Self-propelled elevator, and method for switching path of self-propelled elevator

Abstract

A self-propelled elevator according to the present disclosure comprises: a cage; a first path used when the cage moves vertically; a second path used when the cage moves horizontally; a first rail provided along the longitudinal direction of the first path, the cage sliding on the first rail; a second rail provided along the longitudinal direction of the first path, the second rail guiding the movement of the cage; a third rail provided along the longitudinal direction of the second path, the cage sliding on the third rail; and a switching unit provided at a position where the first path and the second path intersect. The switching unit has a movement rail and a rotation part. The movement rail is capable of moving between a position where the movement rail connects to the first rail when the cage moves to the first path and a position where the cage is not in contact with the movement rail when the cage moves to the second path. The rotation part is capable of moving in a rotational manner between a rotational position where the rotation part connects to the second rail when the cage moves to the first path and a rotational position where the rotation part connects to the third rail when the cage moves to the second path.

Description

Self-propelled elevator and route switching method for self-propelled elevator

[0001] The present disclosure relates to a self-propelled elevator and a route switching method for a self-propelled elevator.

[0002] Patent Document 1 discloses an elevator system in which a car moves vertically and horizontally.

[0003] Japanese Patent Application Publication No. 6-48672

[0004] In the elevator system disclosed in Patent Document 1, which uses a linear motor to drive the car, switching from vertical movement to horizontal movement is achieved by rotating the rail 90 degrees. In this system, the car carrying passengers needs to be prevented from rotating in accordance with the rotation of the rail. That is, a means for separating the drive mechanism, which rotates with the rail, from the car, and for rotatably connecting the drive mechanism to the car and a means for fixing the car to the hoistway to prevent rotation are required. In a self-propelled elevator, the mass of the car is directly related to energy consumption, so it is desirable for it to be as light as possible. However, in order to rotatably connect the drive mechanism to the car, a shaft, bearings, etc. are required, and these components must support the car and the load, resulting in increased size and mass.

[0005] The present disclosure has been made to solve the above-mentioned problems. An object of the present disclosure is to provide a self-propelled elevator capable of vertical and horizontal movement while suppressing an increase in the car mass, and a route switching method for the self-propelled elevator.

[0006] The self-propelled elevator according to the present disclosure comprises a car, a first path used when the car moves up and down, a second path used when the car moves horizontally, a first rail arranged along the longitudinal direction of the first path and on which the car slides, a second rail arranged along the longitudinal direction of the first path and guiding the movement of the car, a third rail arranged along the longitudinal direction of the second path and on which the car slides, and a switching unit arranged at a position where the first path and the second path intersect, the switching unit having a moving rail and a rotating unit, the moving rail being movable between a position where the moving rail is connected to the first rail when the car moves to the first path and a position where the car does not contact the moving rail when the car moves to the second path, and the rotating unit being rotatable between a rotation position where the rotating unit is connected to the second rail when the car moves to the first path and a rotation position where the rotating unit is connected to the third rail when the car moves to the second path. The route switching method for a self-propelled elevator according to the present disclosure is a method for switching routes of a self-propelled elevator including a car, a first route used when the car moves in a vertical direction, a second route used when the car moves in a horizontal direction, a first rail provided along the longitudinal direction of the first route and on which the car slides, a second rail provided along the longitudinal direction of the first route and for guiding the movement of the car, a third rail provided along the longitudinal direction of the second route and on which the car slides, a fourth rail provided above the third rail and along the longitudinal direction of the second route, and a switching unit provided at a position where the first route and the second route intersect, wherein the switching unit is a switching unit that is configured to switch routes of a self-propelled elevator including a car, a first partial rail, a second partial rail, a third partial rail, a fourth ... a partial rail, the moving rail being movable between a connecting position where the moving rail is connected to the first rail when the car moves to the first path and a non-contacting position where the car is not in contact with the moving rail when the car moves to the second path, the first partial rail being rotatably movable between a rotation position where the first partial rail is connected to the second rail when the car moves to the first path and a rotation position where the first partial rail is connected to the third rail when the car moves to the second path, the second partial rail being rotatably movable between a rotation position where the second partial rail is connected to both the second rail and the first partial rail when the car moves to the first path and a rotation position where the second partial rail is connected to the fourth rail when the car moves to the second path,The rail is rotatable, and when the car travel path is switched from the first path to the second path, the first partial rail is rotatably moved from a rotation position where the first partial rail is parallel to the vertical direction to a rotation position where the first partial rail is parallel to the horizontal direction, then the second partial rail is rotatably moved from a rotation position where the second partial rail is parallel to the vertical direction to a rotation position where the second partial rail is parallel to the horizontal direction, and then the travel rail is moved from the connection position to the non-contact position, and when the car travel path is switched from the second path to the first path, the travel rail is moved from the non-contact position to the connection position, then the second partial rail is rotatably moved from a rotation position where the second partial rail is parallel to the horizontal direction to a rotation position where the second partial rail is parallel to the vertical direction, and then the first partial rail is rotatably moved from a rotation position where the first partial rail is parallel to the horizontal direction to a rotation position where the first partial rail is parallel to the vertical direction.

[0007] According to the present disclosure, it is possible to provide a self-propelled elevator capable of vertical and horizontal movement while suppressing an increase in the car mass, and a route switching method for the self-propelled elevator.

[0008] FIG. 1 is a diagram of an elevator system to which the hoistway structure for a self-propelled elevator according to Embodiment 1 is applied. FIG. 2 is a perspective view illustrating the rails and cage of the self-propelled elevator system during vertical movement according to Embodiment 1. FIG. 3 is a rear view of the drive device for the self-propelled elevator according to Embodiment 1. FIG. 4 is a side view of the drive device for the self-propelled elevator according to Embodiment 1. FIG. 5 is a perspective view illustrating the rails and cage of the self-propelled elevator system during horizontal movement according to Embodiment 1. FIG. 6 is a rear view of the drive device for the self-propelled elevator according to Embodiment 1. FIG. 7 is a side view of the drive device for the self-propelled elevator according to Embodiment 1. FIG. 8 is a three-view diagram illustrating the hoistway structure when the switching area according to Embodiment 1 is in the vertical direction. FIG. 9 is a three-view diagram illustrating the hoistway structure when the switching area according to Embodiment 1 is in the horizontal direction. FIG. 10 is a rear view and a side view showing a first modified example according to Embodiment 1. FIG. 11 is a rear view of the drive device for the self-propelled elevator according to Embodiment 2 during vertical movement. FIG. 12 is a side view of the drive device for the self-propelled elevator according to Embodiment 2 during vertical movement. FIG. 13 is a rear view of the drive device for the self-propelled elevator according to Embodiment 2 during horizontal movement. FIG. 10 is a side view of a drive device for a self-propelled elevator in embodiment 2 during horizontal movement. FIG. 11 is a front view and a top view showing a malfunction prevention mechanism that imposes mechanical constraints in the up and down directions in embodiment 3. FIG. 12 is a front view and a top view showing a malfunction prevention mechanism that imposes mechanical constraints in the horizontal direction in embodiment 3. FIG. 13 is a diagram showing the operation of mechanical constraints on the upper rail and lower rail in embodiment 3. FIG. 14 is a diagram showing the operation of mechanical constraints on the upper rail and lower rail in embodiment 3. FIG. 15 is a diagram showing examples of hardware resources of a car control unit and a hoistway control unit. FIG. 16 is a diagram showing another example of hardware resources of a car control unit and a hoistway control unit.

[0009] Hereinafter, embodiments will be described with reference to the drawings. Common or corresponding elements in each drawing will be assigned the same reference numerals, and descriptions thereof will be simplified or omitted. When angles are mentioned in this disclosure, if there are a reflex angle and a minor angle whose sum is 360 degrees, this generally refers to the minor angle, and if there are an acute angle and an obtuse angle whose sum is 180 degrees, this generally refers to the acute angle.

[0010] Embodiment 1. Figure 1 is a diagram of an elevator system to which a hoistway structure for a self-propelled elevator according to embodiment 1 is applied. As shown in Figure 1, elevator 1, which is a self-propelled elevator, does not require a rope to raise or lower car 4. Therefore, multiple cars 4 can run in a single hoistway 2. In general rope-driven elevators, the higher the building in which the elevator is installed, the greater the proportion of the hoistway to the building. Therefore, running multiple cars 4 in a single hoistway is effective in reducing the area of ​​the hoistway 2 in horizontal projection.

[0011] For example, elevator 1 is installed in a building. The building has multiple floors. In the building, elevator shaft 2 is installed across multiple floors. In the example of FIG. 1 , elevator shaft 2 is divided into elevator shaft 2a and elevator shaft 2b. In this example, the ascending and descending direction is the vertical direction. Elevator shaft 2b is installed parallel to elevator shaft 2a. Car 4 can move up and down in elevator shaft 2a. Car 4 can move up and down in elevator shaft 2b. In this disclosure, the "up and down direction" refers to the direction of a vertical line. Car 4 can also move horizontally. In this disclosure, the "horizontal direction" refers to a specific direction parallel to a horizontal plane. Switching area 41 is a portion where elevator shaft 2 switches between moving up and down and moving horizontally. 1, four switching areas 41 are provided: a switching area 41 above the hoistway 2a, a switching area 41 above the hoistway 2b, a switching area 41 below the hoistway 2a, and a switching area 41 below the hoistway 2b. The car 4 can move horizontally between the switching area 41 above the hoistway 2a and the switching area 41 above the hoistway 2b. The car 4 can move horizontally between the switching area 41 below the hoistway 2a and the switching area 41 below the hoistway 2b.

[0012] Three rails are arranged in the hoistway 2a. A drive rail 3a is arranged in the center of the hoistway 2a. A guide rail 3b is arranged to the left of the drive rail 3a. A guide rail 3c is arranged to the right of the drive rail 3a. The longitudinal directions of the drive rail 3a and the guide rails 3b and 3c are parallel to the vertical direction.

[0013] Three rails are arranged in the hoistway 2b. A drive rail 3a is arranged in the center of the hoistway 2b. A guide rail 3b is arranged to the left of the drive rail 3a. A guide rail 3c is arranged to the right of the drive rail 3a. The longitudinal directions of the drive rail 3a and the guide rails 3b and 3c are parallel to the vertical direction.

[0014] The movable rail 3a1 is disposed in a switching area 41 below the elevator shaft 2a. The movable rail 3a1 is disposed on an extension of the drive rail 3a. The movable rail 3a1 is provided so as to be movable from a position on an extension of the drive rail 3a by an actuator (not shown).

[0015] The upper rail 3b1, the lower rail 3b2, the upper rail 3c1, and the lower rail 3c2 are disposed in a switching area 41 below the elevator shaft 2a. The upper rail 3b1 and the lower rail 3b2 are extensions of the guide rail 3b. The upper rail 3c1 and the lower rail 3c2 are extensions of the guide rail 3c. Each of the upper rail 3b1, the lower rail 3b2, the upper rail 3c1, and the lower rail 3c2 is provided so as to be rotatable by an actuator (not shown). Each of the upper rail 3b1, the lower rail 3b2, the upper rail 3c1, and the lower rail 3c2 is provided so as to maintain a position in which its longitudinal direction is parallel to the vertical direction. Each of the upper rail 3b1, the lower rail 3b2, the upper rail 3c1, and the lower rail 3c2 is provided so as to maintain a position in which its longitudinal direction is parallel to the horizontal direction.

[0016] The moving rail 3a2 is disposed in a switching area 41 above the elevator shaft 2a. The moving rail 3a2 is disposed on an extension of the drive rail 3a. The moving rail 3a2 is provided so as to be movable from a position on an extension of the drive rail 3a by an actuator (not shown).

[0017] The upper rail 3b3, the lower rail 3b4, the upper rail 3c3, and the lower rail 3c4 are disposed in a switching area 41 above the elevator shaft 2a. The upper rail 3b3 and the lower rail 3b4 are extensions of the guide rail 3b. The upper rail 3c3 and the lower rail 3c4 are extensions of the guide rail 3c. Each of the upper rail 3b3, the lower rail 3b4, the upper rail 3c3, and the lower rail 3c4 is provided so as to be rotatable by an actuator (not shown). Each of the upper rail 3b3, the lower rail 3b4, the upper rail 3c3, and the lower rail 3c4 is provided so as to maintain a position in which its longitudinal direction is parallel to the vertical direction. Each of the upper rail 3b3, the lower rail 3b4, the upper rail 3c3, and the lower rail 3c4 is provided so as to maintain a position in which its longitudinal direction is parallel to the horizontal direction.

[0018] The moving rail 3a3 is disposed in a switching area 41 below the elevator shaft 2b. The moving rail 3a3 is disposed on an extension of the drive rail 3a. The moving rail 3a3 is provided so as to be movable from a position on an extension of the drive rail 3a by an actuator (not shown).

[0019] The upper rail 3b5, the lower rail 3b6, the upper rail 3c5, and the lower rail 3c6 are disposed in a switching area 41 below the elevator shaft 2b. The upper rail 3b5 and the lower rail 3b6 are extensions of the guide rail 3b. The upper rail 3c5 and the lower rail 3c6 are extensions of the guide rail 3c. Each of the upper rail 3b5, the lower rail 3b6, the upper rail 3c5, and the lower rail 3c6 is provided so as to be rotatable by an actuator (not shown). Each of the upper rail 3b5, the lower rail 3b6, the upper rail 3c5, and the lower rail 3c6 is provided so as to maintain a position in which its longitudinal direction is parallel to the vertical direction. Each of the upper rail 3b5, the lower rail 3b6, the upper rail 3c5, and the lower rail 3c6 is provided so as to maintain a position in which its longitudinal direction is parallel to the horizontal direction.

[0020] The movable rail 3a4 is disposed in a switching area 41 above the elevator shaft 2b. The movable rail 3a4 is disposed on an extension of the drive rail 3a. The movable rail 3a4 is provided so as to be movable from a position on an extension of the drive rail 3a by an actuator (not shown).

[0021] The upper rail 3b7, the lower rail 3b8, the upper rail 3c7, and the lower rail 3c8 are disposed in a switching area 41 above the elevator shaft 2b. The upper rail 3b7 and the lower rail 3b8 are extensions of the guide rail 3b. The upper rail 3c7 and the lower rail 3c8 are extensions of the guide rail 3c. Each of the upper rail 3b7, the lower rail 3b8, the upper rail 3c7, and the lower rail 3c8 is provided so as to be rotatable by an actuator (not shown). Each of the upper rail 3b7, the lower rail 3b8, the upper rail 3c7, and the lower rail 3c8 is provided so as to maintain a position in which its longitudinal direction is parallel to the vertical direction. Each of the upper rail 3b7, the lower rail 3b8, the upper rail 3c7, and the lower rail 3c8 is provided so as to maintain a position in which its longitudinal direction is parallel to the horizontal direction.

[0022] The horizontal rails 3e1 and 3e2 are arranged below the hoistway 2, with their longitudinal direction being the horizontal direction. The horizontal rails 3e1 and 3e2 are arranged to connect between a switching area 41 below the hoistway 2a and a switching area 41 below the hoistway 2b.

[0023] One side of the horizontal rail 3e1 is provided so as to smoothly connect with the upper rail 3c1 when the longitudinal direction of the upper rail 3c1 is horizontal, and the other side of the horizontal rail 3e1 is provided so as to smoothly connect with the upper rail 3b5 when the longitudinal direction of the upper rail 3b5 is horizontal.

[0024] One side of the horizontal rail 3e2 is provided so as to smoothly connect with the lower rail 3c2 when the longitudinal direction of the lower rail 3c2 is horizontal, and the other side of the horizontal rail 3e2 is provided so as to smoothly connect with the lower rail 3b6 when the longitudinal direction of the lower rail 3b6 is horizontal.

[0025] The horizontal rails 3e3 and 3e4 are arranged above the hoistway 2, with their longitudinal direction being the horizontal direction. The horizontal rails 3e3 and 3e4 are arranged to connect between a switching area 41 above the hoistway 2a and a switching area 41 above the hoistway 2b.

[0026] One side of the horizontal rail 3e3 is provided so as to smoothly connect with the upper rail 3c3 when the longitudinal direction of the upper rail 3c3 is horizontal, and the other side of the horizontal rail 3e3 is provided so as to smoothly connect with the upper rail 3b7 when the longitudinal direction of the upper rail 3b7 is horizontal.

[0027] One side of the horizontal rail 3e4 is provided so as to smoothly connect with the lower rail 3c4 when the longitudinal direction of the lower rail 3c4 is horizontal, and the other side of the horizontal rail 3e4 is provided so as to smoothly connect with the lower rail 3b8 when the longitudinal direction of the lower rail 3b8 is horizontal.

[0028] The elevator 1 includes two or more cars 4. For example, the elevator 1 may include three or more cars 4 for the hoistway 2a and the hoistway 2b.

[0029] Each car 4 includes a car chamber 5 , a drive unit 6 , and a control unit 7 .

[0030] The cab 5 has an internal space for loading the transported goods. The cab 5 has a cab floor 8. The cab floor 8 is the underside of the cab 5. The cab floor 8 supports the load of the transported goods loaded in the cab 5.

[0031] The drive unit 6 is a device that generates a drive force for moving the car 5 in the vertical direction and a drive force for moving the car 5 in the horizontal direction. The drive unit 6 is provided on the rear side of the car 5, opposite the landing where passengers get on and off the car 5. The drive unit 6 can grip the drive rail 3a using a pair of wheels 21a and a pair of drive wheels 21b, which will be described later. The drive unit 6 raises and lowers the car 5 by the frictional force between the drive rail 3a and the drive unit 6.

[0032] The control unit 7 is a part that controls the operation of the car 4. For example, the control unit 7 is arranged in the upper part of the car room 5. For example, the control unit 7 is arranged in the lower part of the car 4. For example, the control unit 7 is arranged in a location other than the upper part and the lower part of the car 4. For example, the control unit 7 is arranged by being divided into a plurality of parts.

[0033] In this example, the cab 5 moves up and down the hoistway 2a or the hoistway 2b. The cab 5 moves between the hoistway 2a and the hoistway 2b at the top or bottom of the hoistway 2.

[0034] For example, the car chamber 5 rises in the elevator shaft 2a, guided by the drive rail 3a and the guide rails 3b and 3c via the drive device 6, and reaches the vertical and horizontal switching area 41.

[0035] Thereafter, lower rails 3b4, 3c4, 3b8, 3c8 and upper rails 3b3, 3c3, 3b7, 3c7 each rotate 90 degrees. Additionally, movable rails 3a2, 3a4 move to positions where they do not interfere with the movement of car 5 and drive unit 6. Thereafter, car 5 moves horizontally, guided by upper rails 3b3, 3c3, 3b7, 3c7, lower rails 3b4, 3c4, 3b8, 3c8, and horizontal rails 3e3, 3e4 via drive unit 6, and arrives at vertical and horizontal direction changeover area 41 located at the top of hoistway 2b.

[0036] Then, the lower rails 3b4, 3c4, 3b8, and 3c8 and the upper rails 3b3, 3c3, 3b7, and 3c7 each rotate 90 degrees, and their longitudinal directions return to being parallel to the vertical direction. The movable rails 3a2 and 3a4 also move to a position where they connect with the drive rail 3a. The car 5 then descends in the elevator shaft 2b, guided by the drive rail 3a and the guide rails 3b and 3c via the drive unit 6.

[0037] Next, the rails and the car 4 will be described using FIG. 2 . FIG. 2 is a perspective view illustrating the rails and the car 4 of the self-propelled elevator system during vertical movement in the first embodiment. In this example, the cross-sectional shapes of the drive rail 3a and the moving rail 3a1 are rectangular. In this disclosure, a "cross-sectional shape" refers to a cross section perpendicular to the longitudinal direction. The drive rail 3a and the moving rail 3a1 have guide surfaces 11. The guide surface 11 is at least one of the front and back surfaces of the rectangular drive rail 3a and the moving rail 3a1. The moving rail 3a1 can substitute for the drive rail 3a in the switching area 41. The upper rail 3b1 and the lower rail 3b2 can substitute for the guide rail 3b in the switching area 41. The upper rail 3c1 and the lower rail 3c2 can substitute for the guide rail 3c in the switching area 41. The cross-sectional shapes of the guide rails 3b and 3c are T-shaped. Each of the guide rails 3b and 3c has a bottom plate 9 and a guide plate 10. The bottom plate 9 is a surface perpendicular to the back surface of the car 4. In this example, the guide plate 10 is a plate perpendicular to the bottom plate 9. The guide plate 10 is a plate-like portion that is arranged parallel to the bottom plate 9 and extends from the bottom plate 9 to the car 4. The upper rails 3b1 and 3c1 and the lower rails 3b2 and 3c2 have the same cross-sectional shape as the guide rails 3b and 3c.

[0038] The car room 5 has a car door 13. In this example, the car door 13 is provided on the opposite side of the car room 5 from the drive unit 6. Although not shown, the car 4 may also have a brake, an emergency stop device, etc. in addition to the drive unit 6. The brake is provided so as to apply a braking force to the car 4 while it is moving or stationary. The emergency stop device is provided so as to forcibly stop the car 4 when it falls freely. Note that, although a case has been shown in which the car door 13 and the drive unit 6 are provided on opposite sides of the car room 5, they do not necessarily have to be on opposite sides.

[0039] Next, the drive device 6 will be described with reference to Figures 2 to 4. Figure 3 is a rear view of the drive device 6 of the self-propelled elevator in embodiment 1. Figure 4 is a side view of the drive device 6 of the self-propelled elevator in embodiment 1.

[0040] In this example, the drive device 6 has a pair of wheels 21 a and a pair of drive wheels 21 b. One of the pair of wheels 21 a contacts one of the pair of guide surfaces 11. One of the pair of drive wheels 21 b contacts one of the pair of guide surfaces 11 below one of the pair of wheels 21 a. The other of the pair of wheels 21 a contacts the other of the pair of guide surfaces 11. The other of the pair of drive wheels 21 b contacts the other of the pair of guide surfaces 11 below the other of the pair of wheels 21 a.

[0041] One and the other of the pair of wheels 21a are disposed at positions symmetrical with respect to both guide surfaces 11. One and the other of the pair of drive wheels 21b are disposed at positions symmetrical with respect to both guide surfaces 11. Note that, although a case where the pair of wheels 21a and the pair of drive wheels 21b are disposed at positions symmetrical with respect to both guide surfaces 11 will be described here, they do not necessarily have to be symmetrical with respect to both guide surfaces 11.

[0042] Although not shown, the drive device 6 has at least one motor for moving the drive wheels 21b.

[0043] The arrangement of the wheels 21a and the drive wheels 21b is not limited to this example. There may be two drive wheels 21b on one side of the guide surface 11. All four wheels, i.e., a pair of wheels 21a and a pair of drive wheels 21b, may be drive wheels. The total number of wheels 21a and drive wheels 21b is not limited to four, and may be two, or six or more.

[0044] In this example, the first pressing force equalizing link 22 has a rectangular shape. The first pressing force equalizing link 22 serves as a wheel support link and is disposed on one side of the pair of guide surfaces 11. The first pressing force equalizing link 22 rotatably supports one of the pair of wheels 21 a and one of the pair of drive wheels 21 b. The side of the first pressing force equalizing link 22 opposite the drive rail 3 a is rotatably supported by the first self-boosting link 24.

[0045] In this example, the second pressing force equalizing link 23 has a rectangular shape. The second pressing force equalizing link 23 serves as a wheel support link and is disposed on the other side of the pair of guide surfaces 11. The second pressing force equalizing link 23 rotatably supports the other of the pair of wheels 21 a and the other of the pair of drive wheels 21 b. The side of the second pressing force equalizing link 23 opposite the drive rail 3 a is rotatably supported by the second self-boosting link 25.

[0046] The first self-boosting link 24 is disposed obliquely at an angle of 45 degrees or less with respect to the horizontal. One end of the first self-boosting link 24 is rotatably connected to the first pressing force averaging link 22 on the side opposite the drive rail 3a. The other end of the first self-boosting link 24 is rotatably supported by the support body 20. In the illustrated example, the support body 20 has a plate-like shape.

[0047] The second self-boosting link 25 is disposed obliquely at an angle of 45 degrees or less with respect to the horizontal. One end of the second self-boosting link 25 is rotatably connected to the second pressing force averaging link 23 on the side opposite to the drive rail 3a. The other end of the second self-boosting link 25 is rotatably supported by the support body 20.

[0048] The drive device 6 is provided on a support 20. The support 20 supports the car chamber 5 directly or indirectly.

[0049] In the illustrated example, one end of the return spring 29a is connected to the first self-boosting link 24. The other end of the return spring 29a is connected to the support body 20. One end of the return spring 29b is connected to the second self-boosting link 25. The other end of the return spring 29b is connected to the support body 20. Without being limited to the illustrated example, one end of the return spring 29a may be connected to the first pressing force averaging link 22. One end of the return spring 29b may be connected to the second pressing force averaging link 23.

[0050] In this example, a pair of first anti-tilt rollers 26 are arranged near both the left and right ends of the upper portion of the support body 20. One of the first anti-tilt rollers 26 contacts the surface of the guide plate 10 of the guide rail 3b opposite the car 4. The other first anti-tilt roller 26 contacts the surface of the guide plate 10 of the guide rail 3c opposite the car 4.

[0051] The first tilt prevention roller 26 may have a structure that allows the direction of the roller to be changed to the traveling direction of the car 4. Alternatively, the first tilt prevention roller 26 may have a structure that allows the roller to move in any direction using a spherical roller.

[0052] In this example, a pair of second anti-tilt rollers 27 are arranged near both the left and right ends below the support body 20. One of the second anti-tilt rollers 27 contacts the surface of the guide plate 10 of the guide rail 3b facing the car 4. The other second anti-tilt roller 27 contacts the surface of the guide plate 10 of the guide rail 3c facing the car 4.

[0053] The second tilt prevention roller 27 may have a structure that allows the direction of the roller to be changed to the traveling direction of the car 4. Alternatively, the second tilt prevention roller 27 may have a structure that allows the roller to move in any direction using a spherical roller.

[0054] Figures 5 to 7 show the case where the car 4 moves in the horizontal direction. Figure 5 is a perspective view for explaining the rails and the car 4 of the self-propelled elevator system during horizontal movement in embodiment 1. Figure 6 is a rear view of the drive device 6 of the self-propelled elevator in embodiment 1. Figure 7 is a side view of the drive device 6 of the self-propelled elevator in embodiment 1.

[0055] Figures 5 to 7 show the states in which the upper rails 3b1 and 3c1 and the lower rails 3b2 and 3c2 are rotated 90 degrees from the states shown in Figures 2 to 4. The upper rails 3b1 and 3c1 have their bottom plates 9 on the lower side and their guide plates 10 on the upper side. Conversely, the lower rails 3b2 and 3c2 have their bottom plates 9 on the upper side and their guide plates 10 on the lower side. At this time, the movable rail 3a1 has moved to a position where it does not contact or interfere with the upper rails 3b1 and 3c1, the lower rails 3b2 and 3c2, the car 4, or the drive unit 6. Therefore, the pair of wheels 21a and the pair of drive wheels 21b are not in contact with the movable rail 3a1. Furthermore, the pair of first anti-tilt rollers 26 contact the surface of the guide plates 10 of the upper rails 3b1 and 3c1 opposite the car 4. A set of second anti-tilt rollers 27 contacts the surfaces of the guide plates 10 of the lower rails 3b2, 3c2 on the car 4 side.

[0056] The drive device 6 includes a set of horizontal movement drive wheels 28 attached to the support body 20. The horizontal movement drive wheels 28 are arranged in positions where they come into contact with the upper surface of the bottom plate 9, such as the lower rails 3b2 and 3c2. The horizontal movement drive wheels 28 are driven by a motor (not shown). The horizontal movement drive wheels 28 move the car 4 in the horizontal direction. The motor that drives the horizontal movement drive wheels 28 may be the same motor that drives the drive wheels 21b.

[0057] The operation of the elevator shaft and the operation of the elevator shaft as the elevator 4 descends in the elevator shaft 2a, transitions to horizontal movement in the switching area 41 at the bottom of the elevator shaft 2a, moves along the horizontal rails 3e1 and 3e2, transitions to vertical movement in the switching area 41 at the bottom of the elevator shaft 2b, and rises in the elevator shaft 2b will be described in detail.

[0058] First, the state of the drive unit 6 when the car 4 descends the hoistway 2a will be described. When the car 4 descends the hoistway 2a, the pair of wheels 21a and the pair of drive wheels 21b are pressed against the guide surface 11 of the drive rail 3a by the first self-boosting link 24 and the second self-boosting link 25. The pair of drive wheels 21b are driven, causing the car 4 to descend. At this time, the first anti-tilt roller 26 and the second anti-tilt roller 27 are both in contact with the guide rails 3b, 3c. The first anti-tilt roller 26 and the second anti-tilt roller 27 prevent the car 4 from rotating around its axis in the left-right direction. At this time, the horizontal movement drive wheel 28 is not in contact with either rail. In this state, the car descends and stops in the switching area 41.

[0059] Next, the transition from vertical movement to horizontal movement in the switching area 41 will be described. The operation sequence is as follows: (1) It is confirmed that the car 4 has stopped at a predetermined position in the switching area 41 at the bottom of the hoistway 2a. (2) The lower rails 3b2 and 3c2 each rotate 90 degrees. At this time, the lower rails 3b2 and 3c2 each contact the horizontal movement drive wheels 28. The lower rails 3b6 and 3c6 of the hoistway 2b also rotate similarly. (3) The upper rails 3b1 and 3c1 each rotate 90 degrees. At this time, as shown in FIG. 7 , the bottom plate 9 of the upper rail 3b1 contacts the first self-boosting link 24 or the first pressing force averaging link 22, and pushes down the first self-boosting link 24 or the first pressing force averaging link 22. Furthermore, the bottom plate 9 of the upper rail 3c1 comes into contact with the second self-boosting link 25 or the second pressing force averaging link 23, pushing down the second self-boosting link 25 or the second pressing force averaging link 23. This action causes the pressing force of the pair of wheels 21a and the pair of drive wheels 21b against the movable rail 3a1 to become zero, and they move away from the movable rail 3a1. The upper rails 3b5 and 3c5 of the hoistway 2b also rotate in a similar manner. (4) The movable rail 3a1 moves toward the back of the hoistway 2a. This ensures a path for horizontal movement of the car 4. The movable rail 3a3 of the hoistway 2b also moves in a similar manner. (5) The motor of the drive unit 6 drives the horizontal movement drive wheels 28, and the car 4 moves horizontally from the switching area 41 at the bottom of the hoistway 2a to the switching area 41 at the bottom of the hoistway 2b. (6) It is confirmed that the car 4 has stopped at a predetermined position in the switching area 41 at the bottom of the hoistway 2b. (7) The moving rail 3a3 moves toward the front side of the hoistway 2b, i.e., toward the car door 13. (8) The upper rails 3b5 and 3c5 each rotate 90 degrees. The direction of rotation at this time is such that their longitudinal directions change from horizontal to vertical. When the upper rails 3b5 and 3c5 return to their original positions, the upper rail 3b5 releases the first self-boosting link 24 or the first pressing force averaging link 22, and the upper rail 3c5 releases the second self-boosting link 25 or the second pressing force averaging link 23.As a result, the return springs 29a, 29b cause the pair of wheels 21a and the pair of drive wheels 21b to contact the moving rail 3a3. (9) The lower rails 3b6, 3c6 each rotate 90 degrees. The direction of rotation at this time is such that their longitudinal directions change from horizontal to vertical. At this time, the lower rails 3b6, 3c6 and the horizontal movement drive wheels 28 separate, so the weight of the car 4 acts to press the pair of wheels 21a and the pair of drive wheels 21b against the moving rail 3a3 with a large force via the first self-boosting link 24 and the second self-boosting link 25. Therefore, the car 4 is held in place by friction. (10) The pair of drive wheels 21b are driven by the motor of the drive unit 6, causing it to move upward.

[0060] The transition operation in switching area 41 at the bottom of hoistways 2a and 2b has been described above, but a similar procedure can also be performed in switching area 41 at the top of hoistways 2a and 2b. Rotation of lower rails 3b2, 3c2, 3b4, 3c4, 3b6, 3c6, 3b8, and 3c8 and upper rails 3b1, 3c1, 3b3, 3c3, 3b5, 3c5, 3b7, and 3c7, and movement of moving rails 3a1, 3a2, 3a3, and 3a4 are driven by a motor installed on the hoistway 2 side. This allows the weight of car 4 to be reduced, thereby achieving energy savings.

[0061] Next, detailed operation of the rails in the switching area 41 will be described with reference to Figures 8 and 9. Figure 8 is a three-view diagram showing the elevator shaft structure when the switching area 41 in embodiment 1 moves vertically. Figure 9 is a three-view diagram showing the elevator shaft structure when the switching area 41 in embodiment 1 is horizontal.

[0062] Above and below the switching area 41 where the rails rotate and move, the guide rails 3b, 3c are fixed within the hoistway 2 by rail support members 30. The drive rail 3a is fixed within the hoistway 2 by the rail support members 30. For example, the rail support members 30 are L-shaped plate members or rod-shaped members. Meanwhile, the rail support members 30 that support the upper rails 3b1, 3c1 and the lower rails 3b2, 3c2, which are the guide rails within the switching area 41, are directly or indirectly connected to a motor 31. Each of the upper rails 3b1, 3c1 and the lower rails 3b2, 3c2 can rotate around an axis that is the longitudinal direction of the rail support members 30.

[0063] Furthermore, in a four-bar link 32 having one side fixed to the hoistway 2, the movable rail 3a1 is fixed to the link on the opposite side of the fixed link. With this configuration, by rotating the link of the four-bar link 32 with a motor (not shown), the movable rail 3a1 can be moved toward the front and rear of the hoistway 2. This makes it possible to ensure a travel path for the car 4 and the drive device 6.

[0064] In the example shown in Figures 8 and 9, the transfer rail 3a1 is provided with projections and recesses to prevent the set of first anti-tilt rollers 26, the set of second anti-tilt rollers 27, and the horizontal movement drive wheels 28 from falling into the gaps between the guide rails. Specifically, the transfer rail 3a1 is provided with a projection 34, a recess 35, and a recess 36. The projection 34 coincides with the position of the upper surface of the bottom plate 9 on the car 4 side in the gap between the lower rail 3b2 and the lower rail 3c2. This allows the projection 34 to fill the gap between the lower rail 3b2 and the lower rail 3c2, allowing the horizontal movement drive wheels 28 to pass smoothly. The recess 35 is located at the same position as the surface of the guide plate 10 on the wall side of the hoistway 2 of the upper rails 3b1 and 3c1. The recess 35 allows the set of first anti-tilt rollers 26 to pass smoothly. The position of the recess 36 coincides with the surface of the guide plate 10 on the car 4 side of the lower rails 3b2, 3c2. The provision of this recess 36 allows the pair of second tilt prevention rollers 27 to pass through smoothly.

[0065] In the present disclosure, each of the hoistways 2a and 2b corresponds to a "first path" used when the car 4 moves vertically. The path used when the car 4 moves horizontally is called a "second path."

[0066] The self-propelled elevator according to the present disclosure comprises a first rail (drive rail 3a) arranged along the longitudinal direction of the first path and on which the car 4 slides, a second rail (guide rails 3b, 3c) arranged along the longitudinal direction of the first path and guiding the movement of the car 4, a third rail (horizontal rail 3e2) arranged along the longitudinal direction of the second path and on which the car 4 slides, and a switching section (switching area 41) arranged at the position where the first path and the second path intersect.

[0067] It should be noted that the four switching sections (switching areas 41) in FIG. 1 have the same configuration, and therefore the description of one switching area 41 is common or similar to the other switching areas 41.

[0068] The switching section (switching area 41) has a moving rail 3a1 and a rotating section (lower rails 3b2, 3c2).

[0069] The moving rail 3a1 is movable between a position where the moving rail 3a1 connects to the first rail (drive rail 3a) when the car 4 moves to the first path, and a position where the car 4 does not come into contact with the moving rail 3a1 when the car 4 moves to the second path.

[0070] The rotating part (lower rails 3b2, 3c2) can be rotated between a rotation position where the rotating part (lower rails 3b2, 3c2) connects to the second rail (guide rails 3b, 3c) when the car 4 moves to the first path, and a rotation position where the rotating part (lower rails 3b2, 3c2) connects to the third rail (horizontal rail 3e2) when the car 4 moves to the second path.

[0071] According to the present disclosure, by using a configuration of the elevator shaft 2 in which the lower rails 3b2, 3c2, which correspond to the guide rails in the switching area 41, are rotated 90 degrees and the moving rail 3a1, which corresponds to the drive rail in the switching area 41, is moved from the travel path of the car 4, there is no need to rotate the car chamber 5 and the drive unit 6. This makes it possible to directly or indirectly fix the car chamber 5 and the drive unit 6. As a result, it is possible to simplify the structure and reduce the weight of the car 4. As a result of the lighter weight of the car 4, it is possible to reduce the energy (electricity) required for movement.

[0072] In a configuration in which the drive unit 6 rotates relative to the car 5, a means for fixing the car 5 to prevent rotation, such as by inserting a pin, is required. In contrast, in the self-propelled elevator of the present disclosure, the drive unit 6 is fixed to the car 5 so that it cannot rotate, eliminating the need for restraint by a pin or the like. This eliminates the need for high positioning accuracy for pin insertion, etc., and eliminates the difficulty of inserting and removing the pin, etc., due to the weight of the car 4 acting on the pin, etc.

[0073] The self-propelled elevator according to the present disclosure may further include a fourth rail (horizontal rail 3e1) arranged above the third rail (horizontal rail 3e2) and along the longitudinal direction of the second path.

[0074] The rotating portion may have a first partial rail (lower rails 3b2, 3c2) and a second partial rail (upper rails 3b1, 3c1).

[0075] The first partial rail (lower rail 3b2, 3c2) can be rotated between a rotational position where the first partial rail (lower rail 3b2, 3c2) connects to the second rail (guide rail 3b, 3c) when the car 4 moves to the first path, and a rotational position where the first partial rail (lower rail 3b2, 3c2) connects to the third rail (horizontal rail 3e2) when the car 4 moves to the second path.

[0076] The second partial rail (upper rail 3b1, 3c1) can be rotated between a rotational position where the second partial rail (upper rail 3b1, 3c1) is connected to each of the second rail (guide rail 3b, 3c) and the first partial rail (lower rail 3b2, 3c2) when the car 4 moves to the first path, and a rotational position where the second partial rail (upper rail 3b1, 3c1) is connected to the fourth rail (horizontal rail 3e1) when the car 4 moves to the second path.

[0077] During horizontal movement, the car 4 is supported by the first partial rail (lower rail 3b2, 3c2) and travels on the first partial rail (lower rail 3b2, 3c2). When the fourth rail (horizontal rail 3e1) and the second partial rail (upper rail 3b1, 3c1) are provided, the proper posture of the car 4 can be more reliably maintained with a simple configuration. However, the self-propelled elevator according to the present disclosure may not have the fourth rail (horizontal rail 3e1) and the second partial rail (upper rail 3b1, 3c1).

[0078] In the present disclosure, the car 4 may have first wheels (wheels 21 a, drive wheels 21 b) that roll in contact with one guide surface of the first rail (drive rail 3 a) when the car 4 moves along the first rail (drive rail 3 a), and second wheels (wheels 21 a, drive wheels 21 b) that roll in contact with the other guide surface of the first rail (drive rail 3 a) when the car 4 moves along the first rail (drive rail 3 a). In this case, at least one of the first wheels and the second wheels is a drive wheel. In this way, vertical movement by wheel drive makes it possible to reduce initial costs compared to a linear motor type.

[0079] In the present disclosure, the car 4 may have a third wheel (one of the drive wheels 28 for horizontal movement) and a fourth wheel (the other of the drive wheels 28 for horizontal movement). When the car 4 moves along the first path, the third wheel (one of the drive wheels 28 for horizontal movement) and the fourth wheel (the other of the drive wheels 28 for horizontal movement) do not contact either the first rail (drive rail 3a) or the second rail (guide rails 3b, 3c). When the car 4 moves along the second path, the third wheel (one of the drive wheels 28 for horizontal movement) and the fourth wheel (the other of the drive wheels 28 for horizontal movement) roll in contact with the third rail (horizontal rail 3e2). At least one of the third wheel (one of the drive wheels 28 for horizontal movement) and the fourth wheel (the other of the drive wheels 28 for horizontal movement) is a drive wheel. In this way, by driving wheels provided separately from the wheels for vertical movement, the car 4 can be moved horizontally with a simple configuration. This allows for a reduction in initial costs compared to linear motor systems.

[0080] The drive wheel, which is at least one of the first wheel and the second wheel, and the drive wheel, which is at least one of the third wheel and the fourth wheel, may be driven by a common power source. The power source may be an electric motor. By sharing a power source, it is possible to reduce the number of power sources, thereby enabling weight reduction and cost reduction.

[0081] In this embodiment, the set of the first self-boosting link 24 and the second self-boosting link 25 and the set of the first pressing force averaging link 22 and the second pressing force averaging link 23 are symmetrical with respect to the drive rail 3a. This provides greater robustness than a left-right asymmetrical structure and allows for greater tolerance of uneven loads of passengers or luggage in the car 5.

[0082] In the present embodiment, the self-propelled elevator further includes support parts (first pushing force averaging link 22, second pushing force averaging link 23, first self-boosting link 24, second self-boosting link 25) that support the first and second wheels (wheel 21 a, drive wheel 21 b). As shown in Fig. 7 , when the travel path of the car 4 switches from the first path to the second path, the rotating parts (upper rails 3b1, 3c1) rotate, and the rotating parts (upper rails 3b1, 3c1) come into contact with the support parts (at least one of the first pushing force averaging link 22, second pushing force averaging link 23, first self-boosting link 24, and second self-boosting link 25), causing the first wheels (wheel 21 a, drive wheel 21 b) to move away from one guide surface of the travel rail 3a1, and the second wheels (wheel 21 a, drive wheel 21 b) to move away from the other guide surface of the travel rail 3a1. This allows the pressing force against the moving rail 3a1 to be released, allowing the moving rail 3a1 to move and the car 4 to move horizontally.

[0083] In the path switching method for a self-propelled elevator according to the present disclosure, the switching section (switching area 41) includes a movable rail 3a1, a first partial rail (lower rails 3b2, 3c2), and a second partial rail (upper rails 3b1, 3c1). The movable rail 3a1 is movable between a connection position where the movable rail 3a1 is connected to the first rail (drive rail 3a) when the car 4 is moving to the first path and a non-contact position where the car 4 is not in contact with the movable rail 3a1 when the car 4 is moving to the second path. The first partial rail (lower rails 3b2, 3c2) is rotatably movable between a rotation position where the first partial rail (lower rails 3b2, 3c2) is connected to the second rail (guide rails 3b, 3c) when the car 4 is moving to the first path and a rotation position where the first partial rail (lower rails 3b2, 3c2) is connected to the third rail (horizontal rail 3e2) when the car 4 is moving to the second path. The second partial rail (upper rail 3b1, 3c1) can be rotated between a rotational position where the second partial rail (upper rail 3b1, 3c1) is connected to each of the second rail (guide rail 3b, 3c) and the first partial rail (lower rail 3b2, 3c2) when the car 4 moves to the first path, and a rotational position where the second partial rail (upper rail 3b1, 3c1) is connected to the fourth rail (horizontal rail 3e1) when the car 4 moves to the second path.

[0084] In the path switching method for a self-propelled elevator according to the present disclosure, when switching the travel path of a car 4 from a first path to a second path, the first partial rail (lower rail 3b2, 3c2) is rotated from a rotation position where the first partial rail (lower rail 3b2, 3c2) is parallel to the vertical direction to a rotation position where the first partial rail (lower rail 3b2, 3c2) is parallel to the horizontal direction. Then, the second partial rail (upper rail 3b1, 3c1) is rotated from a rotation position where the second partial rail (upper rail 3b1, 3c1) is parallel to the vertical direction to a rotation position where the second partial rail (upper rail 3b1, 3c1) is parallel to the horizontal direction. Then, the travel rail 3a1 is moved from the connected position to the non-contact position.

[0085] Furthermore, in the path switching method for a self-propelled elevator according to the present disclosure, when switching the travel path of the car 4 from the second path to the first path, the moving rail 3a1 is moved from a non-contact position to a connection position, and then the second partial rail (upper rail 3b1, 3c1) is rotationally moved from a rotation position where the second partial rail (upper rail 3b1, 3c1) is parallel to the horizontal direction to a rotation position where the second partial rail (upper rail 3b1, 3c1) is parallel to the up-down direction, and then the first partial rail (lower rail 3b2, 3c2) is rotationally moved from a rotation position where the first partial rail (lower rail 3b2, 3c2) is parallel to the horizontal direction to a rotation position where the first partial rail (lower rail 3b2, 3c2) is parallel to the up-down direction, in this order.

[0086] As shown in FIG. 1 , a control unit 15 is provided for the hoistway 2. The control unit 15 may be located in a machine room (not shown) above the hoistway 2, or may be located within the hoistway 2. The control unit 15 controls the operation of equipment provided in the switching area 41. For example, the control unit 15 controls the rotation of the lower rails 3b2, 3c2, 3b4, 3c4, 3b6, 3c6, 3b8, and 3c8 and the upper rails 3b1, 3c1, 3b3, 3c3, 3b5, 3c5, 3b7, and 3c7, and the movement of the movable rails 3a1, 3a2, 3a3, and 3a4. The control unit 7 of the car 4 and the control unit 15 of the hoistway 2 may work together to implement the route switching method for a self-propelled elevator according to the present disclosure.

[0087] Next, a first modified example will be described using FIG. 10 , and a second modified example will be described using FIG. 11 . FIG. 10 is a rear view and a side view showing a first modified example in embodiment 1. FIG. 11 is a rear view and a side view showing a second modified example in embodiment 1. In the example shown in FIGS. 8 and 9 described above, the upper rails 3b1 and 3c1 and the lower rails 3b2 and 3c2 are rotated horizontally, and the movable rail 3a1 is disposed in the gap between the upper rails 3b1 and 3c1 and in the gap between the lower rails 3b2 and 3c2. On the other hand, the first and second modified examples are configured such that the movable rail 3a1 is not sandwiched between the upper rails 3b1 and 3c1 and between the lower rails 3b2 and 3c2.

[0088] In the first variant of Figure 10, the distance between the rotation centers of the upper rails 3b1, 3c1 and the lower rails 3b2, 3c2 is increased and the length of the movable rail 3a1 is shortened so that the movable rail 3a1 can pass between the upper rails 3b1, 3c1 and the lower rails 3b2, 3c2 when in the horizontal position.

[0089] In the second modified example of FIG. 11, the moving rail 3a1 is moved obliquely upward or downward instead of moving in the front-rear direction.

[0090] By configuring it as in the first or second variant described above, there is no need to provide the moving rail 3a1 with irregularities that match the shape of the upper rails 3b1, 3c1 or the lower rails 3b2, 3c2, which simplifies the shape and reduces costs.

[0091] Furthermore, in a configuration in which the movable rail 3a1 is inserted between the left and right lower rails 3b2 and 3c2, a gap is required between the lower rails 3b2 and 3c2 and the movable rail 3a1. Therefore, a gap or step may occur between the left lower rail 3b2 and the movable rail 3a1 during horizontal movement. Furthermore, a gap or step may occur between the movable rail 3a1 and the right lower rail 3c2 during horizontal movement. Passing through two gaps or steps at a distance approximately the thickness of the movable rail 3a1 can cause vibration. A similar problem occurs with the upper rails 3b1 and 3c1. In contrast, the first and second variants involve only the rotation of the upper rails 3b1 and 3c1 and the lower rails 3b2 and 3c2, making them easier to control and enabling the gap or step between the upper rails 3b1 and 3c1 and the gap or step between the lower rails 3b2 and 3c2 to be reduced. Furthermore, since there is only one gap or step, vibration of the car 4 can be suppressed, improving the ride comfort.

[0092] Embodiment 2 Next, a second embodiment will be described with reference to Figures 12 to 15. The description will focus on the differences from the first embodiment described above, and the description of the commonalities will be simplified or omitted. Elements that are common to or correspond to the elements described above will be given the same reference numerals.

[0093] Figures 12 to 15 are diagrams showing the relationship between the drive device, drive rail, and guide rail of an elevator system to which the drive device for a self-propelled elevator according to embodiment 2 is applied. Figure 12 is a rear view of the drive device for a self-propelled elevator according to embodiment 2 during vertical movement. Figure 13 is a side view of the drive device for a self-propelled elevator according to embodiment 2 during vertical movement. Figure 14 is a rear view of the drive device for a self-propelled elevator according to embodiment 2 during horizontal movement. Figure 15 is a side view of the drive device for a self-propelled elevator according to embodiment 2 during horizontal movement.

[0094] In the first embodiment, one guide rail 3b and one guide rail 3c are disposed on each side of the car 4. In contrast, the second embodiment is configured such that only one guide rail is disposed on one side of the car 4. With only one guide rail, the car 4 is likely to rotate about its vertical axis, which could result in displacement of the car 4 on the side where there is no guide rail. Therefore, the car 4 of the self-propelled elevator in this embodiment is equipped with a third anti-tilt roller 33, which is stronger than the first anti-tilt roller 26 and the second anti-tilt roller 27. The third anti-tilt roller 33 is configured such that both sides of the guide plate of the guide rail are sandwiched between two rollers or wide rollers, thereby preventing the car 4 from rotating.

[0095] Furthermore, because only one rail is used to switch between vertical movement and horizontal movement, the lengths of the upper rail 3d1 and the lower rail 3d2 must be longer than in embodiment 1. In this configuration, the position of the gap between the upper rail 3d1 and the horizontal rail 3e1 when horizontal, and the position of the gap between the lower rail 3d2 and the horizontal rail 3e2 when horizontal, do not coincide with the position of the movable rail 3a1. Therefore, as in the first or second modified example of embodiment 1, the movable rail 3a1 is not sandwiched between the upper rail 3d1 and the horizontal rail 3e1 when horizontal, and between the lower rail 3d2 and the horizontal rail 3e2 when horizontal.

[0096] Other than the above, the configuration of the car 4, the configuration of the elevator shaft 2, and the operation related to switching of the travel direction in the second embodiment are the same as those in the first embodiment. By adopting such a configuration, the number of guide rails can be reduced to one, which allows for a significant cost reduction.

[0097] Embodiment 3 Next, a third embodiment will be described with reference to Figures 16 to 19. The description will focus on the differences from the first embodiment described above, and the description of the commonalities will be simplified or omitted. Elements that are common to or correspond to the elements described above will be denoted by the same reference numerals.

[0098] As described in the first and second embodiments, in a system in which the vertical and horizontal movement directions are switched by rotating the lower rail 3b2, 3c2 or the lower rail 3d2 and the upper rail 3b1, 3c1 or the upper rail 3d1 and moving the moving rail 3a1, the car 4 will completely detach from the drive rail 3a when moving in the horizontal direction. If the moving rail 3a1 does not move normally when switching from horizontal movement to vertical movement, and the lower rail 3b2, 3c2 or the lower rail 3d2 and the upper rail 3b1, 3c1 or the upper rail 3d1 rotate, the pair of wheels 21a and the pair of drive wheels 21b will not be able to properly grip the moving rail 3a1, and there is a possibility that the car 4 will detach from each rail. To more reliably avoid such a situation, it is desirable to impose mechanical constraints so that the lower rails 3b2, 3c2 or lower rail 3d2, the upper rails 3b1, 3c1 or upper rail 3d1, and the moving rail 3a1 can only operate in the correct order.

[0099] 16 and 17 show a malfunction prevention mechanism that imposes a mechanical constraint on the structure of the elevator shaft 2 shown in FIGS. 8 and 9 of the first embodiment. FIG. 16 is a front view and a top view showing the malfunction prevention mechanism that imposes a mechanical constraint on the elevator shaft 2 in the vertical direction in the third embodiment. FIG. 17 is a front view and a top view showing the malfunction prevention mechanism that imposes a mechanical constraint on the elevator shaft 2 in the horizontal direction in the third embodiment. The mechanism that imposes a mechanical constraint on the elevator shaft 2 is composed of the following three mechanisms.

[0100] The first mechanism, malfunction prevention mechanism 61, is located between the lower rail 3c2 and the upper rail 3c1 and restricts the rotation order. Malfunction prevention mechanism 61 is shown on the right guide rail in Figures 16 and 17. Malfunction prevention mechanism 61 has a plate 52 fixed to the lower rail 3c2. Plate 52 has a slit 51 consisting of two arc-shaped grooves facing in opposite directions. A rod-shaped member 54 is fixed to the upper rail 3c1. One end of the rod-shaped member 54 is fixed to the upper rail 3c1, and the other end has a roller 53, which functions as a protrusion that can move relatively within slit 51. The mechanism installed on the left guide rail in Figures 16 and 17 is malfunction prevention mechanism 62, which is a different structural example of the first malfunction prevention mechanism 61 and will be described later.

[0101] FIG. 18 illustrates the mechanical constraints imposed on the upper rail 3c1 and the lower rail 3c2 by the malfunction prevention mechanism 61 in the third embodiment. The correct order of movement when the lower rails 3b2, 3c2 and the upper rails 3b1, 3c1 transition from the vertical direction to the horizontal direction is (1) the lower rails 3b2, 3c2 rotate, and (2) the upper rails 3b1, 3c1 rotate. The correct order of movement is explained below. Initially, the upper rails 3b1, 3c1 do not rotate, so the rod-shaped member 54 fixed to the upper rail 3c1 and the roller 53 fixed to the end of the rod-shaped member do not move. In this state, the lower rails 3b2, 3c2 rotate. The plate 52 with a slit 51 fixed to the lower rail 3c2 also rotates. The slit 51 has a first arc-shaped groove 51a and a second arc-shaped groove 51b. First groove 51a extends along an arc centered on the central axis of rotation of lower rail 3c2, which is the first partial rail. When lower rail 3c2 rotates, roller 53 attached to rod-shaped member 54 passes through first groove 51a of slit 51.

[0102] Next, as upper rails 3b1, 3c1 rotate, rollers 53 move from left to right in second groove 51b of slit 51. Second groove 51b extends along an arc centered on the central axis of rotation of upper rail 3c1, the second partial rail, when lower rail 3c2, the first partial rail, is in a horizontal position. When lower rails 3b2, 3c2 and upper rails 3b1, 3c1 transition from the horizontal direction to the vertical direction, the above-described order is reversed.

[0103] On the other hand, the constraints that arise when an incorrect order of movement is attempted will now be described. When the lower rails 3b2, 3c2 and the upper rails 3b1, 3c1 are vertically oriented, and the upper rails 3b1, 3c1 attempt to rotate first, contrary to the intended order, the following occurs. Although the slit 51 fixed to the lower rail 3c2 is arc-shaped, it is generally disposed vertically, while the rod-shaped member 54 and roller 53 fixed to the upper rail 3c1 attempt to move generally horizontally. This causes contact and interference between the slit 51 and the roller 53, preventing the upper rails 3b1, 3c1 from rotating. Furthermore, when the lower rails 3b2, 3c2 and the upper rails 3b1, 3c1 are horizontally oriented, and the lower rails 3b2, 3c2 attempt to rotate first, contrary to the intended order, the slit 51 and roller 53 also come into contact and interfere with each other, preventing the lower rails 3b2, 3c2 from rotating.

[0104] In the structure of the malfunction prevention mechanism 61 described above, there is a possibility that a malfunction will occur in which the roller 53 cannot move if, for some reason, the roller 53 becomes tilted or dust gets caught in the slit 51. A mechanism that solves this problem is a malfunction prevention mechanism 62, which is a different structural example and is provided on the left guide rail in Figures 16 and 17.

[0105] 16 and 17 , in a malfunction prevention mechanism 62 of another structural example, a first fan-shaped member 551 is fixed to the lower rail 3b2. A roller 53 equivalent to a cylindrical protrusion is fixed to the end of the first fan-shaped member 551. A second fan-shaped member 552 is fixed to the upper rail 3b1. A roller 53 equivalent to a cylindrical protrusion is fixed to the end of the second fan-shaped member 552. When the upper rail 3b1 and the lower rail 3b2 are parallel in the vertical direction, the first fan-shaped member 551 and the second fan-shaped member 552 are arranged to overlap each other.

[0106] 19 is a diagram showing the operation of the mechanical constraint of upper rail 3b1 and lower rail 3b2 by malfunction prevention mechanism 62 in embodiment 3. When lower rail 3b2 and upper rail 3b1 transition from the vertical direction to the horizontal direction, roller 53 of second fan-shaped member 552 of upper rail 3b1 contacts and interferes with first fan-shaped member 551 of lower rail 3b2, preventing upper rails 3b1 and 3c1 from moving while allowing lower rails 3b2 and 3c2 to rotate. When lower rails 3b2 and 3c2 finish rotating, space is created allowing roller 53 of second fan-shaped member 552 of upper rail 3b1 to move, allowing upper rails 3b1 and 3c1 to rotate. When the lower rails 3b2, 3c2 and the upper rails 3b1, 3c1 transition from the horizontal direction to the vertical direction, the rollers 53 of the first fan-shaped member 551 of the lower rail 3b2 come into contact with and interfere with the second fan-shaped member 552 of the upper rail 3b1, preventing operation in the wrong order, and rotation is only possible in the order of rotation of the upper rails 3b1, 3c1, followed by rotation of the lower rails 3b2, 3c2. By using such first fan-shaped member 551 and second fan-shaped member 552, slits are eliminated, and the problem of the rollers 53 becoming stuck due to foreign matter or the like, preventing the rails from rotating, does not occur.

[0107] Next, the second mechanism, the malfunction prevention mechanism 63, which restricts the movement order of the upper rails 3b1, 3c1 and the movable rail 3a1, will be described. As shown in FIGS. 16 and 17 , in the malfunction prevention mechanism 63, a plate-shaped first stop member 56 is attached to the movable rail 3a1 at a portion facing the wall of the hoistway 2. The first stop member 56 may be attached directly to the movable rail 3a1. Alternatively, the first stop member 56 may be attached to a mechanism that moves the movable rail 3a1. A round bar 58, which is a rod-shaped member that can rotate around an axis in the longitudinal direction, is installed in the hoistway 2. A rectangular or elliptical second stop member 57 is fixed to the tip of the round bar 58. The rectangular or elliptical second stop member 57 fixed to the tip of the round bar 58 may contact the first stop member 56 from a position closer to the wall of the hoistway 2 than the first stop member 56 fixed to the movable rail 3a1. The rotation of round bar 58 and the rotation of upper rails 3b1, 3c1 are synchronized via belt 59 or the like. As shown in Figure 16, when upper rails 3b1, 3c1 are oriented in the vertical direction, the long side direction of rectangular or elliptical second stop member 57 fixed to the tip of round bar 58 is set perpendicular to movable rail 3a1.

[0108] With this configuration, when the upper rails 3b1, 3c1 are in the vertical direction, the rectangular or elliptical second stop member 57 comes into contact with and interferes with the first stop member 56 provided on the movable rail 3a1, making it impossible to move the movable rail 3a1 from the connected position to the non-contact position, as shown in Fig. 16. In contrast, when the upper rails 3b1, 3c1 are in the horizontal direction, the short side of the rectangular or elliptical second stop member 57 becomes perpendicular to the movable rail 3a1, preventing contact and interference between the rectangular or elliptical second stop member 57 and the first stop member 56 fixed to the movable rail 3a1, making it possible to move the movable rail 3a1 from the connected position to the non-contact position, as shown in Fig. 17.

[0109] The third mechanism prevents the lower rails 3b2 and 3c2 or the upper rails 3b1 and 3c1 from rotating before the movable rail 3a1 from the horizontal movement state shown in FIG. 17 . In FIG. 17 , the pair of upper rails 3b1 and 3c1 and the pair of lower rails 3b2 and 3c2 are parallel to the horizontal direction. Furthermore, the movable rail 3a1 is disposed in a non-contact position between the pair of upper rails 3b1 and 3c1. Furthermore, the movable rail 3a1 is disposed in a non-contact position between the pair of lower rails 3b2 and 3c2. The gaps between the lower rails 3b2 and 3c2 and the movable rail 3a1, and the gaps between the upper rails 3b1 and 3c1 and the movable rail 3a1 are very small. In this state, the lower rails 3b2 and 3c2 and the upper rails 3b1 and 3c1 come into contact with and interfere with the movable rail 3a1, preventing them from rotating. First, the moving rail 3a1 must move from the non-contact position to the connected position, after which the upper rails 3b1 and 3c1 can rotate, and then the lower rails 3b2 and 3c2 can rotate.

[0110] Due to the existence of these three mechanisms that act as mechanical constraints, when the car 4 transitions from vertical movement to horizontal movement, the following order of operations is more reliably guaranteed: (1) The lower rails 3b2, 3c2 rotate from the vertical direction to the horizontal direction; (2) The upper rails 3b1, 3c1 rotate from the vertical direction to the horizontal direction; and (3) The moving rail 3a1 moves from the connected position to the non-contact position.

[0111] Furthermore, when the car 4 transitions from horizontal movement to vertical movement, the following sequence of operations is more reliably guaranteed: (1) The moving rail 3a1 moves from the non-contact position to the connection position; (2) The upper rails 3b1 and 3c1 rotate from the horizontal direction to the vertical direction; and (3) The lower rails 3b2 and 3c2 rotate from the horizontal direction to the vertical direction.

[0112] As described above, the self-propelled elevator according to the present disclosure may further include a malfunction prevention mechanism. The malfunction prevention mechanism mechanically restricts switching of the travel path of the car 4 from the first path to the second path so that the switching is only possible in the following order: rotationally moving the first partial rail (lower rail 3b2, 3c2) from a rotational position where the first partial rail (lower rail 3b2, 3c2) is parallel to the vertical direction to a rotational position where the first partial rail (lower rail 3b2, 3c2) is parallel to the horizontal direction, then rotationally moving the second partial rail (upper rail 3b1, 3c1) from a rotational position where the second partial rail (upper rail 3b1, 3c1) is parallel to the vertical direction to a rotational position where the second partial rail (upper rail 3b1, 3c1) is parallel to the horizontal direction, and then moving the travel rail from the connected position to the non-contact position.

[0113] In addition, when switching the travel path of the car 4 from the second path to the first path, the malfunction prevention mechanism mechanically restricts switching so that it is only possible in the following order: moving the travel rail 3a1 from a non-contact position to a connection position, then rotating the second partial rail (upper rail 3b1, 3c1) from a rotation position where the second partial rail (upper rail 3b1, 3c1) is parallel to the horizontal direction to a rotation position where the second partial rail (upper rail 3b1, 3c1) is parallel to the up-down direction, and then rotating the first partial rail (lower rail 3b2, 3c2) from a rotation position where the first partial rail (lower rail 3b2, 3c2) is parallel to the horizontal direction to a rotation position where the first partial rail (lower rail 3b2, 3c2) is parallel to the up-down direction.

[0114] 20 is a diagram showing an example of hardware resources of the control unit 7 of the car 4 and the control unit 15 of the elevator shaft 2. Each of the control unit 7 and the control unit 15 may be provided with a processing circuit 70 including a processor 71 and a memory 72 as hardware resources. Each of the control unit 7 and the control unit 15 may achieve the functions of each of the control unit 7 and the control unit 15 by executing a program stored in the memory 72 by the processor 71. A semiconductor memory or the like can be used as the memory 72.

[0115] Fig. 21 is a diagram showing another example of hardware resources of the control unit 7 of the car 4 and the control unit 15 of the hoistway 2. In the example shown in Fig. 21, each of the control units 7 and 15 includes a processing circuit 70 including a processor 71, a memory 72, and dedicated hardware 73. Fig. 21 shows an example in which some of the functions of each of the control units 7 and 15 are achieved by the dedicated hardware 73. All of the functions of each of the control units 7 and 15 may also be achieved by the dedicated hardware 73. The dedicated hardware 73 can be a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0116] The self-propelled elevator and the route switching method for the self-propelled elevator according to the present disclosure can be used, for example, in a self-propelled elevator installed in a building.

[0117] REFERENCE SIGNS LIST 1 elevator, 2 hoistway, 2a hoistway, 2b hoistway, 3a drive rail, 3a1 moving rail, 3a2 moving rail, 3a3 moving rail, 3a4 moving rail, 3b guide rail, 3b1 upper rail, 3b2 lower rail, 3b3 upper rail, 3b4 lower rail, 3b5 upper rail, 3b6 lower rail, 3b7 upper rail, 3b8 lower rail, 3c guide rail, 3c1 upper rail, 3c2 lower rail, 3c3 upper rail, 3c4 lower rail, 3c5 upper rail, 3c6 lower rail, 3c7 upper rail, 3c8 lower rail, 3d1 upper rail, 3d2 lower rail, 3e1 horizontal rail, 3e2 horizontal rail, 3e3 horizontal rail, 3e4 horizontal rail, 4 car, 5 car room, 6 drive device, 7 control unit, 8 car floor, 9 bottom plate, 10 guide plate, 11 guide surface, 13 car door, 15 control unit, 20 support, 21a wheel, 21b drive wheel, 22 first pressing force equalizing link, 23 second pressing force equalizing link, 24 first self-boosting link, 25 second self-boosting link, 26 first anti-tilt roller, 27 second anti-tilt roller, 28 horizontal movement drive wheel, 30 rail support member, 31 motor, 32 four-bar link, 33 third anti-tilt roller, 34 convex portion, 35 concave portion, 36 concave portion, 41 Switching area, 51 Slit, 51a First groove, 51b Second groove, 52 Plate, 53 Roller, 54 Rod-shaped member, 56 First stop member, 57 Second stop member, 58 Round bar, 59 Belt, 61 Malfunction prevention mechanism, 62 Malfunction prevention mechanism, 63 Malfunction prevention mechanism, 70 Processing circuit, 71 Processor, 72 Memory, 73 Dedicated hardware, 551 First fan-shaped member, 552 Second fan-shaped member

Claims

1. Basket, a first path used when the car moves in a vertical direction; a second path used when the car moves horizontally; a first rail provided along a longitudinal direction of the first path, on which the car slides; a second rail provided along a longitudinal direction of the first path and configured to guide movement of the car; a third rail provided along a longitudinal direction of the second path, on which the car slides; A switching unit provided at a position where the first path and the second path intersect; Equipped with The switching unit has a moving rail and a rotating unit, The moving rail is movable between a position where the moving rail is connected to the first rail when the car moves to the first path and a position where the car does not contact the moving rail when the car moves to the second path, The rotating part is rotatably movable between a rotational position where the rotating part connects to the second rail when the car moves to the first path and a rotational position where the rotating part connects to the third rail when the car moves to the second path.

2. A fourth rail is provided above the third rail and along the longitudinal direction of the second path, The rotating portion has a first partial rail and a second partial rail, the first partial rail is rotatably movable between a rotational position where the first partial rail connects to the second rail when the car moves to the first path and a rotational position where the first partial rail connects to the third rail when the car moves to the second path; The self-propelled elevator according to claim 1, wherein the second partial rail is rotatably movable between a rotational position where the second partial rail is connected to each of the second rail and the first partial rail when the car moves to the first path, and a rotational position where the second partial rail is connected to the fourth rail when the car moves to the second path.

3. The cage is a first wheel that rolls in contact with one guide surface of the first rail when the car moves along the first rail; a second wheel that rolls in contact with the other guide surface of the first rail when the car moves along the first rail; having The self-propelled elevator according to claim 1 or 2, wherein at least one of the first wheel and the second wheel is a drive wheel.

4. the cage has a third wheel and a fourth wheel; When the car moves along the first path, each of the third wheel and the fourth wheel does not contact either the first rail or the second rail, When the car moves along the second path, each of the third wheel and the fourth wheel rolls in contact with the third rail, The self-propelled elevator according to claim 3, wherein at least one of the third wheel and the fourth wheel is a drive wheel.

5. Further equipped with a power source, The self-propelled elevator according to claim 4, wherein the drive wheel which is at least one of the first wheel and the second wheel, and the drive wheel which is at least one of the third wheel and the fourth wheel are driven by a common power source.

6. A support portion supporting the first wheel and the second wheel is further provided, 4. The self-propelled elevator according to claim 3, wherein when the moving path of the car switches from the first path to the second path, the rotating part rotates, and the rotating part comes into contact with the support part, causing the first wheel to move away from one guide surface of the moving rail and the second wheel to move away from the other guide surface of the moving rail.

7. Basket, a first path used when the car moves in a vertical direction; a second path used when the car moves horizontally; a first rail provided along a longitudinal direction of the first path, on which the car slides; a second rail provided along a longitudinal direction of the first path and configured to guide movement of the car; a third rail provided along a longitudinal direction of the second path, on which the car slides; a fourth rail provided above the third rail and along the longitudinal direction of the second path; A switching unit provided at a position where the first path and the second path intersect; A method for switching a route of a self-propelled elevator comprising: The switching portion includes a moving rail, a first partial rail, and a second partial rail, The moving rail is movable between a connection position where the moving rail is connected to the first rail when the car moves to the first path and a non-contact position where the car does not contact the moving rail when the car moves to the second path, the first partial rail is rotatably movable between a rotational position where the first partial rail connects to the second rail when the car moves to the first path and a rotational position where the first partial rail connects to the third rail when the car moves to the second path; the second partial rail is rotatably movable between a rotation position where the second partial rail is connected to each of the second rail and the first partial rail when the car moves to the first path, and a rotation position where the second partial rail is connected to the fourth rail when the car moves to the second path; When switching the movement path of the car from the first path to the second path, Rotating the first partial rail from a rotation position where the first partial rail is parallel to a vertical direction to a rotation position where the first partial rail is parallel to a horizontal direction; Then, the second partial rail is rotated from a rotation position where the second partial rail is parallel to the vertical direction to a rotation position where the second partial rail is parallel to the horizontal direction, Then, the moving rail is moved from the connection position to the non-contact position. When switching the movement path of the car from the second path to the first path, Moving the moving rail from the non-contact position to the connection position; Then, the second partial rail is rotated from a rotation position where the second partial rail is parallel to a horizontal direction to a rotation position where the second partial rail is parallel to a vertical direction, The method for switching paths of a self-propelled elevator further comprises rotating the first partial rail from a rotation position where the first partial rail is parallel to the horizontal direction to a rotation position where the first partial rail is parallel to the vertical direction.

8. The self-propelled elevator further includes a malfunction prevention mechanism, When switching the moving path of the car from the first path to the second path, the malfunction prevention mechanism Rotating the first partial rail from a rotation position where the first partial rail is parallel to a vertical direction to a rotation position where the first partial rail is parallel to a horizontal direction; Then, the second partial rail is rotated from a rotation position where the second partial rail is parallel to the vertical direction to a rotation position where the second partial rail is parallel to the horizontal direction, Then, the moving rail is mechanically restricted so that switching is only possible in the order of moving from the connection position to the non-contact position, When switching the moving path of the car from the second path to the first path, the malfunction prevention mechanism Moving the moving rail from the non-contact position to the connection position; Then, the second partial rail is rotated from a rotation position where the second partial rail is parallel to a horizontal direction to a rotation position where the second partial rail is parallel to a vertical direction, The route switching method for a self-propelled elevator according to claim 7, further comprising mechanically restricting the first partial rail so that switching is only possible in the following order: from a rotation position where the first partial rail is parallel to the horizontal direction to a rotation position where the first partial rail is parallel to the up-down direction.

9. The malfunction prevention mechanism includes: a member fixed to the first partial rail and having a first arcuate groove and a second arcuate groove; a protrusion fixed to the second partial rail and movable along the first groove and the second groove relative to the first groove and the second groove; Equipped with The first groove extends along an arc centered on the rotation central axis of the first partial rail, The route switching method for a self-propelled elevator according to claim 8, wherein the second groove extends along an arc centered on the rotation central axis of the second partial rail with the first partial rail parallel to the horizontal direction.

10. The malfunction prevention mechanism includes: A first fan-shaped member fixed to the first partial rail and having a cylindrical protrusion at one end; A second fan-shaped member fixed to the second partial rail and having a cylindrical protrusion at one end; Equipped with When the first partial rail and the second partial rail are parallel in the up-down direction, the first fan-shaped member and the second fan-shaped member are arranged to overlap each other, and the first partial rail is rotatable. The protrusion of the second fan-shaped member comes into contact with the first fan-shaped member to prevent the second partial rail from rotating.

9. A route switching method for a self-propelled elevator as described in claim 8, wherein when the first partial rail and the second partial rail are horizontally parallel, the second partial rail is rotatable, and the rotation of the first partial rail is prevented by the protrusion of the first fan-shaped member contacting the second fan-shaped member.

11. The malfunction prevention mechanism includes: A first stop member attached to the moving rail or a mechanism for moving the moving rail; a second stop member provided at a tip of a rod-shaped member that rotates in synchronization with the rotation of the second partial rail; Equipped with When the second partial rail is parallel to the up-down direction, the first stop member contacts the second stop member, thereby preventing the movement of the movable rail from the connection position to the non-contact position, A route switching method for a self-propelled elevator as described in claim 8 or claim 9, wherein when the second partial rail is parallel to the horizontal direction, the moving rail can move from the connection position to the non-contact position without the first regulating member contacting the second regulating member.

12. The self-propelled elevator has a pair of the first partial rails and a pair of the second partial rails, A route switching method for a self-propelled elevator as described in claim 8 or claim 9, wherein when the pair of first partial rails and the pair of second partial rails are horizontally parallel, the moving rail is arranged between the pair of first partial rails, and the moving rail is arranged between the pair of second partial rails.