Energy storage counterweight device for an elevator, elevator, elevator energy recovery control method and device

Abstract

The application discloses an energy storage counterweight device of an elevator, the elevator, an energy recovery control method and device of the elevator, and relates to the technical field of elevators.The energy storage counterweight device comprises a counterweight module, an energy storage module, a main control module and a counterweight frame; the main control module is electrically connected with the energy storage module; the counterweight module and the energy storage module are detachably installed on the counterweight frame, and the counterweight module and the energy storage module are arranged in a stacked manner along the height direction of the counterweight frame.The energy storage counterweight device of the elevator is integrated and flexibly configured in the height direction of space, and the energy storage module and the main control module are transferred to the counterweight frame, so that the redundant space of the elevator shaft is effectively utilized, the pain point that a traditional energy feedback system occupies the machine room area is completely solved, and the building cost is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of elevator technology, and in particular to an energy storage counterweight device for an elevator, an elevator, an elevator energy recovery control method and device. Background Technology

[0002] Currently, the regenerative energy generated by elevators during light-load upward movement or heavy-load downward movement is usually consumed by the braking resistor, resulting in energy waste. Therefore, utilizing the regenerative energy of elevators for energy storage compensation has become a development trend in the elevator industry.

[0003] Some related technologies involve setting up independent energy feedback devices in the computer room to feed the collected electrical energy back to the power grid, but this has the problem of occupying a large amount of computer room space.

[0004] In view of this, how to collect the renewable energy generated by elevators and reduce the space occupied is an important technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides an energy storage counterweight device for an elevator, which can collect the regenerative energy generated by the elevator and reduce the space occupied. Furthermore, the present invention also provides an elevator with the above-mentioned energy storage counterweight device, and further provides an elevator energy recovery control method and an elevator energy recovery control device.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An energy storage counterweight device for an elevator includes: a counterweight module, an energy storage module, a main control module, and a counterweight frame; wherein the main control module is electrically connected to the energy storage module; both the counterweight module and the energy storage module are detachably installed on the counterweight frame, and the counterweight module and the energy storage module are stacked along the height direction of the counterweight frame; the number of energy storage modules is determined according to the target energy storage capacity of the energy storage counterweight device.

[0008] Furthermore, when the main control module is installed on the counterweight frame, the total mass of the energy storage counterweight device is the sum of the total mass of the counterweight module, the total mass of the energy storage module, and the total mass of the main control module. The total mass of the counterweight module is the sum of the masses of all the counterweight modules, the total mass of the energy storage module is the sum of the masses of all the energy storage modules, and the total mass of the main control module is the sum of the masses of all the main control modules.

[0009] When the main control module is not installed on the counterweight frame, the total mass of the energy storage counterweight device is the sum of the total mass of the counterweight module and the total mass of the energy storage module;

[0010] The mass of the counterweight module is obtained from the total mass of the energy storage counterweight device.

[0011] Preferably, in the above-mentioned energy storage counterweight device for elevators, the dimension of the counterweight module along the first direction is the same as the dimension of the energy storage module along the first direction; and / or, the dimension of the counterweight module along the second direction is the same as the dimension of the energy storage module along the second direction;

[0012] Furthermore, when the counterweight module and the energy storage module are installed on the counterweight frame, the first direction is the first direction of the counterweight frame, and the second direction is the second direction of the counterweight frame;

[0013] The first direction of the counterweight frame, the second direction of the counterweight frame, and the height direction are all perpendicular to each other.

[0014] Preferably, in the above-mentioned energy storage counterweight device for elevators, when the main control module is disposed on the counterweight frame, the counterweight module, the energy storage module, and the main control module are stacked along the height direction of the counterweight frame; the dimensions of the counterweight module along the first direction, the dimensions of the energy storage module along the first direction, and the dimensions of the main control module along the first direction are the same;

[0015] And / or, the dimensions of the counterweight module along the second direction, the dimensions of the energy storage module along the second direction, and the dimensions of the main control module along the second direction are the same;

[0016] The first direction is the first direction of the counterweight frame, and the second direction is the second direction of the counterweight frame; the first direction of the counterweight frame, the second direction of the counterweight frame, and the height direction are perpendicular to each other.

[0017] Preferably, in the above-mentioned energy storage counterweight device for elevators, the counterweight module is connected to the adjacent counterweight module, the energy storage module or the main control module along the height direction by a limiting structure, and the limiting direction is along a direction perpendicular to the height direction.

[0018] Preferably, in the above-mentioned energy storage counterweight device for elevators, the limiting structure is a concave-convex fit structure.

[0019] Preferably, in the above-mentioned energy storage counterweight device for elevators, the energy storage module includes a second housing and an energy storage battery; the energy storage battery is disposed in the second housing, and the second housing has a first ventilation hole, which is a through hole opened in the second housing;

[0020] And / or, the second housing has a first electrical receiving cavity, which is an inwardly recessed groove of the second housing and communicates with the interior of the second housing. The first electrical receiving cavity is used to accommodate an electrical connection module.

[0021] Preferably, in the energy storage counterweight device of the elevator described above, the second housing is provided with the first ventilation hole on both the upper and lower surfaces along the height direction; and the first ventilation holes of the energy storage modules arranged adjacent to each other along the height direction are arranged opposite to each other along the height direction.

[0022] Preferably, in the above-mentioned energy storage counterweight device for elevators, the main control module includes a third housing and an electronic component assembly;

[0023] The electronic component assembly is disposed in the third housing, and the third housing has a second ventilation hole, which is a through hole opened in the third housing;

[0024] And / or, the third housing has a second electrical receiving cavity, which is an inwardly recessed groove of the third housing and communicates with the interior of the third housing. The second electrical receiving cavity is used to accommodate an electrical connection module.

[0025] An elevator includes a car, a traction system, and an energy storage counterweight device, wherein one end of the traction system is connected to the car, the other end of the traction system is connected to the energy storage counterweight device, and the energy storage counterweight device is any of the energy storage counterweight devices described above.

[0026] An elevator energy recovery control method for charging the energy storage module of the energy storage counterweight device described in any of the above claims, comprising the steps of:

[0027] Obtain the weight of the car and load, and the direction of travel of the car; obtain the motor angular acceleration 'a' of the traction system motor, the DC bus voltage Vbus of the motor's inverter, and the estimated regenerative power P output by the inverter. regen Battery state of charge and maximum allowable charging power P of the energy storage battery BMS ;

[0028] By comparing the weight relationship between the car and the load and the energy storage counterweight, and taking into account the direction of travel of the car, the operating conditions of the elevator are determined.

[0029] If the weight of the car and load is greater than the weight of the energy storage counterweight, and the difference between the weight of the car and load and the weight of the energy storage counterweight is within a first preset range, and the car is descending, then the elevator is in a heavy-load descending condition, and the energy storage module is controlled to charge, and the charging power of the energy storage module satisfies: P charge=min(P) regen P BMS ), where P charge P represents the actual charging power of the energy storage module. regen P represents the regenerative power generated by the motor under its current operating conditions. BMS The maximum permissible charging power for the energy storage module;

[0030] If the difference between the weight of the car and its load and the weight of the energy storage counterweight is a second preset range, and the second preset range is less than the first preset range, and the car is moving upwards, then the elevator is in a light-load upward operating condition; and it is determined that a < 0, Vbus > Vth, and SOC < SOC. max Then, the energy storage module is controlled to charge, and the charging power of the energy storage module satisfies: P charge =min(P) mech-limit P BMS ), where P mech-limit This represents the maximum acceptable electromagnetic braking power for the elevator under this operating condition.

[0031] Preferably, in the above-described elevator energy recovery control method, the rate of change of the charging power satisfies:

[0032]

[0033] Among them, S max This is the preset power ramp slope threshold.

[0034] Preferably, in the above-described elevator energy recovery control method, the motor angular acceleration, the DC bus voltage, and the estimated regenerative power output by the frequency converter are all obtained through the frequency converter;

[0035] And / or,

[0036] The battery state of charge and the maximum allowable charging power of the energy storage battery are obtained through the battery management system of the main control module.

[0037] An elevator energy recovery control device, comprising:

[0038] The data acquisition module is used to acquire the weight of the car and load, and the direction of travel of the car; it also acquires the angular acceleration α of the traction system motor, the DC bus voltage Vbus of the motor's inverter, and the estimated regenerative power P output by the inverter. regen Battery state of charge and maximum allowable charging power P of the energy storage battery BMS ;

[0039] The decision module acquires information collected by the data acquisition module, compares the weight relationship between the car and the load and the energy storage counterweight, and determines the elevator's operating conditions in conjunction with the car's running direction.

[0040] The control module acquires the motor's operating conditions determined by the decision module. If the elevator is in a heavy-load downward operating condition, the control module controls the energy storage module to charge, and the charging power of the energy storage module satisfies: P charge =min(P) regen P BMS ), where P charge P represents the actual charging power of the energy storage module. regen P represents the regenerative power generated by the motor under its current operating conditions. BMS The maximum permissible charging power for the energy storage module;

[0041] If the elevator is in a light-load upward operating condition; and determine that a < 0, Vbus > Vth, and SOC < SOC. max The control module controls the charging of the energy storage module, and the charging power of the energy storage module satisfies: P charge =min(P) mech-limit P BMS ), where P mech-limit This represents the maximum acceptable electromagnetic braking power for the elevator under this operating condition.

[0042] The execution module acquires the control charging information from the control module and the charging power conditions of the energy storage module, and charges the module using the acquired charging power; the data acquisition module acquires the parameters of the execution module.

[0043] This invention discloses an energy storage counterweight device for elevators, which integrates and flexibly configures the energy storage module and main control module in the height direction of the space, and transfers the energy storage module and main control module to the counterweight frame. This effectively utilizes the redundant space of the elevator shaft, completely solves the problem of traditional energy feedback systems occupying machine room area, and reduces construction costs.

[0044] Furthermore, the energy storage counterweight device in this embodiment can flexibly adjust the stacking quantity and combination ratio of various modules according to the counterweight requirements of different trapezoids and the energy storage capacity target, and has strong versatility and interchangeability. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the counterweight module disclosed in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the structure of the energy storage module disclosed in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the first structure of the energy storage counterweight device disclosed in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of a second structure of the energy storage counterweight device disclosed in an embodiment of the present invention;

[0050] Figure 5 This is a diagram illustrating the architecture of the elevator energy recovery control device disclosed in an embodiment of the present invention. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] It should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0053] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0054] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0055] Currently, the regenerative energy generated by elevators during light-load upward movement or heavy-load downward movement is usually consumed by the braking resistor, resulting in energy waste. Therefore, utilizing the regenerative energy of elevators for energy storage compensation has become a development trend in the elevator industry.

[0056] Based on this, this application discloses an energy storage counterweight device for an elevator, which integrates an energy storage module into the counterweight structure, enabling the counterweight device to have an energy recovery function.

[0057] like Figures 1 to 4 As shown, the energy storage counterweight device of the elevator includes: a counterweight module 101, an energy storage module 102, a main control module 103, and a counterweight frame 104.

[0058] Among them, the counterweight module 101 can be a counterweight block structure, the energy storage module 102 can be an energy storage battery module, and the main control module 103 can be a main control module.

[0059] Figure 1 In the middle, the counterweight module 101 includes a first housing 1011 and a counterweight block 1012.

[0060] The first housing 1011 has a hollow interior. A counterweight 1012 is disposed within the first housing 1011 and is positioned to limit its movement within the housing 1011. Optionally, the counterweight 1012 and the first housing 1011 are either clearance-fitted or interference-fitted. Alternatively, a limiting structure, such as a groove or a baffle, can be provided within the first housing 1011 to restrict the movement of the counterweight 1012.

[0061] In some embodiments, the counterweight 1012 disposed within the first housing 1011 can be multiple or a single. If multiple counterweights 1012 are disposed within the first housing 1011, these counterweights 1012 can be of the same size and mass. Of course, these counterweights 1012 can also be of the same size but different masses. It should be noted that the arrangement of the counterweights 1012 within the first housing 1011 can be configured according to different needs, but after the counterweights 1012 are disposed within the first housing 1011, the center of gravity of the counterweight module 101 is located at the geometric center. Typically, the structure of the first housing 1011 is a regular structure, for example, the first housing 1011 is a rectangular housing.

[0062] The first housing 1011 has a first boss 10111 on one of its upper and lower surfaces along the height direction, and a first groove 10112 on the other. This document defines the splicing direction of adjacent counterweight modules 101 as the height direction; alternatively, when the counterweight frame 104 of the counterweight device is applied to an elevator, the elevator's running direction is the height direction.

[0063] In this embodiment, the first boss 10111 can be inserted into the first groove 10112 of the adjacent first housing 1011. In the example, both the first boss 10111 and the first groove 10112 are tapered structures to facilitate insertion and connection.

[0064] Optionally, the first boss 10111 and the first groove 10112 are arranged along the first direction and the second direction of the first housing 1011. In the example, there are four of each type of first boss 10111 and first groove 10112, located at the four corners of the first housing 1011. The height of the first boss 10111 is less than the depth of the first groove 10112, so that the first boss 10111 and the first groove 10112 are only used for positioning and limiting between modules, and do not bear the vertical load-bearing function of the modules. When the modules are stacked, they form an automatic centering fit to limit the relative displacement between the modules in the horizontal direction.

[0065] In some embodiments, a set of opposing sides of the first housing 1011 are provided with first connecting flanges 10113. For ease of explanation, the first housing 1011 has first connecting flanges 10113 on two opposing sides along a first direction. Optionally, the first housing 1011 has two first connecting flanges 10113 on each side along the first direction, and the two first connecting flanges 10113 on each side are arranged opposite each other along a second direction. In the example, the two opposing sides along the second direction extend along the first direction and exceed the opposing sides in the first direction, with the excess portion forming the first connecting flange 10113.

[0066] In this article, the first direction and the second direction are perpendicular to the height direction.

[0067] In this embodiment, the counterweight module 101 is fixedly connected to the counterweight frame 104 through the first connecting flange 10113, and after the counterweight module 101 is installed on the counterweight frame 104, the first direction of the counterweight module 101 is the first direction of the counterweight frame 104.

[0068] In this embodiment, a first connecting flange 10113 is provided on the side of the first housing 1011. Optionally, the first connecting flange 10113 has a connecting hole for mounting a connecting structure. The connecting structure connects the first connecting flange 10113 and the counterweight frame 104, thereby restricting the movement of the counterweight module 101 relative to the counterweight frame 104 in a first direction and a second direction.

[0069] Optionally, the connection hole can be designed as a round hole or an oblong hole extending along the height direction, depending on the installation requirements. By setting the oblong hole, the installation requirements of different height combinations of the counterweight module 101 can be adapted.

[0070] It should be noted that the fixed connection between the counterweight module 101 and the counterweight frame 104 can ensure that the counterweight module 101 is stably fixed on the counterweight frame 104 during elevator operation, preventing relative displacement between the counterweight module 101 and the counterweight frame 104 due to vibration or impact.

[0071] like Figure 2 As shown, the energy storage module 102 includes a second housing 1021 and an energy storage battery 1022.

[0072] The second housing 1021 has a hollow interior. The energy storage battery 1022 is disposed within the second housing 1021 and is positioned to limit its movement within the housing 1021. Optionally, the energy storage battery 1022 and the second housing 1021 are either clearance-fitted or interference-fitted. Alternatively, a limiting structure, such as a groove or a baffle, can be provided within the second housing 1021 to restrict the movement of the energy storage battery 1022.

[0073] In some embodiments, the energy storage battery 1022 disposed within the second housing 1021 may be multiple or a single battery. The number of energy storage batteries 1022 can be set according to energy storage requirements, and adjacent energy storage batteries 1022 may be connected in series.

[0074] The center of gravity of the second housing 1021, which houses the energy storage battery 1022, is located at its geometric center. Typically, the structure of the second housing 1021 is a regular structure; for example, the second housing 1021 is a rectangular housing.

[0075] The second housing 1021 has a second boss 10211 on one of its upper and lower surfaces along the height direction, and a second groove 10212 on the other. This document defines the splicing direction of adjacent energy storage modules 102 as the height direction; alternatively, when the counterweight frame 104 of the counterweight device is applied to an elevator, the elevator's running direction is the height direction.

[0076] In this embodiment, the second boss 10211 can be inserted into the second groove 10212 of the adjacent second housing 1011. In the example, both the second boss 10211 and the second groove 10212 are tapered structures to facilitate insertion and connection.

[0077] Optionally, the second boss 10211 and the second groove 10212 are arranged along the first and second directions of the second housing 1021. In the example, there are four second bosses 10211 and four second grooves 10212, located at the four corners of the second housing 1021. The height of the second boss 10211 is less than the depth of the second groove 10212, so that the second boss 10211 and the second groove 10212 are only used for positioning and limiting between modules, and do not bear the vertical load-bearing function of the modules. When the upper and lower modules are stacked, they form an automatic centering fit to limit the relative displacement between the modules in the horizontal direction.

[0078] In some embodiments, a set of opposing sides of the second housing 1021 are provided with second connecting flanges 10213. For ease of explanation, the second housing 1021 has two opposing sides along the first direction with second connecting flanges 10213. Optionally, the second housing 1021 has two second connecting flanges 10213 on each side along the first direction, and the two second connecting flanges 10213 on each side are arranged opposite each other along the second direction. In the example, the two opposing sides along the second direction extend along the first direction and beyond the opposing sides in the first direction, with the extended portion forming the second connecting flange 10213.

[0079] In this embodiment, the energy storage module 102 is fixedly connected to the counterweight frame 104 through the second connecting flange 10213, and after the energy storage module 102 is installed on the counterweight frame 104, the first direction of the energy storage module 102 is the first direction of the counterweight frame 104.

[0080] It should be understood that the second housing 1021 and the first housing 1011 in this embodiment have the same structure and shape. Therefore, the connection method between the second housing 1021 and the counterweight frame 104 in this embodiment can adopt the connection method between the first housing 1011 and the counterweight frame 104, that is, the second connecting flange 10213 is connected to the counterweight frame 104 through the connecting hole. Therefore, the connection method between the energy storage module 102 and the counterweight frame 104 also has the effect of the connection method between the counterweight module 101 and the counterweight frame 104, which will not be elaborated here.

[0081] The connecting hole of the second connecting flange 10213 can also be a round hole or an oblong hole.

[0082] In some embodiments, a first ventilation hole 10214 is provided on the second housing 1021. The first ventilation hole 10214 is a through hole opened in the second housing 1021 to dissipate heat from the energy storage battery 1022 inside the second housing 1021. Optionally, the first ventilation hole 10214 is provided on the top, bottom and / or side of the second housing 1021. It can be understood that there can be multiple first ventilation holes 10214, and they can be set at different positions of the second housing 1021 as needed.

[0083] The energy storage module 102 in this embodiment has a first ventilation hole 10214, which can dissipate heat from the energy storage battery 1022 and ensure the working efficiency and service life of the energy storage battery 1022.

[0084] In the example, the second housing 1021 has a first ventilation hole 10214 on both the upper and lower surfaces along the height direction, and the height direction in this embodiment is the running direction of the energy storage counterweight device after it is assembled with the elevator.

[0085] By providing first ventilation holes 10214 on the upper and lower surfaces, the heat exchange between the inside of the second box 1021 and the outside can be accelerated during the operation of the energy storage counterweight device, thereby improving the heat exchange efficiency between the second box 1021 and the outside.

[0086] In the example, the first ventilation holes 10214 on the upper and lower surfaces of the second housing 1021 are opposite each other along the height direction. Since the first ventilation holes 10214 form a heat dissipation channel that runs through the height direction inside the second housing 1021, when multiple energy storage modules 102 are stacked along the height direction, the first ventilation holes 10214 of the vertically arranged energy storage modules 102 are aligned with each other, forming a continuous longitudinal heat dissipation channel. Utilizing the airflow pressure fluctuations (piston effect) generated by the elevator's vertical movement, the air is induced to generate reciprocating pulsations or turbulent exchanges within this longitudinal heat dissipation channel to remove the heat from the energy storage battery 1022.

[0087] In other optional embodiments, the second housing 1021 is further provided with a first electrical receiving cavity 10215, wherein the first electrical receiving cavity 10215 is a recessed groove inward of the second housing 1021, and the first electrical receiving cavity 10215 communicates with the interior of the second housing 1021. It can be understood that the first electrical receiving cavity 10215 is a channel formed by bending a portion of the sidewall of the second housing 1021 inward, and this channel is located inside the second housing 1021 and communicates with the interior of the second housing 1021.

[0088] The first electrical cavity 10215 is used to accommodate the electrical connection module. Optionally, the electrical connection module includes, but is not limited to, a high-voltage power interface and a low-voltage communication interface. The electrical connection module is used to realize the electrical connection between the energy storage battery 1022 and the external DC bus, main control system or other electrical equipment.

[0089] Since the first electrical receiving cavity 10215 is located inside the second housing 1021, it forms a natural physical protective barrier. After the plug of the electrical connection module is inserted, most of the overall connection part is located within the first electrical receiving cavity 10215, which can reduce external contamination; and the side wall of the first electrical receiving cavity 10215 can also reduce the shearing force generated on the root of the interface during the swinging of the cable connected to the plug, and reduce the risk of the plug accidentally coming loose.

[0090] The main control module 103 in this embodiment includes a third enclosure (not shown in the figure) and an electronic component assembly (not shown in the figure). The electronic component assembly in this embodiment may include a battery management system (BMS), a controller, and protection and communication circuits, etc.

[0091] In some embodiments, the protection circuit may include undervoltage and overvoltage protection, overcurrent and short-circuit protection, surge protection, and insulation monitoring. The protection circuit can protect the electrical safety of the battery and system.

[0092] The communication circuit may include communication between the controllers of the main control module 103, communication between the controller of the main control module 103 and the slave control unit set in the energy storage module 102, and communication between the controller of the main control module 103 and the frequency converter of the motor, the main control system of the elevator and the host computer. Through communication, data such as voltage, current and temperature are obtained to regulate the entire elevator.

[0093] The electronic component assembly is housed within the third enclosure, which has a second ventilation hole (not shown in the figure), which is a through hole formed in the third enclosure. The third enclosure also has a second electrical receiving cavity, which is an inwardly recessed groove within the third enclosure and communicates with the interior of the third enclosure. The second electrical receiving cavity is used to house the electrical connection module.

[0094] The recessed electrical housing design provides protection for the electrical connection module.

[0095] It should be noted that the structure of the third box in this embodiment is exactly the same as that of the second box 1021, so it will not be described again here.

[0096] like Figure 3 and Figure 4 As shown, the counterweight module 101 is connected to the adjacent counterweight module 101 and / or energy storage module 102 along the height direction by a limiting structure, and the limiting direction is along the direction perpendicular to the height direction.

[0097] The limiting structure in this embodiment is a first boss 10111, a first groove 10112, a second boss 10211, and a second groove 10212. That is, the counterweight module 101 and the energy storage module 102 can be stacked in the height direction by the insertion of the first boss 10111 and the first groove 10112, the insertion of the second boss 10211 and the second groove 10212, the insertion of the first boss 10111 and the second groove 10212, or the insertion of the first groove 10112 and the second boss 10211.

[0098] Of course, if the main control module 103 is located inside the counterweight frame 104, the bosses and grooves on the main control module 103 can also be plugged into and connected to the adjacent counterweight module 101 or energy storage module 102.

[0099] The use of a limiting structure for limiting connections can improve the safety and physical protection level of the energy storage counterweight device. In addition, the design with tapered bosses and grooves can realize automatic centering and stacking between modules.

[0100] The counterweight frame 104 inside the elevator shaft is a standardized steel structure with fixed internal dimensions. The lateral dimensions of the counterweight frame 104 (the aforementioned first direction) are typically limited by the shaft structure and guide rail positions, making it difficult to customize for different functional modules (including the counterweight module 101, energy storage module 102, and main control module 103). If the dimensions of the counterweight module 101, energy storage module 102, and main control module 103 differ along the first direction, it will complicate the structure of the counterweight frame 104 and reduce system versatility. Based on these considerations, this application sets the dimensions of the counterweight module 101 and energy storage module 102 to be the same in the first direction.

[0101] That is, the dimensions of the counterweight module 101 installed on the counterweight frame 104 along the first direction are the same as the dimensions of the energy storage module 102 installed on the counterweight frame 104 along the first direction.

[0102] If the main control module 103 is installed on the counterweight frame 104, then the dimension of the main control module 103 along the first direction is the same as the dimension of the counterweight module 101 and the energy storage module 102 along the first direction, that is, L A =L B =L C =L, where L A L represents the dimension of the counterweight module 101 along the first direction. B L represents the dimension of the energy storage module 102 along the first direction. C L is the dimension of the main control module 103 along the first direction, and L is the dimension of the space in the counterweight frame 104 used to install the module along the first direction.

[0103] In some embodiments, the counterweight module 101 and the energy storage module 102 are set to have the same dimensions in the width direction (the aforementioned second direction). That is, the dimensions of the counterweight module 101 installed on the counterweight frame 104 along the second direction are the same as the dimensions of the energy storage module 102 installed on the counterweight frame 104 along the second direction.

[0104] If the main control module 103 is installed on the counterweight frame 104, then the dimension of the main control module 103 along the second direction is the same as the dimension of the counterweight module 101 and the energy storage module 102 along the second direction, i.e., W A =W B =W C =W, where W AW represents the dimension of the counterweight module 101 along the second direction. B W represents the dimension of the energy storage module 102 along the second direction. C W is the dimension of the main control module 103 along the second direction, and W is the dimension of the space in the counterweight frame 104 used to install the module along the second direction.

[0105] In the counterweight frame 104, there is a certain amount of redundant space in the height direction, and changes in height will not affect the force on the guide rails or the traction relationship. Therefore, the counterweight module 101, energy storage module 102, and main control module 103 in this embodiment can be designed differently in the height direction. That is, the height difference of the modules does not affect the lateral force on the energy storage counterweight device and the guide rail constraint conditions, so that the internal configuration of the modules can be differentiated while ensuring traction safety.

[0106] In the example, the dimension of the main control module 103 along the height direction can be greater than or equal to the dimension of the energy storage module 102 along the height direction, and the dimension of the energy storage module 102 along the height direction can be greater than or equal to the dimension of the counterweight module 101 along the height direction, i.e., H A ≥H B ≥H C , where H A H represents the dimension of the counterweight module 101 along the height direction. B H represents the dimension of the energy storage module 102 along the height direction. C The dimensions of the main control module 103 along the height direction.

[0107] Based on the above description of the dimensions of the counterweight module 101, energy storage module 102, and main control module 103, it can be seen that the energy storage counterweight device of the elevator in this embodiment is integrated and flexibly configured in the vertical direction of space. The energy storage module 102 and main control module 103 are transferred to the counterweight frame 104, effectively utilizing the redundant space of the elevator shaft and completely solving the problem of traditional energy feedback systems occupying machine room space, thus reducing construction costs. Furthermore, the energy storage counterweight device of this embodiment can flexibly adjust the stacking quantity and combination ratio of various modules according to the counterweight requirements and energy storage capacity targets of different elevator types, exhibiting strong versatility and interchangeability.

[0108] The structure and dimensions of the counterweight module 101, energy storage module 102, and main control module 103 have been described above. The following section will combine these descriptions with... Figure 3 and Figure 4 The quantities of counterweight module 101, energy storage module 102, and main control module 103 are explained.

[0109] In the elevator industry, to reduce drive power and ensure smooth operation, the counterweight mass is typically determined by combining the car's own weight with a certain proportion of the rated load. This solution adopts mature counterweight design principles and uses them as the basis for module configuration calculations, namely: MW =M C +αM R Among them, M W M is the total mass required for the energy storage counterweight device. C For the weight of the elevator car, The rated load is α, which is the counterweight coefficient (usually taken as 0.4~0.5).

[0110] The total mass of the energy storage counterweight device can be calculated by combining the above formula. In order to obtain the number of counterweight modules 101 and energy storage modules 102, the design concept of this application is to take the energy storage capacity requirement as one of the primary constraints on the design of the energy storage counterweight device, thereby forming a joint design problem of the mass of the counterweight module 101 and the capacity of the energy storage module 102.

[0111] The energy storage counterweight device in this embodiment adopts a modular structure, composed of multiple functional modules. The energy storage module 102 serves not only as an energy storage unit but also as a constituent mass unit of the energy storage counterweight device; its quantity affects both the energy storage capacity and the mass balance of the device. Therefore, the quantity of the counterweight module 101 and the energy storage module 102 in this embodiment can be calculated using the following method.

[0112] First, the minimum number of energy storage modules 102 is determined based on the target energy storage capacity of the energy storage counterweight device. That is, the number of energy storage modules 102 is determined according to the target energy storage capacity of the energy storage counterweight device, and the relationship is as follows:

[0113] Among them, E B For the capacity of a single energy storage battery module, E req N represents the target energy storage capacity of the system. B This refers to the number of energy storage modules 102.

[0114] The number N of energy storage modules 102 can be obtained from the above formula. B .

[0115] Then, based on the mass requirements of the energy storage counterweight device, the total mass of the energy storage counterweight device is increased by supplementing the counterweight module 101 to meet the elevator counterweight requirements. The main control module 103 can be selectively included in or excluded from the mass of the energy storage counterweight device depending on its installation location. Specifically, if the main control module 103 is installed on the counterweight frame 104, then the main control module 103 is included in the mass of the energy storage counterweight device; if the main control module 103 is not installed on the counterweight frame 104, then the main control module 103 is not included in the mass of the energy storage counterweight device. Optionally, the main control module 103 can be installed in the machine room.

[0116] It should be understood that when the main control module 103 is installed on the counterweight frame 104, the total mass of the energy storage counterweight device should be the sum of the total mass of the counterweight module 101, the total mass of the energy storage module 102, and the total mass of the main control module 103. Among them, the total mass of the counterweight module 101 is the sum of the masses of all counterweight modules 101, the total mass of the energy storage module 102 is the sum of the masses of all energy storage modules 102, and the total mass of the main control module 103 is the sum of the masses of all main control modules 103.

[0117] For ease of adjustment, all energy storage modules 102 in this embodiment have the same mass. Thus, the total mass of the energy storage modules 102 can be the product of the number of energy storage modules 102 and the mass of a single energy storage module 102. The number of energy storage modules 102 can be determined based on the target energy storage capacity of the energy storage counterweight device. Typically, there is one main control module 103. If the main control module 103 is mounted on the counterweight frame 104, the total mass of the main control module 103 is equal to the mass of a single main control module 103. Since the total mass of the energy storage modules 102 and the total mass of the main control module 103 can be obtained, the total mass of the counterweight module 101 can be determined.

[0118] The following example, assuming that each counterweight module 101 has the same mass, illustrates the relationship of the total mass of the energy storage counterweight device.

[0119] In the example, the counterweight module 101, energy storage module 102, and main control module 103 of the energy storage counterweight device satisfy: N A m A +N B m B +N C m C =M W ;

[0120] Where, N A The number of counterweight modules 101, N C The number of main control modules 103, m A For the mass of counterweight module 101, m B For the mass of energy storage module 102, m C The quality of the main control module 103.

[0121] The number N of energy storage modules 102 obtained from the above calculations B The formula for calculating the number of counterweight modules 101 in this embodiment is: N A = (M W- N B m B- N C m C ) / m A .

[0122] likeFigure 3 As shown, if the main control module 103 is installed inside the counterweight frame 104 of the elevator and moves together with the energy storage counterweight device, the mass of the main control module 103 should be included in the total mass of the energy storage counterweight device. Here, the main control module 103 is one unit, i.e., N. C The value is 1. Combining the above formula for calculating the number of counterweight modules 101, the number of counterweight modules 101 can be obtained.

[0123] like Figure 4 As shown, when the main control module 103 is not installed in the counterweight frame 104, the total mass of the energy storage counterweight device is the sum of the total mass of the counterweight module 101 and the total mass of the energy storage module 102. That is, since the main control module 103 is not installed in the elevator's counterweight frame 104, its mass is not included in the total mass of the energy storage counterweight device, i.e., N. C The value is 0. The number of counterweight modules 101 can be obtained by combining the above formula for calculating the number of counterweight modules 101.

[0124] The structure of the energy storage counterweight device has been described above. The following section explains the process by which the energy storage module 102 regulates the mechanical force and electromagnetic braking force of the elevator in the energy storage counterweight device. The principle by which the energy storage module 102 generates electromagnetic braking force is as follows:

[0125] During elevator operation, the release of mechanical energy by the car and energy storage counterweight under the influence of gravity and inertia causes the motor driving the elevator's traction system to generate regenerative energy. This can also be understood as the elevator motor generating electricity under gravity-driven operation. More specifically, when the elevator's mechanical energy is driven by an external force (primarily gravitational potential energy), forcing the motor to rotate beyond its current synchronous speed, the motor enters a power generation state.

[0126] In summary, the core triggering condition for motor-generated electricity can be summarized as follows: the direction of the electromagnetic torque generated by the motor is opposite to the actual rotation direction of the rotor. According to Faraday's law of electromagnetic induction and Lenz's law, a back electromotive force (electric generation) is generated in the motor windings, and simultaneously a force opposing this relative motion is generated, namely, electromagnetic braking torque. The direction of the electromagnetic braking torque output by the motor is opposite to the direction of motion of the traction system. This electromagnetic braking torque acts on the elevator's traction system, which is equivalent to the braking force applied to the traction system.

[0127] Based on the principle that the motor's power generation state generates braking force on the traction system, it can be understood that the energy storage module 102 in this embodiment is electrically connected to the motor through the main control module 103, thus enabling the energy storage module 102 to absorb the regenerative energy generated by the motor. It should be noted that energy recovery from the motor by the battery is existing technology; therefore, the connection method between the energy storage battery 1022 and the motor in this embodiment will not be specifically described. For example, in the motor's power generation state, the mechanical energy released by the traction system is converted into alternating current by the motor. The alternating current is then converted into direct current by the motor's frequency converter and enters the energy storage battery of the parallel-connected energy storage module 102 through the DC bus on the DC side of the frequency converter, thus charging the energy storage battery. Optionally, the frequency converter of the motor in this embodiment can be a two-stage conversion frequency converter, wherein the DC bus of the frequency converter is connected to the energy storage battery of the energy storage module 102.

[0128] Furthermore, during the process of the energy storage module 102 absorbing the regenerative energy generated by the motor, the motor's power generation state also applies electromagnetic braking torque to the traction system. That is, after the energy storage module 102 is installed in the hoistway as part of the energy storage counterweight device, the energy storage module 102 not only directly participates in and changes the mechanical forces on the elevator, but also participates in electromagnetic braking.

[0129] Therefore, the charging and discharging behavior of the energy storage module 102 in this embodiment is no longer an electrical process independent of the elevator's operating state, but rather forms a mechanical + electrical coupled system with the traction system. In this coupled system, if a conventional BMS control strategy that uses battery parameters (such as SOC, voltage, and current) as the sole criterion is adopted, the coupling effect may be amplified under specific operating conditions, affecting the elevator's operational stability and passenger comfort.

[0130] It should be noted that in the motor power generation state, in order to maintain energy balance, the motor needs to output power corresponding to the charging power of the energy storage module 102. Specifically, the charging power of the energy storage module 102 plus intermediate losses is approximately equal to the power output of the motor. Since the power output of the motor P = T × ω, where T is the electromagnetic braking torque and ω is the motor angular velocity, and the motor angular velocity ω is limited by the motor or controller, it is a fixed value. Therefore, it can be understood that in the motor power generation state, the charging power of the energy storage module 102 determines the magnitude of the electromagnetic braking torque in the motor power generation state, that is, it determines the equivalent electromagnetic braking force acting on the traction system. Therefore, in this embodiment, the charging power of the energy storage module 102 can be regarded as a controllable additional braking force in the traction system.

[0131] Based on the above-disclosed content regarding "the mechanical force regulation and electromagnetic braking force regulation of the energy storage module 102 in the energy storage counterweight device for the operation of the elevator", this embodiment associates the charging control strategy of the energy storage module 102 with the mechanical force characteristics of the elevator traction system. That is, this embodiment proposes a charging control method for the energy storage counterweight device, and this control method is associated with the mechanical force characteristics of the traction system.

[0132] A charging control method for an energy storage counterweight device according to this embodiment includes:

[0133] S1: Get parameters.

[0134] The weights of the car and load are obtained, and the weight relationship between the car and load and the energy storage counterweight is compared; the direction of travel of the car is also obtained.

[0135] The weight of the car can be measured by a weighing device. The core principle of the weighing device is to measure the changes in pressure or tension on the car and load to determine the weight of the car and load.

[0136] The direction of travel of the car can be determined by detecting the rotation direction of the motor's output shaft, which can be obtained by the motor shaft or traction wheel shaft installed in the traction system.

[0137] In addition, elevator operating parameters are acquired, including motor angular velocity ω and motor angular acceleration a. The inverter DC bus voltage Vbus and the estimated regenerative power P output by the inverter are also acquired. regen Battery State of Charge (SOC), and the maximum permissible charging power P of the energy storage battery 1022 in the energy storage counterweight device. BMS .

[0138] Optionally, the motor angular velocity ω and the motor angular acceleration a can be acquired and estimated by the main control module 103.

[0139] The battery state of charge (SOC) is a real-time state quantity calculated by the battery management system based on the battery operating parameters. The maximum allowable charging power (PBMS) is the upper limit of safe charging power determined by the battery management system based on the current battery state, which is usually obtained by the BMS of the main control module 103.

[0140] S2: Determine the elevator's operating condition based on the car's direction of travel and the mass relationship between the car and the energy storage counterweight.

[0141] If the elevator car is descending and the car load exceeds the preset balance coefficient, that is, the weight of the car and the load is greater than the weight of the energy storage counterweight device, and the difference between the weight of the car and the load and the weight of the energy storage counterweight device is within the first preset range, then the elevator is determined to be in a downward position.

[0142] During heavy-load descent, the mass of the car and load exceeds the mass of the counterweight, resulting in a clear and continuous gravitational drive direction. In this condition, the tension of the traction ropes is high, and the primary driving force comes from the car's side gravity. The traction motor is accelerated by the car and load, exceeding the synchronous speed and entering generator mode. The electromagnetic braking force generated in this mode partially counteracts the gravitational force. It's important to note that during heavy-load descent, most of the car's weight is offset by the traction force created by the tension difference in the traction ropes. The traction force refers to the static friction between the traction ropes and the grooves of the traction sheave.

[0143] It should be understood that during heavy-load descent, the elevator's deceleration is primarily achieved through traction force, while the electromagnetic braking force generated by the motor has little impact on the motor's deceleration. That is, changes in the electromagnetic braking force do not alter the elevator's direction of motion or its basic force-bearing structure. Therefore, during heavy-load descent, the elevator has a stable gravity-driven source, and is in an insensitive force-bearing state; in other words, the elevator is not sensitive to fluctuations in electromagnetic braking force during heavy-load descent.

[0144] If the elevator car is moving upwards and the car load is less than or close to the preset balance coefficient, that is, the weight (gravity) of the car and load is approximately equal to the weight (gravity) of the energy storage counterweight device, or it can be understood that the difference between the weight of the car and load and the weight of the energy storage counterweight device is a second preset range, and the second preset range is less than the first preset range, then the elevator is determined to be in a sensitive force balance state. The first and second preset range values ​​in this embodiment can be set according to different needs, and are not limited here.

[0145] When the elevator is in a light-load upward motion, the mass of the car and load is close to the mass of the energy storage counterweight, and the traction system is in a near-equilibrium state. Under this condition, the tension of the traction ropes in the traction system is not large, that is, the traction force generated by the tension is also not large. Therefore, the deceleration of the elevator mainly relies on electromagnetic braking force.

[0146] Electromagnetic braking force is the primary factor determining elevator deceleration, and changes in this force are amplified by the elasticity of the traction rope and the inertia of the energy storage counterweight. This amplification effect mainly stems from the elastic deformation of the traction rope and the dynamic response delay caused by the inertia of the energy storage counterweight. Therefore, under light-load upward conditions, the elevator is in a sensitive force equilibrium state, meaning it is sensitive to fluctuations in electromagnetic braking force under these conditions.

[0147] In this embodiment, the regenerative energy feedback process is divided into primary feedback and secondary feedback to match the force characteristics of the traction system under different elevator operating conditions. The primary feedback process is the heavy load downhill process, and the secondary feedback process is the light load uphill process.

[0148] S3: Energy storage module charging.

[0149] If the elevator is determined to be in a first-level feedback process, since the tension of the traction rope in the traction system is stable and insensitive to fluctuations in electromagnetic braking force, the charging power of the energy storage module satisfies: P charge =min(P) regen P BMS ), where P charge P represents the actual charging power of the energy storage module 102. regen The regenerative power generated by the motor under its current operating conditions is calculated in real time by the frequency converter or drive controller; P BMS The maximum allowable charging power for the energy storage module 102 is determined by safety parameters such as battery type, temperature, and SOC.

[0150] If the elevator is determined to be in a two-stage feedback process, to prevent the sudden change in electromagnetic braking torque caused by charging from disrupting the elevator's balance, the following restrictive control is implemented: the energy storage module 102 will only start charging when the following three conditions are met:

[0151] (1) The angular acceleration of the motor a < 0, that is, the elevator is in the deceleration stage and the motor needs braking force.

[0152] (2) Vbus > Vth, where Vbus is the DC bus voltage of the inverter and Vth is the DC bus feedback threshold of the inverter. Optionally, the DC bus voltage can be obtained through the inverter, and Vth is the energy storage-related set value of the energy storage battery.

[0153] Vbus > Vth is to prevent charging from affecting the stable operation of the frequency converter and the smoothness of the elevator when the DC bus voltage is too low.

[0154] (3) SOC < SOC max This means the energy storage battery has remaining capacity, i.e., it is not fully charged; where SOC is the current state of charge of the energy storage battery. max The maximum state of charge (SOC) of the energy storage battery can be detected by the battery detection device in the main control module 103.

[0155] Under the conditions of satisfying (1), (2) and (3) above, the charging power of the energy storage module 102 satisfies: P limit =min(P) mech-limit P BMS ).

[0156] Among them, P mech-limit This represents the maximum acceptable electromagnetic braking power for the elevator under this operating condition. This value can be calculated using the following formula: P mech-limit =kJωa.

[0157] Where J is the equivalent moment of inertia of the traction system, k is the stability safety factor (0 < k < 1), and P mech-limit It is directly proportional to the rate of change of the elevator's kinetic energy.

[0158] In some embodiments, to prevent electromagnetic torque step jumps, the rate of change of the charging power of the energy storage module 102 is clamped, which can be understood as limiting the charging power:

[0159]

[0160] Among them, S max This is the preset power ramp slope threshold.

[0161] By clamping the rate of change of charging power, drastic transient changes in current can be prevented, which could affect the normal use of the energy storage battery.

[0162] Based on the above analysis, it can be seen that the charging control method of the energy storage counterweight device in this embodiment balances energy recovery efficiency and passenger safety. Furthermore, compared to non-graded feedback control, this embodiment solves the torque interference problem caused by the energy storage battery's participation in counterweight movement through a "graded feedback strategy under operating conditions." This effectively smooths out sudden changes in electromagnetic torque, prevents wire rope oscillation and car "jerking," and ensures that the elevator maintains excellent operational safety under any load condition.

[0163] In addition, such as Figure 5 As shown in the figure, this application embodiment also discloses an elevator energy recovery control device, including: a data acquisition module, a decision module, a control module and an execution module.

[0164] The data acquisition module is used to obtain the weight of the car and load, and the direction of travel of the car; it also obtains the angular acceleration α of the traction system motor, the DC bus voltage Vbus of the motor's inverter, and the estimated regenerative power P output by the inverter. regen Battery state of charge and maximum allowable charging power P of the energy storage battery BMS .

[0165] The decision-making module receives information from the data acquisition module. Essentially, the data acquisition module sends the acquired parameters to the decision-making module, which then performs judgments and calculations based on these parameters to determine the elevator's operating conditions. Specifically, it compares the weight relationship between the car, load, and energy storage counterweight, and considers the car's direction of travel to determine the elevator's operating conditions.

[0166] The control module obtains the motor's operating conditions as determined by the decision module. In other words, the decision module sends the processed information to the control module, and the control module controls the execution module to work based on the obtained information.

[0167] In the example, if the elevator is in a heavy-load downward operation, the control module controls the energy storage module to charge, and the charging power of the energy storage module satisfies: P charge =min(P) regen P BMS ), where P charge P represents the actual charging power of the energy storage module. regen P represents the regenerative power generated by the motor under its current operating conditions. BMS The maximum allowable charging power for the energy storage module.

[0168] If the elevator is in a light-load upward operating condition; and the control module determines that a < 0, Vbus > Vth, and SOC < SOC max Then the control module controls the charging of the energy storage module, and the charging power of the energy storage module satisfies: P charge =min(P) mech-limit P BMS ), where P mech-limit This represents the maximum acceptable electromagnetic braking power for the elevator under this operating condition.

[0169] The execution module acquires charging control information from the control module. In this embodiment, the execution module includes a frequency converter, a motor, and an energy storage battery. The control module can control the frequency converter, thereby controlling the electromagnetic torque of the motor. The control module can adjust the motor's current, voltage, and frequency to control the electromagnetic braking force. The control module can control whether the energy storage battery absorbs energy and control the charging power of the energy storage battery.

[0170] In addition, the data acquisition module of this embodiment acquires the parameters of the execution module, including the motor angular acceleration a, the DC bus voltage Vbus of the motor inverter, the estimated regenerative power output Pregen of the inverter, the battery state of charge, and the maximum allowable charging power PBMS of the energy storage battery.

[0171] The elevator energy recovery control device in this embodiment adopts a four-layer progressive architecture design, decomposing the complex elevator energy feedback control problem into four clearly defined levels: data acquisition, intelligent decision-making, control calculation, and physical execution. Each level is connected through standardized information interfaces, forming a clear forward control flow and reverse feedback flow. In particular, the execution effect of the execution module is directly fed back to the state perception of the data acquisition module through an electromechanical coupling physical path, forming a unique physical-control dual closed loop, significantly improving the system's adaptability and robustness. This architecture not only achieves a balance between energy recovery efficiency and operational stability but also possesses good scalability and maintainability.

[0172] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0173] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An energy storage counterweight device for an elevator, characterized in that, include: The system includes a counterweight module (101), an energy storage module (102), a main control module (103), and a counterweight frame (104); wherein the main control module (103) is electrically connected to the energy storage module (102); The counterweight module (101) and the energy storage module (102) are detachably installed on the counterweight frame (104), and the counterweight module (101) and the energy storage module (102) are stacked along the height direction of the counterweight frame (104). The number of energy storage modules (102) is determined according to the target energy storage capacity of the energy storage counterweight device; When the main control module (103) is installed on the counterweight frame (104), the total mass of the energy storage counterweight device is the sum of the total mass of the counterweight module (101), the total mass of the energy storage module (102), and the total mass of the main control module (103), wherein the total mass of the counterweight module (101) is the sum of the masses of all the counterweight modules (101), the total mass of the energy storage module (102) is the sum of the masses of all the energy storage modules (102), and the total mass of the main control module (103) is the sum of the masses of all the main control modules (103); When the main control module (103) is not installed on the counterweight frame (104), the total mass of the energy storage counterweight device is the sum of the total mass of the counterweight module (101) and the total mass of the energy storage module (102); The mass of the counterweight module (101) is obtained based on the total mass of the energy storage counterweight device.

2. The energy storage counterweight device for an elevator according to claim 1, characterized in that, The counterweight module (101) has the same dimension along the first direction as the energy storage module (102) along the first direction; And / or, the dimensions of the counterweight module (101) along the second direction are the same as the dimensions of the energy storage module (102) along the second direction; When the counterweight module (101) and the energy storage module (102) are installed on the counterweight frame (104), the first direction is the first direction of the counterweight frame (104), and the second direction is the second direction of the counterweight frame (104). The first direction of the counterweight (104), the second direction of the counterweight (104), and the height direction are all perpendicular to each other.

3. The energy storage counterweight device for an elevator according to claim 1, characterized in that, When the main control module (103) is set on the counterweight frame (104), the counterweight module (101), the energy storage module (102) and the main control module (103) are stacked along the height direction of the counterweight frame (104); The counterweight module (101) has the same dimension along the first direction, the energy storage module (102) has the same dimension along the first direction, and the main control module (103) has the same dimension along the first direction. And / or, the dimensions of the counterweight module (101) along the second direction, the dimensions of the energy storage module (102) along the second direction, and the dimensions of the main control module (103) along the second direction are the same; The first direction is the first direction of the counterweight frame (104), and the second direction is the second direction of the counterweight frame (104); the first direction of the counterweight frame (104), the second direction of the counterweight frame (104), and the height direction are perpendicular to each other.

4. The energy storage counterweight device for an elevator according to claim 1, characterized in that, The counterweight module (101) is connected to the counterweight module (101), the energy storage module (102) or the main control module (103) adjacent to it along the height direction by a limiting structure, and the limiting direction is along the direction perpendicular to the height direction.

5. The energy storage counterweight device for an elevator according to claim 4, characterized in that, The limiting structure is a concave-convex mating structure.

6. The energy storage counterweight device for an elevator according to any one of claims 1 to 5, characterized in that, The energy storage module (102) includes a second housing (1021) and an energy storage battery (1022). The energy storage battery (1022) is disposed inside the second housing (1021), and the second housing (1021) has a first ventilation hole (10214), which is a through hole opened in the second housing (1021); And / or, the second housing (1021) has a first electrical receiving cavity (10215), the first electrical receiving cavity (10215) being an inwardly recessed groove of the second housing (1021), and the first electrical receiving cavity (10215) communicating with the interior of the second housing (1021), the first electrical receiving cavity (10215) being used to accommodate an electrical connection module.

7. The energy storage counterweight device for an elevator according to claim 6, characterized in that, The second housing (1021) is provided with the first ventilation hole (10214) on both the upper and lower surfaces along the height direction. Furthermore, the first ventilation holes (10214) of the energy storage modules (102) arranged adjacent to each other along the height direction are arranged opposite each other along the height direction.

8. The energy storage counterweight device for an elevator according to any one of claims 1 to 5, characterized in that, The main control module includes a third enclosure and electronic component assemblies; The electronic component assembly is disposed in the third housing, and the third housing has a second ventilation hole, which is a through hole opened in the third housing; And / or, the third housing has a second electrical receiving cavity, which is an inwardly recessed groove of the third housing and communicates with the interior of the third housing. The second electrical receiving cavity is used to accommodate an electrical connection module.

9. An elevator, characterized in that, The device includes a car, a traction system, and an energy storage counterweight. One end of the traction system is connected to the car, and the other end of the traction system is connected to the energy storage counterweight. The energy storage counterweight is the energy storage counterweight as described in any one of claims 1 to 8.

10. An elevator energy recovery control method for charging the energy storage module of the energy storage counterweight device as described in any one of claims 1 to 8, comprising the steps of: Obtain the weight of the car and load, and the direction of travel of the car; obtain the motor angular acceleration 'a' of the traction system motor, the DC bus voltage Vbus of the motor's inverter, and the estimated regenerative power P output by the inverter. regen Battery state of charge and maximum allowable charging power P of the energy storage battery BMS ; By comparing the weight relationship between the car and the load and the energy storage counterweight, and taking into account the direction of travel of the car, the operating conditions of the elevator are determined. If the weight of the car and load is greater than the weight of the energy storage counterweight, and the difference between the weight of the car and load and the weight of the energy storage counterweight is within a first preset range, and the car is descending, then the elevator is in a heavy-load descending condition, and the energy storage module is controlled to charge, and the charging power of the energy storage module satisfies: P charge =min(P) regen P BMS ), where P charge P represents the actual charging power of the energy storage module. regen P represents the regenerative power generated by the motor under its current operating conditions. BMS The maximum permissible charging power for the energy storage module; If the difference between the weight of the car and its load and the weight of the energy storage counterweight is a second preset range, and the second preset range is less than the first preset range, and the car is moving upwards, then the elevator is in a light-load upward operating condition; and it is determined that a < 0, Vbus > Vth, and SOC < SOC. max Then, the energy storage module is controlled to charge, and the charging power of the energy storage module satisfies: P charge =min(P) mech-limit P BMS ), where P mech-limit This represents the maximum acceptable electromagnetic braking power for the elevator under this operating condition.

11. The elevator energy recovery control method according to claim 10, characterized in that, The rate of change of the charging power satisfies: Among them, S max This is the preset power ramp slope threshold.

12. The elevator energy recovery control method according to claim 10, characterized in that, The estimated values ​​of the motor angular acceleration, the DC bus voltage, and the regenerative power output by the frequency converter are all obtained through the frequency converter. And / or, The battery state of charge and the maximum allowable charging power of the energy storage battery are obtained through the battery management system of the main control module.

13. An elevator energy recovery control device, characterized in that, include: The data acquisition module is used to acquire the weight of the car and load, and the direction of travel of the car; it also acquires the angular acceleration α of the traction system motor, the DC bus voltage Vbus of the motor's inverter, and the estimated regenerative power P output by the inverter. regen Battery state of charge and maximum allowable charging power P of the energy storage battery BMS ; The decision module acquires information collected by the data acquisition module, compares the weight relationship between the car and the load and the energy storage counterweight, and determines the elevator's operating conditions in conjunction with the car's running direction. The control module acquires the motor's operating conditions determined by the decision module. If the elevator is in a heavy-load downward operating condition, the control module controls the energy storage module to charge, and the charging power of the energy storage module satisfies: P charge =min(P) regen P BMS ), where P charge P represents the actual charging power of the energy storage module. regen P represents the regenerative power generated by the motor under its current operating conditions. BMS The maximum permissible charging power for the energy storage module; If the elevator is in a light-load upward operating condition; and determine that a < 0, Vbus > Vth, and SOC < SOC. max The control module controls the charging of the energy storage module, and the charging power of the energy storage module satisfies: P charge =min(P) mech-limit P BMS ), where P mech-limit This represents the maximum acceptable electromagnetic braking power for the elevator under this operating condition. The execution module acquires the control charging information from the control module and the charging power conditions of the energy storage module, and charges the module using the acquired charging power; the data acquisition module acquires the parameters of the execution module.

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