Elevator car system for an elevator system, elevator system and method for compensating vibrations of an elevator car arrangement of an elevator system

Abstract

A car system (2) for an elevator system (1) is provided. The car system (2) comprises: a car assembly (4) arranged in an elevator shaft (5) of the elevator system (1) in such a way that it is vertically displaceable in the elevator shaft (5), and an active vibration damper (20) with a vibration sensor (22) coupled to the car assembly (4) for detecting vibrations of the car assembly (4), with a control unit (24) communicatively coupled to the vibration sensor (22), which receives a measurement signal from the vibration sensor (22) that is representative of the vibrations of the car assembly (4) and which is configured to generate a control signal depending on the measurement signal, with a motor (26) that is mechanically coupled to the car assembly (4) and communicatively coupled to the control unit (24) in order to receive the control signal from the control unit (24), and with a flywheel (28).which is mechanically coupled to a motor shaft (36) of the motor (26) and which is arranged eccentrically with respect to the motor shaft (36), wherein the control unit (24) is configured to generate the control signal such that the motor (26) rotates the flywheel (28) in such a way that the rotating, eccentrically arranged flywheel (28), which is mechanically coupled to the car assembly (4) via the motor (26), counteracts the vibrations of the car assembly (4).

Description

[0001] The present invention relates to a car system for an elevator installation, an elevator installation, a method for compensating vibrations of a car assembly of an elevator installation, and a control unit for an active vibration damper. The elevator installation can comprise the car system, the car system can comprise the car assembly and the active vibration damper, and / or the active vibration damper can comprise the control unit.

[0002] An elevator system is used to transport people and / or objects from one floor to another in a building. Such an elevator system can be designed, for example, as a single-cabin elevator, in which a car, in other words a cabin, can be displaced vertically from one floor to another in an elevator shaft of the elevator system to accommodate people or loads. The car can be arranged in a frame. A car assembly comprises at least the car and optionally the frame.

[0003] When the car arrangement, in particular the car, is moved vertically, in certain situations, for example at certain speeds of a drive machine of the elevator system, undesirable vibrations of the entire car arrangement or parts thereof, in particular of the car, for example a frame to which the car is attached, a side wall and / or a floor plate of the car, may occur, which may manifest themselves in vibrations and / or noise and thus reduce travel comfort.

[0004] Alternatively, double-decker or double-deck elevators can be used to transport people or objects between the floors of the building. Such a double-decker elevator is essentially characterized by the fact that the elevator car assembly, which can be moved vertically in the elevator shaft, comprises two cars, or in other words, two cabins, arranged one above the other in the frame. By vertically moving the frame with the cars arranged within it, the two cars can be moved together and thus stop at two floors above one another simultaneously.

[0005] Since floor heights can vary within a building, such double-deck elevators are often equipped with adjustment mechanisms that allow the vertical distance between the two elevator cars to be adjusted, for example, automatically during a trip to the next stop. Such an adjustment mechanism can, for example, include an electric spindle drive.

[0006] When one of the two elevator cars is adjusted vertically relative to the other car by means of the adjustment mechanism, undesirable oscillations of the entire elevator car arrangement or parts thereof, in particular the frame and / or the elevator car to be adjusted, may occur in certain situations, for example at certain speeds of the corresponding drive, e.g. the spindle drive, which may result in vibrations and / or noise and thus reduce travel comfort.

[0007] EP 1 074 503 B1 shows an example of a double-decker elevator with two spindle drives for the vertical adjustment of two elevator cars within a car frame.

[0008] EP 3 176 121 B1 describes a car assembly consisting of a car and a car frame, which is connected to the car via a damper. The damper serves to dampen vibrations that are transmitted via guide rails to the car frame and from there to the car during operation of the elevator. For this purpose, the damper is attached at its first end to a floor of the car and at its second end to the car frame. The two ends are connected to each other via a damping element, for example, made of rubber.

[0009] The elevator car assembly with the damper can be referred to as a car system. The damper represents a passive vibration absorber that counteracts vibration buildup in a simple manner. It is advantageous if the damper is tuned to critical vibration frequencies, such as one or more resonant frequencies, of the elevator car assembly. If these vibration frequencies change over time or if there are significantly different critical vibration frequencies, it may be difficult for the passive vibration absorber to respond adequately.

[0010] There may therefore be a need for an improved car system for an elevator system that can reduce or limit oscillations, for example in the form of vibrations and / or noise, during elevator operation. Furthermore, there may be a need for the elevator system with the improved car system.

[0011] In addition, there may be a need for a method for compensating vibrations in a car assembly of an elevator system that can help reduce or limit unwanted vibrations, for example in the form of vibrations and / or noise, during elevator operation.

[0012] Furthermore, there may be a need for a control unit for an active vibration damper of the elevator car system, for example a control unit that can execute the method for compensating vibrations of the elevator car arrangement of the elevator system.

[0013] These needs can be met by the subject matter of the independent claims. Advantageous embodiments are set forth in the dependent claims, the following description, and the accompanying figures.

[0014] A first aspect of the invention relates to a car system for an elevator installation. The car system comprises: a car assembly arranged in an elevator shaft of the elevator installation such that it is vertically displaceable in the elevator shaft; and an active vibration damper with a vibration sensor coupled to the car assembly for detecting vibrations of the car assembly; a control unit communicatively coupled to the vibration sensor, receiving a measurement signal from the vibration sensor representative of the vibrations of the car assembly, and configured to generate a control signal depending on the measurement signal; a motor mechanically coupled to the car assembly and communicatively coupled to the control unit for receiving the control signal from the control unit; and a flywheel.which is mechanically coupled to a motor shaft of the motor and which is arranged eccentrically with respect to the motor shaft, wherein the control unit is designed to generate the control signal such that the motor rotates the flywheel such that the rotating, eccentrically arranged flywheel, which is mechanically coupled to the car arrangement via the motor, counteracts the vibrations of the car arrangement.

[0015] A second aspect of the invention relates to the elevator installation, comprising the elevator car system as explained above and below, wherein the elevator car system is arranged in an elevator shaft of a building and is vertically displaceable in the elevator shaft; and a drive machine which is mechanically coupled to the elevator car system via a support means and which is designed to vertically displace at least one car assembly of the elevator car system in the elevator shaft.

[0016] A third aspect of the invention relates to a method for compensating vibrations of the car assembly of the elevator system. The method comprises: receiving a measurement signal representative of vibrations of the car assembly from a vibration sensor coupled to the car assembly for detecting vibrations of the car assembly; generating a control signal for a motor depending on the measurement signal, wherein the motor is mechanically coupled to the car assembly and has a motor shaft to which a flywheel is mechanically coupled, which is arranged eccentrically with respect to the motor shaft; and controlling the motor by means of the control signal, wherein the control signal is generated such that the motor rotates the flywheel such that the rotating, eccentrically arranged flywheel, which is mechanically coupled to the car assembly via the motor, counteracts the vibrations of the car assembly.

[0017] A fourth aspect of the invention relates to the control unit for the active vibration damper of the elevator car system, comprising a processor which is designed to carry out the method as explained above and below.

[0018] It should be understood that, in the following, features, advantages, and embodiments of the present invention will be explained in part with reference to only one of the aforementioned aspects, but that these features, advantages, and embodiments can readily be applied to any other of the aforementioned aspects. Therefore, repeated explanations of these features, advantages, and embodiments will be omitted below in order to provide a precise and concise description of the present invention.

[0019] The active vibration damper enables particularly effective compensation, or damping, of the vibrations of the elevator car assembly, especially of parts of the car assembly. The control unit, which generates the control signal for the motor with the eccentric flywheel based on the measurement signal, enables particularly precise and / or extensive compensation of the vibrations. Furthermore, the control unit can actively respond to changes in the vibrations, particularly their frequency(ies), and adjust the control signal accordingly. This enables particularly flexible damping of the vibrations.

[0020] The fact that the vibration sensor for detecting the vibrations of the elevator car assembly is coupled to the elevator car assembly means that the vibration sensor is coupled to the elevator car assembly in such a way that the vibration sensor can detect the vibrations. The type of coupling can depend on the measuring principle of the vibration sensor. If, for example, the vibration sensor detects the vibrations using an acceleration sensor, the vibration sensor can be arranged on the elevator car assembly in such a way that it touches the elevator car assembly. For example, the vibration sensor can be arranged directly on the elevator car assembly. If, for example, the vibration sensor detects the vibrations using an optical or acoustic sensor, the vibration sensor can be arranged at a distance from the elevator car assembly, whereby it must only be ensured that light or sound waves can reach the vibration sensor from the elevator car assembly.

[0021] The fact that the motor rotates the flywheel such that the rotating, eccentrically arranged flywheel counteracts the vibrations of the car assembly can mean, for example, that the rotating, eccentrically arranged flywheel compensates for the vibrations of the car assembly or at least approximately compensates for them. The fact that the vibrations of the car assembly are at least approximately compensated can mean, for example, that the vibrations are at least partially compensated and / or that vibration energy stored in the corresponding vibrational movement is compensated, in particular reduced, by more than 50%, for example by more than 70%, for example by more than 90%, for example by more than 95%.

[0022] The elevator system can be designed as a single-cabin elevator or a double-decker elevator. The elevator car assembly has at least one car. The elevator car assembly can optionally have a frame that holds the car and is vertically displaceable with the car. The car, or in the case of the frame, the frame, can be guided in the elevator shaft via guide shoes and / or rollers along at least one guide rail anchored in the elevator shaft. In the case of a double-decker elevator, the frame can have two elevator cars arranged one above the other, which can optionally be adjusted vertically relative to one another, so that a vertical distance between the elevator cars can be adjusted.In particular, using a suitable drive, for example in the form of one or more spindle, chain, or rack drives, the vertical distance between the elevator cars can be adjusted to a vertical distance between two superimposed floors at which the elevator cars are to stop simultaneously. It is possible for only one of the elevator cars to be adjustable relative to the frame, while the other car is firmly connected to the frame. Alternatively, both elevator cars can be adjustable relative to the frame. The frame can be considered a structure consisting of several beams and supports.

[0023] The drive for adjusting the car relative to the frame can, for example, comprise an electric drive motor and a gear that couples a drive shaft of the drive motor to a spindle. The spindle can be rotatably mounted in a spindle nut, which can be suitably attached to one of the stacked cars, for example, the lower car. Rotating the spindle changes the position of the spindle nut relative to a longitudinal direction of the spindle, depending on the direction of rotation. This also changes the distance between the stacked cars.

[0024] According to one embodiment, the elevator car assembly comprises a car for receiving a load to be transported, and the vibration sensor is coupled to the car for detecting the vibrations. In this embodiment, the vibrations of the elevator car assembly relate in particular to vibrations of the elevator car. In particular, the vibrations of the elevator car are counteracted by means of the active vibration damper. Since persons transported in the elevator car essentially perceive the vibrations of the elevator car, compensating the vibrations of the elevator car contributes particularly effectively to increasing the ride comfort for the persons being transported.

[0025] The fact that the vibration sensor is coupled to the elevator car to detect vibrations means that the vibration sensor is coupled to the car in such a way that the vibration sensor can detect the vibrations. The type of coupling can depend on the measuring principle of the vibration sensor. If, for example, the vibration sensor detects vibrations using an acceleration sensor, the vibration sensor can be arranged on the car so that it touches the car. For example, the vibration sensor can be arranged directly on the car. If, for example, the vibration sensor detects vibrations using an optical or acoustic sensor, the vibration sensor can be arranged at a distance from the elevator car, whereby it must only be ensured that light or sound waves can reach the vibration sensor from the car.

[0026] In addition to the elevator car, the elevator car assembly can include the frame in which the elevator car is arranged, and which, together with the elevator car, can be vertically displaced in the elevator shaft. Optionally, the elevator car assembly can include two elevator cars and the frame, whereby the two elevator cars can be arranged one above the other in the frame. In this case, the vibration sensor can be arranged on one of the two elevator cars. Additionally, a further vibration sensor of another active vibration damper can be arranged on the other elevator car.

[0027] According to one embodiment, the vibration sensor for detecting vibrations is coupled to a side wall or a floor plate of the elevator car. This can contribute to particularly precise vibration detection, since both the side walls and the floor plate are components of the elevator car that are susceptible to vibration. In the case of the floor plate, the passengers being transported stand on the floor plate and are particularly sensitive to its vibrations, so matching the vibration compensation to the vibrations of the floor plate is particularly effective in increasing passenger comfort.

[0028] According to one embodiment, the motor is mechanically coupled to the car assembly such that the motor touches the car. For example, the motor can be arranged on the side wall or on the floor plate of the car.

[0029] According to one embodiment, the elevator car assembly comprises a car for receiving a load to be transported and a frame supporting the car. The vibration sensor is coupled to the frame for detecting the vibrations. Coupling the vibration sensor to the frame for detecting the vibrations means that the vibration sensor is coupled to the frame in such a way that the vibration sensor can detect the vibrations. The type of coupling can depend on the measuring principle of the vibration sensor. For example, if the vibration sensor detects the vibrations using an acceleration sensor, the vibration sensor can be arranged on the frame in such a way that it touches the frame. For example, the vibration sensor can be arranged directly on the frame.For example, if the vibration sensor detects the vibrations using an optical or acoustic sensor, the vibration sensor can be arranged at a distance from the frame, whereby it only has to be ensured that light or sound waves can reach the vibration sensor from the frame.

[0030] Optionally, the elevator car arrangement can comprise two cars and the frame, with the two cars being arranged one above the other within the frame. In this case, the active vibration damper can be particularly effective in improving ride comfort, as vibrations can occur more frequently in the frame, particularly in double-decker elevators of this type. In addition, in some double-decker elevators, the cars within a frame can be adjusted relative to the frame and relative to each other in order to compensate for different floor heights. Actuators are generally used for this purpose, which can introduce at least some of the vibrations into the elevator car arrangement. In this case, too, the detection of frame vibrations can be particularly precise, as the vibrations are detected precisely where they occur.

[0031] According to one embodiment, the frame has at least one support that extends vertically during intended use of the elevator car assembly, and the vibration sensor is coupled to the support to detect the vibrations. This can contribute to particularly effective vibration compensation, since the frame supports are components of the frame susceptible to vibration. For example, the frame can have four vertically extending supports that are mechanically coupled to one another via horizontally extending beams and / or connectors. Furthermore, the frame can have cross braces for stabilization.

[0032] According to one embodiment, the motor is mechanically coupled to the car assembly such that the motor touches the frame. For example, the motor can be arranged on one of the frame's supports.

[0033] According to one embodiment, the control unit is designed to generate the control signal in such a way that the flywheel mass generates compensating vibrations that oppose the vibrations of the elevator car assembly. This can effectively contribute to compensating the vibrations of the elevator car assembly.

[0034] According to one embodiment, the control unit comprises a control unit that is communicatively coupled to the vibration sensor. The control unit enables the vibrations to be compensated for as much as possible, in particular to be reduced, in particular by aiming for a vibration energy and / or amplitude equal to zero as the target value of the corresponding control.

[0035] According to one embodiment, the control unit comprises a frequency converter, via which the control unit is communicatively coupled to the motor. The frequency converter makes it easy to specify the control signal in such a way that the flywheel generates compensating oscillations that oppose the oscillations of the elevator car assembly.

[0036] According to one embodiment, the control signal is generated in such a way that compensation oscillations are generated by means of the flywheel mass, which are opposite to the oscillations of the elevator car arrangement.

[0037] Embodiments of the invention are described below with reference to the accompanying drawings. Neither the description nor the drawings are to be construed as limiting the invention. Fig. 1 shows an elevator system according to an embodiment of the invention. Fig. 2shows an embodiment of an active damper of the elevator system according to Figure 1 . Fig. 3 shows an embodiment of a car system of a double-decker elevator. Fig. 4 shows a flowchart of an embodiment of a method for compensating vibrations of a car arrangement of an elevator system according to an embodiment of the invention.

[0038] The drawings are purely schematic and not to scale. Identical reference symbols in different drawings indicate identical or equivalent features.

[0039] Fig. 1shows an elevator installation 1 according to an embodiment of the invention. The elevator installation 1 has a car system 2 arranged in an elevator shaft 5 of a building, and a drive machine 11 mechanically coupled to the car system 2 via a support means 9 and designed to vertically displace at least one car arrangement 4 of the car system 2 in the elevator shaft 5. The car system 2 is vertically displaceable in the elevator shaft 5. The elevator installation 1 is suitable for transporting people and / or loads from one floor to another within the building.

[0040] The elevator car system 2 comprises the elevator car assembly 4 and an active vibration damper 20. The elevator car assembly 4 is arranged in the elevator shaft 5 of the elevator system 1 such that it can be vertically displaced within the elevator shaft 5.

[0041] The car assembly 4 has at least one car 3 for accommodating the persons or loads to be transported. In addition to the car 3, the car assembly 4 may have a frame by which the car 3 is held (see, for example, Figure 3 ). The car 3 or, in the case of the frame, the frame can be guided in the elevator shaft 5 via guide shoes (not shown) and / or guide rollers (not shown) along at least one guide rail (not shown) anchored in the elevator shaft, as is the case with conventional elevator systems 1.

[0042] The active vibration damper 20 comprises a vibration sensor 22, a control unit 24, a motor 26, and a flywheel 28. The active vibration damper 20 serves to compensate, in other words, dampen, or at least approximately compensate, vibrations of the elevator car assembly 4. Thus, the active vibration damper 20 counteracts the vibrations of the elevator car assembly 4. In particular, the active vibration damper 20 compensates the vibrations, at least partially. At least approximately compensating the vibrations of the elevator car assembly 4 can mean, for example, that vibration energy stored in the corresponding vibrational movement is compensated by more than 50%, for example, by more than 70%, for example, by more than 90%, for example, by more than 95%.

[0043] The vibration sensor 22 serves to detect vibrations of the elevator car arrangement 4. The vibration sensor 22 is coupled to the elevator car arrangement 4, in particular for detecting the vibrations of the elevator car arrangement 4. The fact that the vibration sensor 22 is coupled to the elevator car arrangement 4 for detecting the vibrations of the elevator car arrangement 4 means that the vibration sensor 22 is coupled to the elevator car arrangement 4 in such a way that the vibration sensor 22 can detect the vibrations. The type of coupling can depend on the measuring principle of the vibration sensor 22. If, for example, the vibration sensor 22 detects the vibrations using an acceleration sensor, the vibration sensor 22 can be arranged on the elevator car arrangement 4 in such a way that it touches the elevator car arrangement 4. For example, the vibration sensor 22 can be arranged directly on the elevator car arrangement 4.The acceleration sensor can be referred to and / or designed, for example, as a vibration sensor or vibration sensor. If, for example, the vibration sensor 22 detects the vibrations using an optical or acoustic sensor, the vibration sensor 22 can be arranged at a distance from the elevator car assembly 4, whereby it only needs to be ensured that light or sound waves can reach the vibration sensor 22 from the elevator car assembly 4.

[0044] For example, the vibration sensor 22 for detecting the vibrations is coupled to the car 3. For example, the vibration sensor 22 for detecting the vibrations can be coupled to a side wall 8 (see in Figure 1 active vibration damper 20 shown in dashed lines) or with a base plate 6 (see in Figure 1active vibration damper 20 (shown with solid lines) of the elevator car 3. Optionally, two or more active vibration dampers 20 can be arranged, for example, one or more on the base plate 6, and one or more on one or more of the side walls 8. In these embodiments, the vibrations of the elevator car arrangement 4 relate in particular to vibrations of the elevator car 3. In particular, the vibrations of the elevator car 3 can be counteracted by means of the active vibration damper 20; in particular, they can be compensated or approximately compensated, as explained in more detail below.

[0045] The fact that the vibration sensor 22 is coupled to the elevator car 3 for detecting the vibrations means that the vibration sensor 22 is coupled to the elevator car 3 in such a way that the vibration sensor 22 can detect the vibrations. The type of coupling can depend on the measuring principle of the vibration sensor 22. If, for example, the vibration sensor 22 detects the vibrations using the acceleration sensor, the vibration sensor 22 can be arranged on the elevator car 3 such that it touches the elevator car 3. For example, the vibration sensor 22 can be arranged directly on the elevator car 3. If, for example, the vibration sensor 22 detects the vibrations using an optical or acoustic sensor, the vibration sensor 22 can be arranged at a distance from the elevator car 3, whereby it only has to be ensured that light or sound waves can reach the vibration sensor 22 from the elevator car 3.

[0046] The control unit 24 is communicatively coupled to the vibration sensor 22. The control unit 24 receives a measurement signal from the vibration sensor 22, which is generated by the vibration sensor 22 as a function of the vibrations and is representative of the vibrations of the elevator car assembly 4. The control unit 24 is configured to generate a control signal for the motor 26 as a function of the measurement signal.

[0047] The motor 26 is mechanically coupled to the car assembly 4. For example, the motor 26 is mechanically coupled to the car assembly 4 such that the motor 26 contacts the car 3. For example, the motor 26 may have a base 38 (see Figure 2) via which the motor 26 is mechanically coupled to the car assembly 4. For example, the base 38 contacts the car assembly 4. For example, the motor 26 can be arranged on the side wall 8 or on the base plate 6 of the car 3. The motor 26 is communicatively coupled to the control unit 24 to receive the control signal from the control unit 24.

[0048] If the elevator car assembly 4, in addition to the elevator car 3, has the frame by which the elevator car 3 is held, the vibration sensor 22 for detecting the vibrations can be coupled to the frame. Furthermore, in this case, the motor 26 can be mechanically coupled to the elevator car assembly 4 such that the motor 26 contacts the frame. For example, the motor 26 can be attached to the frame. The fact that the vibration sensor 22 is coupled to the frame for detecting the vibrations means that the vibration sensor 22 is coupled to the frame such that the vibration sensor 22 can detect the vibrations. The type of coupling can depend on the measuring principle of the vibration sensor 22. For example, if the vibration sensor 22 detects the vibrations using an acceleration sensor, the vibration sensor 22 can be arranged on the frame such that it contacts the frame.For example, the vibration sensor 22 can be arranged directly on the frame. If, for example, the vibration sensor 22 detects the vibrations using an optical or acoustic sensor, the vibration sensor 22 can be arranged at a distance from the frame, whereby it only needs to be ensured that light or sound waves can reach the vibration sensor 22 from the frame.

[0049] The elevator car system 2 can be displaced vertically within the elevator shaft 5 with the aid of the drive machine 11. For this purpose, the elevator car system 2 can be held by the rope-, belt-, or wire-like support means 9, which can run over a traction sheave 13 driven by the drive machine 11 and which can also hold a counterweight 7. A brake 15 can be provided on the drive machine 11. The brake 15 can be designed to brake a rotation of the traction sheave 13 of the drive machine 11 or to prevent the traction sheave 13 from rotating. The brake 15 and the drive machine 11 can be controlled by an elevator control 17. The elevator control 17 can have a current converter 19, for example an inverter, which is electrically coupled to the drive machine 11 in order to supply the drive machine 11 with energy.

[0050] The car assembly 4 can be equipped with the active vibration damper 20 from the start. Alternatively, the active vibration damper 20 can be retrofitted to the car assembly 4.

[0051] Fig. 2 shows an embodiment of the active damper 20 of the elevator system 1 according to Figure 1 . Out of Figure 2It can be seen that the motor 26 has a motor shaft 36, that the flywheel 28 is mechanically coupled to the motor shaft 36 of the motor 26, and that the flywheel 28 is arranged eccentrically with respect to the motor shaft 36, in particular with respect to a rotation axis 34 of the motor 26. This causes the flywheel 28 to generate vibrations when the motor shaft 36 rotates, which vibrations are transmitted to the motor 26 via the motor shaft 36. The motor 26, in turn, transmits the vibrations to the component of the elevator car arrangement 4 to which the motor 26 is mechanically coupled. These vibrations can also be referred to as compensation vibrations.

[0052] Depending on how and where the active vibration absorber is arranged, for example horizontally and on the base plate 6, or vertically and on the side wall 8, the rotation axis 34 is aligned horizontally or vertically. If the rotation axis 34 is aligned horizontally (as in Figure 2shown), the amplitudes of the compensation oscillations lie in a vertical plane. If the rotation axis 34 is aligned vertically (as in Figure 2shown), the amplitudes of the compensation vibrations lie in a horizontal plane. Furthermore, a horizontally oriented active vibration damper 22 and a vertically oriented vibration damper 22 can be combined to generate compensation vibrations with amplitudes in further planes by superimposing them. Alternatively or additionally, two similarly oriented active vibration dampers 22 can be combined with one another, for example by rotating their axes of rotation 34 by 90° to one another. For example, two active vibration dampers 22 can be arranged on the base plate 6, the axes of rotation 34 of which are both horizontally oriented and perpendicular to one another. Alternatively or additionally, two active vibration dampers 22 can be arranged on the side wall 8, the axes of rotation 34 of which are both vertically oriented and perpendicular to one another.In this way, compensating vibrations can be dynamically generated in almost all directions. Accordingly, with active vibration dampers 22 arranged in this way, vibrations of the elevator car assembly 4 can be compensated in almost all directions.

[0053] The control unit 24 is configured to generate the control signal such that the motor 26 rotates the flywheel 28 such that the rotating, eccentrically arranged flywheel 28, which is mechanically coupled to the car assembly 4 via the motor 26, counteracts the vibrations of the car assembly 4, for example by compensating for them or at least approximately compensating for them. In particular, the control unit 24 can be configured to generate the control signal such that the compensating vibrations are generated by the flywheel 28 in such a way that they oppose the vibrations of the car assembly 4 detected by the vibration sensor 22.

[0054] For this purpose, the control unit 24 can have a control unit 30 and a frequency converter 32. The control unit 30 can be communicatively coupled to the vibration sensor 22. The control unit 30 can be used to adjust the vibration energy and / or amplitude to zero as the target value for the corresponding control system in order to compensate for the vibrations as much as possible. The control unit 30 can be communicatively coupled to the motor 26 via the frequency converter 32. The frequency converter 32 can easily contribute to specifying the control signal such that the compensating vibrations, which oppose the vibrations of the elevator car assembly 4, are generated by the flywheel 28.

[0055] Alternatively or additionally, the control unit 24 may comprise a processor (not shown) configured to process the information related to Figure 4 to carry out the procedures explained.

[0056] Fig. 3shows an embodiment of a car system 2 of a double-deck elevator. In this car system 2, the car assembly 4 can comprise the frame 42 and two cars, in particular the previously explained car 3, which in this context can also be referred to as the first car 3, and a further car, which in this context can also be referred to as the second car 40. The two cars 3, 40 can be arranged one above the other in the frame 42. In principle, the car assembly 4 with the two cars 3, 40 could be designed according to Figure 3 instead of the single car 3 in the lift system 1 according to Figure 1 The frame 42 can be displaced vertically in the elevator shaft 5 together with the elevator cars 3, 40.

[0057] Optionally, the elevator cars 3, 40 can be adjusted in the frame 42 relative to the frame 42 and relative to one another in order to compensate for different floor heights in the building. It is possible for only one of the elevator cars 3, 40, for example the first elevator car 3, to be adjustable relative to the frame 42, while the other, in particular the second elevator car 40, is fixedly connected to the frame 42. Alternatively, both elevator cars 3, 40 can be adjustable relative to the frame 42. For this vertical adjustment, actuators are generally used which can introduce at least some of the vibrations into the elevator car arrangement 4. The elevator cars 3, 40 can thus optionally be adjusted in the vertical direction relative to one another, so that a vertical distance A between the elevator cars 3, 40 is adjustable and in particular adjustable.In particular, by means of one or more suitable drives, for example by means of one or more spindle drives 46, the vertical distance A between the elevator cars 3, 40 can be adapted to a vertical distance between two superimposed floors at which the elevator cars 3, 40 are to stop simultaneously.

[0058] In the case of the spindle drive 46, the drive for adjusting the first car 3 relative to the frame 42 can, for example, have an electric drive unit 50 and a gear (not shown) that couples a drive shaft (not shown) of the drive motor to a spindle 52. At an end of the spindle drive 46 facing away from the drive unit 50, the spindle drive 46 can have a bearing device 48. The spindle 52 can be rotatably mounted in a spindle nut 54, wherein the spindle nut 54 can be suitably fastened to one of the stacked cars 3, 40, for example, to the lower car 3. In particular, the spindle nut 54 can be rotationally fixedly coupled to a floor structure 56 on which the lower car 3 stands.By rotating the spindle 52, depending on the direction of rotation, a position of the spindle nut 54 can be changed relative to a longitudinal direction of the spindle 52, which also changes the position of the floor structure 56 relative to the spindle 52 and the frame 42. This also changes the distance A between the superimposed cars 3, 40. As an alternative to the spindle drives 46, chain or rack drives can also be arranged for adjusting the car(s) 3, 40.

[0059] The frame 42 may comprise a frame made up of several horizontally extending beams and vertically extending supports 58. In this case, the vibration sensor 22 may be coupled to one of the supports 58 for detecting the vibrations. The frame 42 may, for example, comprise four of the vertically extending supports 58, which are mechanically coupled to one another via horizontally extending beams and / or connectors. Furthermore, the frame may comprise cross braces (not shown) for stabilization. The supports 58 extend during the intended use of the elevator car arrangement 4, which is illustrated by way of example in Figure 1 shown, in the vertical direction.

[0060] In the double-deck elevator, one or more of the active vibration dampers 20 can be arranged on the first and / or second car 3, 40, for example, on their floor plates 6 and / or side walls 8. In particular, the vibration sensors 22 and / or motors 26 of the corresponding active vibration dampers 20 can be arranged on the corresponding floor plates 6 or side walls 8. In the case of the frame 42, alternatively or additionally, one or more of the active vibration dampers 20 can be arranged on the supports 58. In particular, the vibration sensors 22 and / or motors 26 can be arranged on the supports 58, for example, so that they touch them.

[0061] Fig. 4shows a flowchart of an exemplary embodiment of a method for compensating vibrations of the car assembly 4 of the elevator system 1 according to one embodiment of the invention. The method can be executed, for example, by means of the processor of the control unit 24.

[0062] In a step S2, a measurement signal representative of the vibrations of the elevator car assembly 4 can be received. The measurement signal can be generated by the vibration sensor 22, which is coupled to the elevator car assembly 4 for detecting the vibrations of the elevator car assembly 4. The measurement signal can be received by the control unit 24.

[0063] In a step S4, the control signal for the motor 26 is generated depending on the measurement signal. The control signal is generated such that the motor 26 rotates the flywheel 28 such that the rotating, eccentrically arranged flywheel 28, which is mechanically coupled to the car assembly 4 via the motor 26, counteracts the vibrations of the car assembly 4, for example by compensating for them or at least approximately compensating for them. For example, the control signal is generated such that the flywheel 28 generates the compensating vibrations that oppose the vibrations of the car assembly 4. In a simple embodiment, two, three, or more different speed levels of the motor 26 can be preset, so that the control signal is representative of one of these speed levels.The speed levels can be determined in advance, for example empirically, in such a way that they are tuned to one, two, or more typical resonance frequencies of the car assembly 4. In a somewhat more complex embodiment, the speed of the motor 26 can be specified at least approximately continuously, in particular by means of the control signal, whereby, for example, the control unit 30 and the frequency converter 32 can be used for this purpose.

[0064] In a step S6, the motor 26 is controlled by the control signal. In response to receiving the control signal, the motor 26 rotates the flywheel 28 such that it generates the compensating vibrations that counteract the vibrations of the elevator car assembly 4, in particular, compensate for them, or at least approximately compensate for them.

[0065] The invention is not limited to the embodiments explained above. For example, the elevator system 1 can be designed as a double-deck elevator, for example with the car system according to Figure 3 , be formed. Furthermore, one or more active vibration dampers 20, in particular their vibration sensors 22 and / or motors 26, can be arranged on any vibration-prone components, such as the floor plate 6, the side walls 8 and / or a ceiling plate of the corresponding car 3, 40, in order to detect or compensate for the vibrations there.

[0066] Finally, it should be noted that terms such as "comprising," "including," "having," "including," etc., do not exclude other elements or steps, and indefinite articles such as "a" or "an" do not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with features or steps described with reference to other of the above embodiments. Reference signs in the claims are not to be understood as limitations.

Claims

1. Car system (2) for an elevator installation (1), the car system (2) comprising: a car arrangement (4) which is arranged in an elevator shaft (5) of the elevator installation (1) such that it is vertically displaceable in the elevator shaft (5); and an active vibration damper (20) with a vibration sensor (22) coupled to the car assembly (4) for detecting vibrations of the car assembly (4), a control unit (24) communicatively coupled to the vibration sensor (22), which receives a measurement signal from the vibration sensor (22) that is representative of the vibrations of the car assembly (4) and is designed to generate a control signal depending on the measurement signal, a motor (26) mechanically coupled to the car assembly (4) and communicatively coupled to the control unit (24) to receive the control signal from the control unit (24), and a flywheel (28),which is mechanically coupled to a motor shaft (36) of the motor (26) and which is arranged eccentrically with respect to the motor shaft (36), wherein the control unit (24) is designed to generate the control signal such that the motor (26) rotates the flywheel (28) such that the rotating, eccentrically arranged flywheel (28), which is mechanically coupled to the car arrangement (4) via the motor (26), counteracts the vibrations of the car arrangement (4).

2. Elevator car system (2) according to claim 1, wherein the elevator car assembly (4) comprises a car (3) for receiving a load to be transported, and the vibration sensor (22) for detecting the vibrations is coupled to the elevator car (3).

3. Elevator car system (2) according to claim 2, wherein the vibration sensor (22) for detecting the vibrations is coupled to a side wall (8) or a base plate (6) of the elevator car (3).

4. Elevator car system (2) according to one of claims 2 or 3, wherein the motor (26) is mechanically coupled to the elevator car assembly (4) such that the motor (26) contacts the elevator car (3).

5. Elevator car system (2) according to claim 1, wherein the elevator car assembly (4) comprises a car (3) for receiving a load to be transported and a frame (42) by which the elevator car (3) is held, and the vibration sensor (22) for detecting the vibrations is coupled to the frame (42).

6. Elevator car system (2) according to claim 5, wherein the frame (42) has at least one support (58) which extends in the vertical direction when the elevator car arrangement (4) is used as intended, and the vibration sensor (22) is coupled to the support (58) for detecting the vibrations.

7. Car system (2) according to one of claims 5 or 6, wherein the motor (26) is mechanically coupled to the car assembly (4) such that the motor (26) contacts the frame (42).

8. Elevator car system (2) according to one of the preceding claims, wherein the control unit (24) is designed to generate the control signal in such a way that compensation oscillations are generated by means of the flywheel mass (28) which are opposite to the oscillations of the elevator car arrangement (4).

9. Elevator car system (2) according to one of the preceding claims, wherein the control unit (24) comprises a control unit (30) which is communicatively coupled to the vibration sensor (22).

10. Elevator car system (2) according to claim 9, wherein the control unit (24) comprises a frequency converter (32) via which the control unit (30) is communicatively coupled to the motor (26).

11. Elevator installation (1) comprising a car system (2) according to one of the preceding claims, wherein the car system (2) is arranged in an elevator shaft (5) of a building and is vertically displaceable in the elevator shaft (5); and a drive machine (11) which is mechanically coupled to the car system (2) via a support means (9) and which is designed to vertically displace at least one car assembly (4) of the car system (2) in the elevator shaft (5).

12. A method for compensating vibrations of a car assembly (4) of an elevator system (1), the method comprising: receiving a measurement signal representative of vibrations of the car assembly (4) from a vibration sensor (22) coupled to the car assembly (4) for detecting vibrations of the car assembly (4); generating a control signal for a motor (26) depending on the measurement signal, wherein the motor (26) is mechanically coupled to the car assembly (4) and has a motor shaft (36) to which a flywheel (28) is mechanically coupled, which is arranged eccentrically with respect to the motor shaft (36);and controlling the motor (26) by means of the control signal, wherein the control signal is generated such that the motor (26) rotates the flywheel (28) such that the rotating, eccentrically arranged flywheel (28), which is mechanically coupled to the car arrangement (4) via the motor (26), counteracts the vibrations of the car arrangement (4); 13. The method according to claim 12, wherein the control signal is generated in such a way that compensation vibrations are generated by means of the flywheel (28) which are opposite to the vibrations of the elevator car arrangement (4).

14. Control unit (24) for an active vibration damper (20) of a car system (2), comprising a processor designed to carry out the method according to one of claims 12 or 13.

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