suspended on the working surface of the guide rail and continues to run until the next stage approaching the guide rail joint, as Figure 10 shown; when the elevator runs in the reverse direction, the first roller set 31 and the second roller set 32 exchange the execution action sequence.

[0068] To sum up, two sets of guide shoe assemblies 3 are respectively installed on the elevator crossbeam. Each set of guide shoe assembly 3 includes two roller sets, namely the first roller set 31 and the second roller set 32. In the stage when the guide rail joint passes through, since neither of the two roller sets of the guide shoe assembly 3 contacts the working surface of the guide rail, the vibration at the guide rail joint can be effectively avoided.

[0069] In the approaching stage of the guide rail joint, the passing stage of the guide rail joint, and the separating stage of the guide rail joint, there is always a set of roller groups suspended above the working surface of the guide rail in the present invention. The two sets of roller groups jointly bear the distance traveled by the rollers during the operation of the elevator. The distance traveled by each set of roller groups is 1 / 2 of the whole journey, which can effectively reduce the wear of the rollers of the roller groups.

[0070] To sum up, in the passing stage of the guide rail joint of the present invention, since neither of the two sets of roller groups of the guide shoe assembly contacts the working surface of the guide rail, the vibration at the guide rail joint can be effectively avoided. In the approaching stage of the guide rail joint, the passing stage of the guide rail joint, and the separating stage of the guide rail joint, there is always a set of roller groups suspended above the working surface of the guide rail. The two sets of roller groups jointly bear the distance traveled by the rollers during the operation of the elevator. The distance traveled by each set of roller groups is 1 / 2 of the whole journey, which can effectively reduce the wear of the rollers of the roller groups.

[0071] The above description is a detailed description of the preferred and feasible embodiments of the present invention. However, the embodiments are not intended to limit the scope of the patent application of the present invention. Any equivalent changes or modifications made under the technical spirit disclosed by the present invention shall fall within the scope of the patent covered by the present invention.

Claims

1. An elevator active vibration damping control method based on guide shoe rollers, characterized in that, It includes the following steps: Judge the running direction of the elevator and determine the action sequence of the roller group of the upper guide shoe assembly of the elevator; Judge the position of the roller group of the upper guide shoe assembly of the elevator relative to the joint of the elevator guide rail; According to the approaching stage of the guide rail joint, the passing stage of the guide rail joint, and the separating stage of the guide rail joint, different controls and action executions are carried out on the roller group of the guide shoe assembly respectively; Drive the roller group of the guide shoe assembly to move perpendicular to the working surface of the guide rail, complete different controls and action executions, and avoid vibration at the joint of the guide rail during the operation of the elevator.

2. The elevator active vibration reduction control method based on guide shoe rollers according to claim 1, wherein, Two sets of guide shoe assemblies are respectively installed on the first cross beam and the second cross beam of the elevator. Each set of guide shoe assemblies includes a first roller group and a second roller group, and the first roller group and the second roller group are connected by a fixed bracket.

3. The elevator active vibration reduction control method based on guide shoe rollers according to claim 2, wherein The first roller group and the second roller group each include three rollers, and the three rollers of the first roller group and the second roller group are all equipped with independent linear motor assemblies.

4. The elevator active vibration damping control method based on guide shoe rollers according to claim 2, wherein Extend 1 / 2 of the guide rail length upward and downward at the joint of the guide rail respectively, and then add the joint of the guide rail to form a unit running length. The roller group of the guide shoe assembly is controlled with the unit running length as a cycle.

5. The elevator active vibration damping control method based on guide shoe rollers according to claim 2, wherein, In the approaching stage of the guide rail joint, the following controls and action executions are carried out on the roller group of the guide shoe assembly: In the initial state, the first roller group is pressed on the working surface of the guide rail, and the second roller group is slightly suspended above the working surface of the guide rail; Driven by the linear motor assembly, the second roller group changes from being slightly suspended above the working surface of the guide rail to being pressed on the working surface of the guide rail; Driven by the linear motor assembly, the first roller group changes from being pressed on the working surface of the guide rail to being slightly suspended above the working surface of the guide rail.

6. The elevator active vibration reduction control method based on a guide shoe roller according to claim 2, characterized in that In the passing stage of the guide rail joint, the following controls and action executions are carried out on the roller group of the guide shoe assembly: The first roller group remains slightly suspended above the working surface of the guide rail and passes through the joint of the guide rail; After the first roller group passes through the joint of the guide rail, it is driven by the linear motor assembly and changes from being slightly suspended above the working surface of the guide rail to being pressed on the working surface of the guide rail; The second roller group is driven by the linear motor assembly, changes from being pressed on the working surface of the guide rail to being slightly suspended above the working surface of the guide rail, passes through the joint of the guide rail and continues to run.

7. The elevator active vibration damping control method based on a guide shoe roller according to claim 2, wherein In the separating stage of the guide rail joint, the following controls and action executions are carried out on the roller group of the guide shoe assembly: The first roller group remains pressed on the working surface of the guide rail, and the second roller group remains in the state of being slightly suspended above the working surface of the guide rail and continues to run until the next approaching stage of the guide rail joint; When the elevator runs in the reverse direction, the first roller group and the second roller group exchange the execution action sequence.

8. The elevator active vibration damping control method based on a guide shoe roller according to claim 1, characterized in that Use a magnetic grating ruler to judge the position of the roller group of the upper guide shoe assembly of the elevator relative to the joint of the elevator guide rail.

9. The elevator active vibration reduction control method based on a guide shoe roller according to claim 8, wherein The magnetic grating ruler determines the absolute position of the elevator in the hoistway in real time. The guide rail is fixed in the hoistway, and the position of the roller group of the upper guide shoe assembly of the elevator relative to the joint of the guide rail is determined.

10. An elevator active vibration damping control system based on guide shoe rollers, applying the elevator active vibration damping control method based on guide shoe rollers according to any one of claims 1 to 9, characterized in that, It includes: An elevator control unit, which is used to judge the running direction of the elevator and determine the action sequence of the roller group of the upper guide shoe assembly of the elevator; A position detection unit, which is used to judge the position of the roller group of the upper guide shoe assembly of the elevator relative to the joint of the elevator guide rail; A guide shoe roller control unit, which is used to carry out different controls and action executions on the roller group of the guide shoe assembly respectively according to the approaching stage of the guide rail joint, the passing stage of the guide rail joint, and the separating stage of the guide rail joint; A linear motor assembly is used to drive the roller set of the guide shoe assembly to move perpendicular to the working surface of the guide rail, complete different control and execution actions, and avoid vibration at the guide rail joint during the operation of the elevator.

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