Driving roller guide shoe with self-guiding motor device and elevator

Abstract

The invention discloses a driving roller guide shoe with a self-guiding motor device, which is characterized by comprising a voice coil motor, a mechanical body, a roller and a swing arm, the roller is rotatably fixed on the swing arm; the fixed end of the voice coil motor is in spherical hinge connection with the mechanical body through a knuckle bearing, and the movable end of the voice coil motor is hinged to the swing arm. And the movable end can do reciprocating rectilinear motion relative to the fixed end. The device is simple in structure, quick in output and high in space utilization rate.

Description

Technical Field

[0001] The invention relates to the technical field of elevators, and in particular to an active roller guide shoe and an elevator with a self-guided motor device. Background Art

[0002] The horizontal stabilization devices of existing elevators are mostly realized by guide shoes. Guide shoes are divided into sliding, rolling, magnetic levitation, etc. Among them, rolling guide shoes are divided into active and passive. Active guide shoes mostly use actuators based on Lorentz force braking to suppress the vibration of the elevator.

[0003] The movement of the guide wheel of the existing roller guide shoe on the market is achieved through a swing arm rotating around the axis. Due to the layout space and structural problems, the actuating device connected to it is not specially guided. It is designed to use the movable part and the fixed part of the motor to create a gap, and the gap provides a degree of freedom of rotation, so as to achieve free movement after it is connected to the swing arm, such as the patent document CN111936410A. However, there is a limitation of the turning angle: if the turning angle is too large or too small, the gap between the fixed part and the movable part of the actuator body is not enough, that is, there will be motion interference, resulting in friction or collision problems, which is not conducive to the stability of the equipment and the comfort of the elevator operation; during installation or use, if the elevator is overloaded, the fixed part and the movable part are not in a parallel state, the reserved gap becomes smaller, and the possibility of motion collision becomes greater. At the same time, since the fixed end and the movable end are not in a parallel state during the actuation process, the output of the control force is nonlinear, which increases the difficulty of program design. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an active roller guide shoe with a self-guided motor device, comprising a voice coil motor, a mechanical body, a roller and a swing arm; the roller is rotatably fixed on the swing arm;

[0005] The fixed end of the voice coil motor is connected to the mechanical body through a spherical joint via a joint bearing, and the movable end of the voice coil motor is hinged to the swing arm; the movable end can perform reciprocating linear motion relative to the fixed end.

[0006] Preferably, the projection surface of the voice coil motor is circular.

[0007] Preferably, the fixed end includes a yoke frame and two circular magnets with through holes, and the two magnets are stacked and fixed at the bottom of the yoke frame; the movable end includes a winding frame and a coil, the coil is wound and fixed on the outside of the winding frame, and a guide shaft is provided at the center of the winding frame, and the guide shaft passes through the through hole of the circular magnet and is connected to the circular magnet through a bearing.

[0008] Preferably, the magnetizing direction of the magnetic steel is perpendicular to the projection plane of the voice coil motor.

[0009] Preferably, the fixed end also includes a magnetic focusing plate, and the magnetic focusing plate is fixed on the upper part of the circular magnetic steel.

[0010] The present invention also provides an elevator, comprising the aforementioned active roller guide shoe with a self-guided motor device.

[0011] The present invention makes full use of the projection surface design space left by the guide shoe for the actuating motor and adopts a cylindrical design. At the same time, by utilizing the internal space of the motor, while maintaining its approximate actuating capacity without interfering with the design of the guide shoe mechanical structure, the bearing and the shaft are embedded into the motor to provide a reciprocating sliding fixed movement and guide, so that the motor moving end and the fixed end are always aligned in parallel; the motor fixed end is connected to the guide shoe mechanical body through a joint bearing, and the moving end is provided with multiple rotational degrees of freedom of the voice coil motor through the shaft and the swing arm, so that it can adapt to the axial movement and assembly error of the guide wheel. Compared with the prior art, the present invention has a simple structure, rapid output, and high space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0013] Figure 1 It is a structural schematic diagram of an active roller guide shoe with a self-steering motor device according to Example 1;

[0014] Figure 2 Schematic diagram of the voice coil motor structure of Example 1;

[0015] Figure 3 Schematic diagram of the magnetizing direction of the magnetic steel of the voice coil motor of Example 1. DETAILED DESCRIPTION

[0016] The following describes the implementation methods of the present invention through specific specific embodiments, and those skilled in the art can fully understand other advantages and technical effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through different specific implementation methods, and the details in this specification can also be applied based on different viewpoints, and various modifications or changes can be made without deviating from the overall design concept of the invention. It should be noted that the following embodiments and the features in the embodiments can be combined with each other in the absence of conflict. The following exemplary embodiments of the present invention can be implemented in a variety of different forms and should not be interpreted as being limited to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary specific embodiments to those skilled in the art.

[0017] Example 1

[0018] like Figures 1 to 3As shown, this embodiment provides an active roller guide shoe with a self-guided motor device, including a voice coil motor 1, a mechanical body 2, a roller 3 and a swing arm 4; the roller 3 is rotatably fixed on the swing arm 4; the active roller guide shoe of this embodiment has three sets of voice coil motors 1, rollers 3 and swing arms 4.

[0019] The fixed end 11 of the voice coil motor 1 is connected to the mechanical body 2 by a spherical joint through a joint bearing 12, providing the voice coil motor 1 with a degree of rotational freedom. The movable end 13 of the voice coil motor 1 is hinged to the swing arm 4; the movable end 13 can make reciprocating linear motion relative to the fixed end 11. The track of the roller 3 excited by the guide rail rotates around the axis of the swing arm 4 connected to it. The movement of the swing arm 4 is transmitted to the voice coil motor 1 by the hinge with the movable end 13 of the voice coil motor 1.

[0020] The projection surface of the voice coil motor 1 is circular. The structure of the voice coil motor 1 is as follows: Figure 2 shown.

[0021] The fixed end 11 includes a yoke frame 111 and two circular magnetic steels 112 with through holes, and the two magnetic steels 112 are stacked and fixed at the bottom of the yoke frame 111;

[0022] The moving end 13 includes a winding frame 131 and a coil 132. The coil 132 is wound and fixed on the outside of the winding frame 131. The center of the winding frame 131 has a guide shaft 133. The guide shaft 133 passes through the through hole of the circular magnetic steel 112 and is connected to the circular magnetic steel 112 through the bearing 113. After the coil is energized, it reacts with the magnetized magnetic steel and outputs the Lorentz force to the swing arm connection point and the fixed end, thereby suppressing the horizontal vibration of the car.

[0023] In the active roller guide shoe structure of this embodiment, the connection between the motor and the guide shoe is completed through a bearing on the rod end joint bearing, and the bearing and the shaft are arranged inside it, so that it always performs linear reciprocating motion while ensuring that it has rotational freedom, avoiding the possibility of collision inside the motor and improving the stability of the active guide shoe. At the same time, this setting can provide a stable output for an overloaded elevator car (one side of the guide shoe is initially forced to compress, causing the guide wheel to deviate from the initial position. At this time, the motor is perpendicular to the installation surface when not pre-installed, forming a certain angle), and also avoids collision and corner interference inside the motor. This solution can always maintain the parallel alignment of the moving end and the fixed end of the motor body during movement, and always keep the coil in a uniformly distributed magnetic field space, which is conducive to the calculation of simulation and the writing of control programs.

[0024] like Figure 3As shown, the magnetizing direction of the magnetic steel 112 is perpendicular to the projection plane of the voice coil motor. This simplifies the magnetizing process. Different from the radial direction of magnetizing along the circular diameter using multiple tile-shaped magnetic steels, there is no need to enlarge the middle hole of the cylindrical magnetic steel in the case of upper and lower magnetization, nor is there any need to use multiple pieces of tile-shaped magnetic steels to bond together. At the same time, the upper and lower magnetization can make the installation of the magnetic steel inside the motor easier: in the case of radial magnetization, if the upper and lower magnetic steel structures of the shaft hole bearing designed in this embodiment are adopted, magnetic interference will occur when the upper and lower magnetic steels are installed, and special tooling and adhesives need to be used for forced alignment. Moreover, during operation, the risk of disintegration is much greater than that of the upper and lower magnetization method.

[0025] The fixed end further includes a magnetic concentrator plate 114, which is fixed on the upper part of the circular magnetic steel 112. The magnetic concentrator plate has the function of concentrating the magnetic field, ensuring the power efficiency of the motor, and fixing the bearing with the magnetic steel 112.

[0026] The present invention has been described in detail above through specific implementation modes and embodiments, but these do not constitute limitations of the present invention. Without departing from the principles of the present invention, those skilled in the art may also make many variations and improvements, which should also be regarded as the protection scope of the present invention.

Claims

1. An active roller guide shoe with a self-guided motor device, characterized in that: It includes a voice coil motor, a mechanical body, a roller and a swing arm; the roller is rotatably fixed on the swing arm; The fixed end of the voice coil motor is connected to the mechanical body through a spherical joint via a joint bearing, and the movable end of the voice coil motor is hinged to the swing arm; the movable end can perform reciprocating linear motion relative to the fixed end.

2. The active roller guide shoe with a self-steering motor device according to claim 1, characterized in that: The projection surface of the voice coil motor is circular.

3. The active roller guide shoe with a self-steering motor device according to claim 2, characterized in that: The fixed end includes a yoke frame and two circular magnetic steels with through holes, and the two magnetic steels are stacked and fixed at the bottom of the yoke frame; The movable end comprises a winding frame and a coil. The coil is wound and fixed on the outside of the winding frame. A guide shaft is provided at the center of the winding frame. The guide shaft passes through the through hole of the circular magnetic steel and is connected to the circular magnetic steel through a bearing.

4. The active roller guide shoe with a self-steering motor device according to claim 3 is characterized in that: The magnetizing direction of the magnetic steel is perpendicular to the projection plane of the voice coil motor.

5. The active roller guide shoe with a self-steering motor device according to claim 3, characterized in that: The fixed end also includes a magnetic field focusing plate, and the magnetic field focusing plate is fixed on the upper part of the circular magnetic steel.

6. An elevator, characterized in that: The invention comprises an active roller guide shoe having a self-steering motor device as claimed in any one of claims 1 to 5.

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