Car position adjustment device and adjustment method for intelligent parallel elevator system

Abstract

The application discloses a car posture adjusting device for an intelligent parallel elevator system, the posture adjusting device is provided with a detection structure and an adjusting structure, a car and a suspension of the car are movably connected, the detection structure is electrically connected with the adjusting structure, the detection structure is provided with a data unit and an analysis unit for detecting data of the adjusting structure, the car is rotated relative to the suspension with the driving of the adjusting structure, and a rotating part is taken as a rotating center; the data unit is used for detecting operation data of the adjusting structure and transmitting data information to the analysis unit; the analysis unit analyzes the data information of the data unit and sends an instruction to the adjusting structure; the application further discloses a posture adjusting method, the posture adjusting method designs a theoretical operation curve S according to an operation track of the car, and the theoretical operation curve S comprises a pre-swing response stage and a post-swing response stage; and the car posture adjusting device and the adjusting method make the car keep a vertical state, have no shaking phenomenon and improve the riding comfort of passengers.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of elevator state control, in particular to a car posture adjusting device and adjusting method for an intelligent parallel elevator system. BACKGROUND

[0002] At present, the elevator car widely adopts the steel wire rope traction driving mode, and only one car can be arranged in an elevator shaft. The single-car operation mode elevator can still meet the use demand in low-rise buildings or low-traffic occasions, but the long waiting time and low conveying efficiency of the elevator are significantly magnified in high-rise buildings or super high-rise buildings with high population density. If the elevator shaft and the corresponding car are increased, the building space will be greatly occupied, the cost will be significantly increased, and the problem of low elevator conveying efficiency still exists.

[0003] The multi-car intelligent parallel elevator researched by the applicant is a self-driven elevator without traction structure. The multi-car intelligent parallel elevator needs to switch from the main track of one shaft to the main track of another shaft through a switching mechanism. The switching mechanism is provided with a switching track connected with the two main tracks. The switching track is not a complete straight track, and the switching track has a certain inclination angle relative to the main track. The car is in a non-vertical state during the switching action. This non-vertical state will reduce the comfort and safety of passengers, which is an important problem to be solved in the application process of the multi-car elevator. SUMMARY

[0004] The technical problem to be solved by the present application is that, in view of the technical problems existing in the prior art, the present application provides a car posture adjusting device and adjusting method for an intelligent parallel elevator system. The car maintains a vertical state without shaking, and the comfort of passengers is improved.

[0005] To solve the above technical problems, the technical solution provided by the present application is:

[0006] A car posture adjusting device for an intelligent parallel elevator system, the posture adjusting device is provided with a detection structure and an adjusting structure, the car and the suspension of the car are movably connected, the detection structure is electrically connected with the adjusting structure, the detection structure is provided with a data unit for detecting the data of the adjusting structure and an analysis unit, and the car rotates relative to the suspension through the driving of the adjusting structure;

[0007] The data unit is used for detecting the operation data of the adjusting structure and transmitting the data information to the analysis unit;

[0008] The analysis unit analyzes the data information of the data unit and sends instructions to the adjusting structure.

[0009] As a further improvement of the above technical solution:

[0010] Preferably, the adjusting structure comprises a mounting element and a telescopic execution element, the mounting element is provided with two parts, which are mounted on the car and the suspension respectively, the execution element connects the two parts of the mounting element, and the execution element and the two parts of the mounting element are not fixedly connected.

[0011] Preferably, the mounting element comprises a car mounting seat and a suspension connecting seat, the car mounting seat is fixedly mounted on the car, the suspension connecting seat is fixedly mounted on the suspension, and the two ends of the execution element are hingedly connected with the car mounting seat and the suspension connecting seat respectively.

[0012] Preferably, one end of the execution element is hingedly connected with the car mounting seat through a pin shaft, the other end of the execution element is ball-hingedly connected with the suspension connecting seat, the pin shaft and the rotating member are arranged in parallel, the execution element can drive the car to rotate around the pin shaft, or drive the car to rotate in three-dimensional space relative to the suspension.

[0013] Preferably, the posture adjusting device further comprises a stabilizing structure, the stabilizing structure comprises at least one stabilizing component, the stabilizing component is located at the bottom of the car, the stabilizing component is telescopic, and the car bottom is adjusted through the stabilizing component.

[0014] Preferably, the data unit is provided with a plurality of sensors, and the sensors are used to detect the posture information of the car.

[0015] The application also provides a car posture adjusting method for an intelligent parallel elevator system, the posture adjusting device is used, the elevator system is provided with a main track and a switching track, the car switches the main track through the switching track, the junction of the switching track and the main track is arc-shaped, the posture adjusting method designs a theoretical running curve S according to the running track of the car, the theoretical running curve S comprises a pre-swing response stage and an over-swing response stage.

[0016] In the pre-swing response stage, the adjusting structure is pre-actuated when the car drives into the arc-shaped track of the elevator system, so that the car swings by an angle θ 预 .

[0017] In the over-swing response stage, the adjusting structure is over-actuated when the car drives out of the arc-shaped track of the elevator system, so that the car continues to swing by an angle θ 过 .

[0018] Preferably, the posture adjusting method comprises the following steps:

[0019] (1) setting a running curve: determining a theoretical running curve S of the adjusting structure according to the angle θ of the switching track and the main track of the elevator system, the speed v of the car and the distance L to be run by the car at the time of adjustment, determining the time t required for the theoretical running curve S according to the distance L and the speed v, and then determining the speed and angle of the car to be adjusted according to the time t and the acceleration of the car;

[0020] (2) detecting a real-time running curve: detecting a real-time running curve S1 of the adjusting structure through a data unit, comparing the real-time detected data information with the theoretical running curve S, and obtaining a running deviation Δ;

[0021] (3) comparing the deviation value: if the running deviation Δ is greater than the allowable deviation Δ p , determining whether to adjust the running of the adjusting structure according to the difference between the running deviation Δ and the allowable deviation Δ p .

[0022] In the above technical solution, preferably, the running curve S during the posture adjustment comprises a plurality of speed change stages, and the speed change stages include: an AB stage of constant acceleration, a BC stage of uniform acceleration, a CD stage of deceleration, a DE stage of uniform speed, an EF stage of acceleration, a FG stage of uniform deceleration, and a GH stage of deceleration.

[0023] In the above technical solution, preferably, the maximum acceleration a in the running direction in the running curve S is not more than 1.5 m / s 2 , wherein the horizontal acceleration a x ≤0.1g n , the jerk ρ is not more than 0.1-0.13g / s n , and a x =a*cosθ, wherein g n is the vertical acceleration, and a is the acceleration in the running direction of the car.

[0024] In the above technical solution, preferably, the angular acceleration of the adjusting structure is α, and the maximum value of α is α is the linear acceleration of the center of gravity of the human body during the adjustment of the car, and R is the rotation radius of the center of gravity of the human body relative to the hinge point of the suspension and the car.

[0025] The car posture adjusting device and adjusting method for the intelligent parallel elevator system provided by the application have the following advantages compared with the prior art:

[0026] (1) The car posture adjusting device and adjusting method for the intelligent parallel elevator system of the application add a posture adjusting device and an adjusting stabilizing mechanism between the car and the suspension, make the car in a vertical state through the posture adjusting method, and have no car shaking phenomenon during adjustment, which can improve the riding comfort and safety of passengers.

[0027] (2) The car posture adjusting device and adjusting method for intelligent parallel elevator system of the present application, the adjusting device does not affect the operation of the car, and is convenient to control and install.

[0028] (3) The car posture adjusting device and adjusting method for intelligent parallel elevator system of the present application, the adjusting device does not affect the operation of the car, and is convenient to control and install. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic diagram of the posture adjusting device in the embodiment of the present application.

[0030] Figure 2 is an enlarged schematic diagram of I of Figure 1

[0031] Figure 3 is an enlarged schematic diagram of II of Figure 1

[0032] Figure 4 is a schematic diagram of the upper car bottom rotation angle in the embodiment of the present application.

[0033] Figure 5 is a structural schematic diagram of the track when the present application is applied.

[0034] Figure 6 is a flowchart of the adjusting method of the present application.

[0035] Figure 7 is a schematic diagram of the running curve in the embodiment of the present application.

[0036] Figure 8 is a schematic diagram of the car posture adjusting process in embodiment 1 of the present application.

[0037] Figure 9 is a schematic diagram of the speed change stage in embodiment 1 of the present application.

[0038] Figure 10 is a schematic diagram of the car posture adjusting process in embodiment 2 of the present application.

[0039] Figure 11 is a schematic diagram of the speed change stage in embodiment 2 of the present application.

[0040] Figure 12 is a schematic diagram of the car posture adjusting process in embodiment 3 of the present application.

[0041] Figure 13 is a schematic diagram of the speed change stage in embodiment 3 of the present application.

[0042] LEGEND OF THE FIGURES ​​

[0043] 1, car; 11, wall plate; 12, upper car bottom; 13, lower car bottom; 2, main track; 21, fixed guide rail; 22, movable guide rail; 3, suspension; 31, rotating shaft; 4, switching track; 41, fixed switching rail; 42, movable switching rail; 5, mounting element; 51, car mounting seat; 52, suspension connecting seat; 6, executing element; 7, buffering element; 8, stabilizing assembly; 81, mounting piece; 82, buffering piece; 83, executing piece. DETAILED DESCRIPTION

[0044] The specific embodiments of the present application are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative and explanatory of the present application and are not intended to limit the present application.

[0045] Example 1

[0046] Figures 1 to 9 An embodiment of the car posture adjusting device and adjusting method of the present application for an intelligent parallel elevator system is shown. The elevator includes a plurality of cars 1, at least two main tracks 2, and a plurality of switching tracks 4. Each switching track 4 is provided with a plurality of switching track devices, each switching track device including a switching track 4 and two track moving assemblies. The plurality of switching tracks 4 are arranged between the two main tracks 2. The car switches between different main tracks 2 through the switching track 4 moving in translation. The main track 2 and the switching track 4 are arranged in sections. The intervals corresponding to the two different main tracks 2 are provided as track switching stations. A plurality of track switching stations are provided between the two main tracks 2. Each track switching station is provided with a switching track device 3. The track moving assemblies are arranged at the intervals of the main tracks 2. The movable guide rail 22 and the movable switching rail 42 are connected to the fixed switching rail 41 through the track moving assemblies at different times. The switching track 4 is connected to or disconnected from the two main tracks 2 through the track moving assemblies. The main track 2 includes a plurality of fixed guide rails 21 and movable guide rails 22. The main track 2 is composed of a plurality of fixed guide rails 21 and a plurality of movable guide rails 22 connected end to end. The ends of the track bodies are provided with matching tenon and groove to ensure the overall installation centration. The fixed guide rails 21 of the same main track 2 are arranged intermittently. The switching track 4 includes a fixed switching rail 41 and a movable switching rail 42. The movable guide rail 22 and the movable switching rail 42 are arranged at the intervals of the adjacent fixed guide rails 21. The two end track sections of the movable switching rail 42 are arc-shaped (for convenience, the arc rail and the arc-shaped track in the following refer to the arc-shaped track section at the two ends of the movable switching rail). Because the track switching needs to be performed, the elevator system cannot be provided with a traction device. The car is driven by a driving device. The driving wheel of the driving device is pressed against the track running surface of the main track or the switching track through the corresponding force applying mechanism. The fixed switching rail 41 is an inclined track section relative to the main track. The movable switching rail 42 is provided as an arc-shaped track at the joint with the fixed guide rail 21.

[0047] In the embodiment, the car 1 comprises a car roof, a car bottom and a plurality of wall panels 11, the car roof is the top of the car 1, the car bottom is the bottom of the car 1, and the plurality of wall panels 11 enclose the side walls of the car 1, and the upper end and the lower end of the wall panel 11 are connected to the car roof and the car bottom respectively. The car bottom comprises an upper car bottom 12 and a lower car bottom 13, the upper car bottom 12 is located above the lower car bottom 13, the upper car bottom 12 and the lower car bottom 13 are arranged in a spaced manner, the lower car bottom 13 is fixedly connected to the wall panel 11, the upper car bottom 12 is a standing surface for passengers, the passengers in the car step on the upper car bottom 12, that is, the passengers in the car support on the upper car bottom 12, the upper car bottom 12 can rotate relative to the lower car bottom 13 or the wall panel 11, so that the angle adjustment of the upper car bottom 12 can be realized through the rotation of the upper car bottom 12, so that the upper car bottom 12 can be kept horizontal or slightly inclined, and the passengers in the car can stand stably.

[0048] In the embodiment, the elevator system is provided with a suspension 3, the suspension 3 is a frame body, the car is arranged in the inner cavity of the suspension 3, and the driving device is mounted on the suspension 3. The posture adjusting device is provided with a detection structure and an adjusting structure. The car 1 and the suspension 3 are hinged through a rotating piece, the rotating piece adopts a rotating shaft 31, and the car can rotate relative to the suspension 3 around the rotating shaft 31 through the driving of the adjusting structure.

[0049] In the embodiment, the adjusting structure comprises a mounting element 5, a buffer element 7 and a telescopic execution element 6, the mounting element 5 comprises a car mounting seat 51 and a suspension connecting seat 52, the car mounting seat 51 is fixedly mounted on the car, the suspension connecting seat 52 is fixedly mounted on the suspension, and the two ends of the execution element 6 are hingedly connected to the car mounting seat 51 and the suspension connecting seat 52 respectively. One end of the execution element 6 is hingedly connected to the car mounting seat 51 through a pin shaft, the other end is ball-hingedly connected to the suspension connecting seat 52, the pin shaft and the rotating shaft are arranged in parallel, and the execution element 6 can drive the car to rotate around the pin shaft or rotate in a three-dimensional space relative to the suspension.

[0050] In the embodiment, the execution element 6 adopts an electric cylinder, and the mounting element 5 is used for mounting the buffer element 7 and the execution element 6. The mounting element 5 further comprises a buffer seat, one end of the buffer seat is connected to the car mounting seat 51 through the buffer element 7, and the other end of the buffer seat is connected to one end of the electric cylinder. The buffer element 7 has elastic or damping properties, and can play a role of vibration reduction and car stabilization. The buffer element 7 can be a spring, rubber, hydraulic or pneumatic damper, etc. Preferably, the buffer element 7 adopts buffer rubber. The suspension connecting seat 52 is hingedly connected to the push rod of the electric cylinder, and the buffer seat is hingedly connected to the cylinder body of the electric cylinder. The execution element 6 drives the whole car 1 to rotate relative to the suspension 3, so that the car 1 can be kept in a vertical state.

[0051] In the embodiment, the posture adjusting device further comprises a stabilizing structure, the stabilizing structure comprises at least one stabilizing assembly 8, the stabilizing assembly 8 is located between the upper car bottom 12 and the lower car bottom 13, the stabilizing assembly 8 is telescopic, one end of the stabilizing assembly 8 is connected to the lower car bottom 13, and the other end is hingedly connected to the upper car bottom 12.

[0052] In the embodiment, the stabilizing assembly 8 can drive the upper car bottom 12 to rotate, and the angle of the upper car bottom 12 is accurately adjusted so that the upper car bottom 12 is kept horizontal or has a small angle, which means that the included angle between the upper car bottom 12 and the horizontal plane is within a set range. The lower car bottom 13 is a bearing component for supporting the upper car bottom 12.

[0053] The stabilizing assembly 8 comprises a mounting member 81, a buffer member 82 and an executing member 83. The executing member 83 is telescopic, the mounting member 81 is fixed on the lower car bottom 13, one end of the executing member 83 is hinged to the mounting member 81, and the other end is hinged to the upper car bottom 12. The buffer member 82 is located between the mounting member 81 and the executing member 83. Specifically, one end of the executing member 83 is hinged to a mounting seat, the mounting seat is connected to one end of the buffer member 82, and the other end of the buffer member 82 is connected to the mounting member 81, so that the mounting member 81 and the executing member 83 are hinged.

[0054] In the embodiment, the stabilizing assembly 8 can have the same structure as the adjusting structure.

[0055] The connection between the stabilizing assembly 8 and the upper car bottom 12 can adopt various forms, and the following embodiment only illustrates an optimal mode. In the embodiment, the stabilizing assembly 8 is provided with four groups, and the four groups of stabilizing assemblies 8 are respectively located at the four corners of the upper car bottom 12. The telescopic direction of the executing member 83 is perpendicular to the lower car bottom 13, that is, one end of the executing member 83 is connected to the mounting member 81, and the other end is vertically upwardly connected to the upper car bottom 12.

[0056] In the embodiment, the adjusting structure adjusts the overall angle of the car 1, the stabilizing assembly 8 accurately adjusts the angle of the upper car bottom 12, and the stabilizing assembly 8 and the adjusting structure are used in cooperation to constitute a double stabilizing structure of the car, so that the angle of the upper car bottom 12 can be more accurately and stably adjusted.

[0057] In the embodiment, the detection structure is provided with a data unit for detecting data of the adjusting structure and an analysis unit. The car is driven by the adjusting structure to rotate relative to the suspension around the rotating center of the rotating member. The data unit is used for detecting the operation data of the adjusting structure and transmitting the data information to the analysis unit. The analysis unit sends instructions to the adjusting structure or the stabilizing structure of the elevator system according to the data information of the data unit.

[0058] In the embodiment, the data unit is provided with a sensor for detection. The sensor can detect the posture of the car, mainly detects the rotating angle, angular velocity, angular acceleration, angular jerk, and angular jerk is the acceleration of the angular acceleration, which reflects the change speed of the angular acceleration. The sensor is arranged on the suspension or the car, or the hinged part of the car and the suspension. The sensor adopts one or more of an acceleration sensor, an angular velocity sensor and an angular acceleration sensor. The type of the sensor is determined according to the installation environment of the elevator.

[0059] In this embodiment, the posture adjustment method is as follows:

[0060] (1) Set the running curve

[0061] As shown in Figure 8 and Figure 9 , the car generally does not need to be adjusted in posture on the main track, and mainly needs to be adjusted in posture when switching the main track, in the switching track, and in the front and rear connecting track sections. Therefore, the running curve of the complete path of the car posture adjustment contains a pre-swing response stage - a return-to-vertical stage - a return-to-vertical arc track running stage - an over-swing response stage - a return-to-vertical stage - a return-to-vertical inclined track running stage (only when there is an inclined track) - a pre-swing response stage - a return-to-vertical stage - a return-to-vertical arc track running stage - an over-swing response stage - a return-to-vertical main track running stage.

[0062] The pre-swing response stage is to perform a pre-action of the execution element 6 before the car starts to enter the arc track of the switching track, that is, the pre-swing starting point starts before the entering arc track point P, and the car is pre-rotated (i.e., rotated outward of the arc) by a small angle θ 预 , to generate an excessive centripetal force when entering the curve, so as to achieve a more stable track switching operation and better comfort. The swing angle is preferably less than 15°.

[0063] The return-to-vertical stage is the process of the elevator returning to the vertical state after the pre-swing stage ends, that is, the angle is returned from θ 预 to the vertical 0°.

[0064] The over-swing response stage is to perform an over-action of the adjustment structure after the car exits the arc track of the switching track, that is, the over-swing ending point should end after the exiting arc track point Q, and the car is again rotated (i.e., rotated outward of the arc) by a small angle θ 过 , to generate a lagging centripetal force when exiting the curve, so as to achieve a more stable track switching operation and better comfort. The swing angle is preferably less than 15°.

[0065] The running curve S of the execution element 6 is determined according to the included angle θ of the switching track and the main track, the instantaneous speed v of the car, and the distance L to be run by the car during adjustment (i.e., from the starting point to the end point of adjustment). The time t required by the S curve can be determined according to L and v; and the speed and angle of adjustment can be determined according to the time and acceleration requirements. The curve S during posture adjustment contains multiple speed change stages:

[0066] The jerk acceleration stage AB - the uniform acceleration stage BC - the deceleration acceleration stage CD - the uniform speed stage DE - the acceleration deceleration stage EF - the uniform deceleration stage FG - the deceleration deceleration stage GH.

[0067] The pre-swing response and the over-swing response increase the response time of the adjusting device, and can realize more stable track switching operation and better comfort.

[0068] When the car is running, the speed changes in the pre-swing response stage and the return stage, and the speed changes in the over-swing response stage and the return stage form an "S" path, and the "S" paths are opposite when the car passes through the two arc-shaped tracks of the same active switching track.

[0069] In order to ensure the better comfort of the human body, the balance and stability of the human body in the car, and the safety, the maximum value of the acceleration a in the running direction in the running curve S needs to be less than or equal to 1.5 m / s 2 , wherein the horizontal acceleration a x ≤0.1g n ; the jerk p is less than or equal to 0.1-0.13g / s n , a x =a*cosθ, wherein g n is the vertical acceleration; a is the acceleration in the running direction of the car.

[0070] In the embodiment, the angular acceleration of the adjusting structure is a, and the maximum value of a is the linear acceleration of the center of gravity of the human body when the car is adjusted, and R is the rotation radius of the center of gravity of the human body relative to the hinge point of the suspension and the car.

[0071] (2) Detecting the real-time running curve

[0072] The sensor of the posture detection structure detects the real-time running curve S1 of the executing element 6, detects the rotation angle, the angular velocity, the angular acceleration, and the angular jerk in the running curve S1, compares the real-time detected data with the set running curve S, and obtains the running deviation Δ.

[0073] (3) Comparing the deviation value

[0074] If the running deviation Δ is greater than the allowable deviation Δ p , the difference between the running deviation Δ and the allowable deviation Δ p is fed back to the adjusting mechanism, which is used to adjust the running of the executing element 6, so that the running deviation Δ is less than or equal to the allowable deviation Δ p , and the running curve S1 and the set curve S are basically fitted. If the running deviation Δ is less than or equal to the allowable deviation Δ p , no correction is needed. The allowable deviation Δ p is determined according to the actual situation of the car, and the safety test of the car needs to be performed after each elevator system is completed to determine the allowable deviation Δ p .

[0075] The adjusting method of the stabilizing assembly is the same as the adjusting structure.

[0076] The working process of the present application is as follows: when the car runs on the main track or switches tracks between different main tracks of different shafts, the car will rotate relative to the suspension due to gravity, at which time the push rod of the electric cylinder extends or retracts, the electric cylinder rotates relative to the car and the suspension, thereby driving the car to rotate relative to the suspension, realizing deviation compensation, and through the active thrust, the external unbalanced load is balanced with each other, so that the car is in a vertical state when turning, vertically or inclined running, and does not shake, realizing stable running.

[0077] Embodiment 2

[0078] Figure 10 And Figure 11 The second embodiment of the car posture adjusting device and adjusting method for the intelligent parallel elevator system of the present application is shown, and the difference between this embodiment and embodiment 1 is that: there is no posture adjustment in the return-to-normal phase, i.e. there is a speed change stage in the pre-swing response phase and the over-swing response phase, and there is no speed change stage in the return-to-normal phase.

[0079] Embodiment 3

[0080] Figure 12 And Figure 13 The third embodiment of the car posture adjusting device and adjusting method for the intelligent parallel elevator system of the present application is shown, and the difference between this embodiment and embodiment 2 is that: there is posture adjustment in the return-to-normal phase (bend keeping phase), but the adjustment range is not large, i.e. the angle, angular velocity and angular acceleration are adjusted for fine tuning, and the adjustment strength is gradually increased or gradually decreased. Therefore, the starting point of the over-swing response phase is not the value in the non-posture adjustment state, so as to make the posture of the car consistent with the shape of the fixed track switching as much as possible.

[0081] Other structures involved in the present application are recorded in the patent applied by the present applicant, and can be understood by combining the conventional technical means of those skilled in the art. Here, no more repeated description is made.

[0082] The above embodiments are only preferred embodiments of the present application, and do not limit the present application in any form. Although the present application has been disclosed as above with the preferred embodiments, it is not intended to limit the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the technical solution of the present application, shall fall within the protection scope of the technical solution of the present application.

Claims

1. A method for adjusting the car posture in an intelligent parallel elevator system, characterized in that, The elevator system is equipped with a posture adjustment device, a car, a main rail and a switching rail. The posture adjustment device is equipped with a detection structure and an adjustment structure. The car and the car's suspension are movably connected. The car rotates relative to the suspension through the drive of the adjustment structure. The car switches to the main track by switching tracks. The connection between the switching track and the main track is arc-shaped. The attitude adjustment method designs a theoretical running curve S based on the running trajectory of the car. The theoretical running curve S includes a pre-swing response stage and an over-swing response stage. During the pre-swing response phase, the adjustment structure performs a pre-action upon entering the curved track of the elevator system, causing the car to swing by an angle θ in advance. 预 ; During the over-swing response phase, the adjustment structure performs an over-action when the elevator car exits the curved track of the elevator system, causing the car to continue swinging by an angle θ. 过 .

2. The method for adjusting the car posture of an intelligent parallel elevator system according to claim 1, characterized in that, The posture adjustment method specifically includes the following steps: (1) Setting the running curve: Determine the theoretical running curve S of the adjustment structure based on the angle θ between the elevator system switching track and the main track, the speed v of the car, and the distance L that the car needs to travel during adjustment. Determine the time t required for the theoretical running curve S based on the distance L and the speed v. Then, determine the speed and angle that the car needs to be adjusted based on the time t and the acceleration of the car. (2) Detecting the real-time operating curve: The real-time operating curve S1 of the adjustment structure is detected by the data unit. The real-time detected data information is compared with the theoretical operating curve S to obtain the operating deviation Δ. (3) Compare the deviation value: If the operating deviation Δ is greater than the allowable deviation Δ p Based on the operating deviation Δ and the allowable deviation Δ p The difference determines whether to adjust the operation of the regulating structure.

3. The method for adjusting the car posture of an intelligent parallel elevator system according to claim 2, characterized in that, The running curve S during attitude adjustment includes multiple speed change stages, which include: acceleration stage AB, uniform acceleration stage BC, deceleration stage CD, uniform speed stage DE, acceleration / deceleration stage EF, uniform deceleration stage FG, and deceleration stage GH.

4. The method for adjusting the car posture of an intelligent parallel elevator system according to claim 3, characterized in that, The maximum acceleration 'a' in the direction of travel in the running curve S does not exceed 1.5 m / s². 2 The horizontal acceleration a x ≤0.1g n The jerk ρ does not exceed 0.1–0.13 g per second. n a x = a*cosθ, where g n α is the acceleration in the vertical direction; α is the acceleration in the direction of car movement.

5. The method for adjusting the car posture of an intelligent parallel elevator system according to claim 4, characterized in that, The angular acceleration of the adjustment structure is α, and the maximum value of α is... α is the linear acceleration of the passenger's center of gravity when the car is adjusted, and R is the radius of rotation of the passenger's center of gravity relative to the suspension and the hinge point of the car.

6. The method for adjusting the car posture of an intelligent parallel elevator system according to claim 1, characterized in that, The adjustment structure includes a mounting element and a retractable actuator. The mounting element has two parts, which are respectively mounted on the car and the suspension. The actuator connects the two parts of the mounting element, but the actuator and the two parts of the mounting element are not completely fixedly connected.

7. The method for adjusting the car posture of an intelligent parallel elevator system according to claim 6, characterized in that, The mounting element includes a car mounting seat and a suspension connecting seat. The car mounting seat is fixedly mounted on the car, and the suspension connecting seat is fixedly mounted on the suspension. The two ends of the actuator are respectively hinged to the car mounting seat and the suspension connecting seat.

8. The method for adjusting the car posture of an intelligent parallel elevator system according to claim 7, characterized in that, The attitude adjustment device further includes a stabilizing structure, which includes at least one stabilizing component located at the bottom of the car. The stabilizing component is retractable, and the bottom of the car is adjusted by the stabilizing component.

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