JPH09110341A - Vibration control device for elevator car room - Google Patents

Abstract

(57) [Abstract] [Problem] In a conventional elevator, when the vehicle is traveling, the rolling motion of the cab due to the guide rail is insufficiently prevented and the riding comfort is not good. . SOLUTION: A movable weight capable of linear reciprocating motion is provided in the lower part of the cab, and when the sway of the cab is detected, the movable weight is driven by a motor in response to the sway to roll the sway using inertia of the weight. Performs damping control (damping).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration control device for an elevator cab.

[0002]

2. Description of the Related Art Fig. 1 shows a conventional elevator car.
This will be described with reference to Nos. 4 and 15.

An elevator car traveling along a guide rail in a hoistway of a high-rise building generally has the following structure.
That is, two guide rails 2 are vertically provided on the side wall of the hoistway 1 of a high-rise building.
In between, a car 4 that runs up and down on the main rope 3 is installed. The car 4 includes a car frame 5 and a (elevator) car room 6 mounted on the car frame 5.

Four guide rail guide devices 7 are attached above and below the car frame 5. In this guide device 7, one end of a lever 8b is rotatably attached to a guide device base 8a fixed to the car frame 5, and a guide roller 8c is attached to the other end of the lever 8b. 8c
In order to suppress the displacement of the guide rail 8a, a guide spring 8e is attached between a rod 8d having one end fixed to the guide base 8a and a lever 8b.
It rolls and guides both sides and the end face.

Further, a floor receiving frame 9 is installed on the upper surface of the lower portion of the car frame 5, and a vibration isolating rubber 10 for supporting the car room 6 is interposed between the floor receiving frame 9 and the lower surface of the car frame.

[0006] In such a conventional car, the car 4 receives vibrations from the guide rail 2 due to bending of the guide rail 2, bending due to installation errors in the installation of the guide rail 2, and further due to steps of rail joints. Since it is transmitted and this reduces the riding comfort of the car room 6, the vibration of the car is absorbed by the vibration damping device such as the vibration damping rubber 10 to improve the riding comfort of the car.

[0007]

However, in such a conventional elevator cab, it is not possible to completely eliminate the vibrations from the guide rails, and generally, when the traveling speed increases, the guide rails are correspondingly increased. Since the vibration from the car also increases, if the car operating speed exceeds a certain value, the rolling of the car room received from each guide rail exceeds the allowable range,
There was a problem that the ride became uncomfortable.

When the car speed reaches a certain value, the vibration frequency due to the forced displacement such as the bending of the guide rails and the natural frequency of the car room coincide with each other to cause a resonance phenomenon, causing the car room to move violently. There was also a problem that the vehicle could shake and significantly deteriorate the riding comfort.

The present invention has been made in view of the above problems, and is provided with a weight that directly moves in a direction in which the vibration of the cab is attenuated, and the inertial force is exerted to reduce the vibration, thereby improving the riding comfort. An object of the present invention is to provide a vibration control device for an elevator cab that can be improved.

[0010]

According to a first aspect of the present invention, an actuator portion is included in a vibration damping device including a control device and an actuator (a portion that causes a motor to linearly move a weight to generate an inertial force). Installed at the bottom of the elevator car room. Furthermore, the vibration sensor installed in the car room detects the rolling motion of the car room, and the control output is used by the controller to calculate the signal.The inertial force from the actuator is used as the damping force for the rolling motion of the car room. The controller is configured to generate With such a configuration, it is possible to effectively suppress the sway of the cab by forcibly generating the damping force by active control with respect to the sway of the cab of the elevator.

In the vibration damping device according to the second aspect of the present invention, by duplicating the vibration sensor installed in the cab and confirming the matching of these signals, if any one of them fails, it is promptly detected. It is possible to detect and perform a protective operation, prevent the vibration damping device from malfunctioning due to a failure of the vibration sensor, and provide a highly reliable vibration damping device. That is, the vibration sensor installed in the car room is duplicated, and the sum of the two output signals is used for the control calculation, while the difference between the two signal outputs is calculated, and this is used to detect the failure of the vibration sensor and when the failure occurs. It is used for the protection operation of.

According to a third aspect of the present invention, a self-certification coil is added to the servo type vibration sensor used for detecting the vibration of the cab,
A signal of a specific frequency is constantly input to this verification coil. If the vibration sensor is operating normally, the detected room vibration signal and the input specific frequency signal are also output to the output signal from the sensor.Therefore, the specific frequency component input for verification is input to this signal. A vibration output to be used for vibration control is obtained through a filter that cuts, and this output is used for failure determination of the vibration sensor through a filter that passes only a specific frequency component. By providing the vibration sensor itself with the self-verification function in this manner, even a single sensor can detect a failure, and a protective action can be promptly taken against an unexpected failure.

According to a fourth aspect of the present invention, the drive torque of the motor is divided into two outputs via the gears, and each output shaft is provided with a linear motion mechanism (a mechanism for converting the rotational motion of the shaft into a linear motion).
Further, the weight is attached so as to straddle the linear moving body of each of the linear moving mechanisms (the moving body of the linear moving mechanism that moves linearly on the rotation axis), and the weight is configured to move integrally. With this configuration, 2
A support device that guides the movement of the weight other than the linear motion device of the set is unnecessary, and the part that generates extra friction can be omitted,
Moreover, the noise generated from the actuator can be minimized. In addition, by minimizing the sliding portion, the generation of extra harmonic vibration (small vibration with high frequency generated by linear movement of the movable weight) can be minimized.

According to a fifth aspect of the present invention, the control gain of the vibration damping device is changed according to the position of the weight that directly moves the actuator. Specifically, a means for detecting the position of the weight and a means for changing the control gain based on the signal of the detected position are provided. The control gain is set to 1 within a range in both directions from the origin of the moving weight (the center position of the movable range), and is set to 0 when the range is exceeded, and the change from 1 to 0 is gentle. Provide the function to perform. It is possible to suppress excessive movement of the weight beyond the movement setting range, and it is possible to prevent impact on both ends and impact force caused by abruptly changing the control gain. If this impact force is generated, the car of the elevator will be shocked and the riding comfort will be deteriorated.

According to the sixth aspect of the present invention, when the position of the linearly moving weight of the actuator of the vibration damping device exceeds a certain set range, the vibration damping operation is stopped and the weight is returned to the original position. For that purpose, a means for detecting the position of the weight, a function for judging whether it is inside or outside the set range based on the detected position, and when the weight comes out of the set range, the vibration damping operation is interrupted. A function for returning the weight to the home position, a function for determining that the home return is completed, and a function for starting the control operation after the home return is completed are provided. However, when starting control operation, a function to gradually return is provided to prevent impact. With this configuration, it is possible to prevent the center of movement of the weight of the actuator from deviating from the origin position of the movable range and deviating from the movable range. As a result, the vibration damping device of the present invention can be continuously operated.

According to the invention of claim 7, the vibration damping device is operated only when the elevator is traveling and the vibration damping operation is stopped when the elevator is stopped. In order to realize this, a car (a car frame or a car room) is provided. ) Is provided with means for detecting the vertical acceleration or speed of the elevator, and the function of determining whether the elevator is running or stopped using the detected acceleration or speed and the result of the determination are used to Turn on /
Provide a function to turn off. By operating the vibration damping device only when the car is running and stopping the vibration damping device when it is stopped, for example, loading a large luggage into the elevator,
It is possible to prevent a situation in which the vibration damping device excessively reacts to cause the weight to deviate from the movable range due to shaking other than during normal operation.

According to the invention of claim 8, among the vibration damping devices, by using the protection contact provided in the vibration damping calculation device and the motor driver device, and incorporating this into the main power supply circuit of the vibration damping device, an abnormal condition is caused. When the protective contact is turned on or off at the same time, a function to cut off the power source of the vibration damping device is provided. This makes it possible to determine the failure of the controller body that controls the vibration damping device and the driver that drives the motor of the actuator, and in the event of a failure, the vibration damping device can be stopped safely.

A ninth aspect of the present invention relates to a method for fixing an actuator of a vibration damping device to a cab of an elevator, wherein a weight that directly moves the actuator is soft in a moving direction (inertial force generating direction) and is in other directions. Is installed in the elevator cab through a viscoelastic body having appropriate rigidity. With this configuration, it is possible to prevent minute vibrations of high frequency, which are generated by the movement of the weight in the actuator part of the vibration damping device, from being transmitted to the elevator car and deteriorating the riding comfort. Go in,
It is possible to prevent an unstable phenomenon in control from occurring.

According to a tenth aspect of the present invention, the actuator of the vibration damping device is freely movable in the elevator cab in the direction of inertial force generation via wheels, and a restoring spring is provided between the cab and the actuator in this direction. The movement of the actuator is restrained through the configuration. It prevents the high-frequency minute vibrations that are generated by the movement of the weight in the actuator part of the vibration control device from being transmitted to the car and deteriorating the riding comfort. It is possible to prevent an unstable phenomenon from occurring.

In the eleventh aspect of the present invention, in addition to the tenth aspect of the invention, the spring constant is selected so that the natural frequency of the actuator section matches the natural frequency of the cab. As a result, a dynamic vibration absorber is configured between the actuator part of the vibration control device and the elevator car room, and the vibration frequency from the outside and the natural frequency of the elevator car room are matched to increase the vibration. Can be suppressed.

According to a twelfth aspect of the present invention, in addition to the tenth aspect of the invention, the spring constant is selected so that the natural frequency of the actuator unit matches the natural frequency of the cab, and at the same time, the spring constant is damped in parallel with the restoring spring. Install a vessel. With this configuration,
By forming a dynamic vibration absorber between the actuator section of the vibration damping device and the cab, the inertial force generated from the actuator can be effectively transmitted to the cab. Further, by additionally providing the attenuator, the above effect can be obtained even if the natural frequency of the cab of the elevator deviates from the natural frequency of the actuator section.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with reference to the accompanying drawings.

Embodiment of the invention according to claim 1 (FIGS. 1 and 2):-The vibration damping device according to the present invention has a motor 11 at the bottom of the cab 6.
And a linear motion system 12 (a device that converts the rotational motion of the motor into a linear motion), a weight 13 that performs a linear motion is installed, and the signal of the sway of the car room detected by a vibration sensor 14 installed in the car room is used as a basis. In addition, the inertial force generated by the movement of the weight is used for the vibration control of the cab. The control system (FIG. 2) includes a position detector 1 that detects the position of the weight 13.
5 The signal from the vibration sensor 14 installed in the cab room is input to the calculator 17 via the A / D converter 16, the control calculation is performed here, and the output is analogized from the D / A converter 18. It is converted into a signal and input to the driver 19. The driver drives the motor 11 according to a command from the controller. Here, the computing unit recognizes the magnitude and the direction of the sway of the cab, and calculates the rotation direction and the rotation speed of the motor for generating the inertial force due to the motion of the weight in the direction of reducing the sway. Further, a signal from the position detector 15 is used so that the weight always moves around the center of the movable range, and light feedback for returning to the origin (center of the movable range) is simultaneously given.

Embodiment of the invention according to claim 2 (FIG. 3):-In the invention according to claim 1, two vibration sensors are installed in the cab, and respective signal outputs are input to a computing unit. . As shown in FIG. 3, the calculator calculates the sum and difference of these two signals, performs the control calculation using the sum signal, and also calculates the difference at the same time. When the value exceeds the limit, it is determined that one of the two vibration sensors has failed, and a function to stop the vibration damping control (motor operation) is provided. At this time, the fact that a sensor failure has occurred is stored in a non-volatile memory inside the arithmetic unit. The calculation of the signal sum and difference may be executed inside the controller, or may be calculated in analog before inputting to the controller.

Embodiment according to the invention of claim 3 (FIG. 4): A self-verification function (function of self-testing whether vibration is normally detected) is added to the vibration sensor, and the output of this verification signal is a controller. To enter. When the output signal indicates a failure, the control operation is immediately stopped and at the same time, the information is stored in the non-volatile memory of the arithmetic unit as described above. This self-verification function will be described using the servo vibrometer shown in FIG. The servo-type vibration sensor is composed of a pendulum 20, a servo coil 21, and a pendulum displacement detector 22, and detects vibration by detecting the output of the displacement detector. At this time, the detection coil 23 is installed at the same time as the servo coil, and a sine wave having a frequency sufficiently higher than the frequency range of vibration detected by the detection coil is input from the oscillator 24.
Then, the pendulum vibrates at the signal frequency from the oscillator at the same time as the vibration of the entire vibration sensor (the vibration of the car room to be detected), and the sensor output outputs these superimposed signals.
Therefore, the frequency component of the oscillator 24 is sufficiently cut, and a signal output through the low-pass filter 25 having a center frequency that does not affect the original vibration output to be detected and a band that allows only the oscillator frequency component to pass at the same time. The signal passed through the pass filter 26 is input to the control calculator.
The calculator checks the magnitude of the latter signal, and if it corresponds to the output of the input oscillator, the control calculation is continued.

An embodiment according to the invention of claim 4 (FIG. 5)
(A), (b)):-A mechanism for linearly moving a weight to generate an inertial force. FIG. 5A is a top view of the vibration damping device according to the present invention, in which a gear 27 is attached to the output shaft end of the motor 11 and two gears 2 are provided.
Engage with 8 and 29. The gears 28 and 29 are respectively attached to two rotary shafts, and these rotary shafts are a linear motion mechanism, and movable bodies 30 and 31 are installed respectively. Each moving body is connected by a weight 32, and the two moving bodies move integrally. The linear motion mechanism used here is a shaft 33 as shown in FIG.
Rolling bearing 3 that rotates as a set of 3
It is composed of 4 and a block 35 supporting this. When the shaft rotates, the rolling bearing also rotates due to contact friction, but since the center of rotation of the rolling bearing is inclined with respect to the center of rotation of the shaft, the component of the rotational force moves the block linearly in the direction of the shaft center axis. However, the blocks need some kind of detent to prevent them from rotating together due to the rotation of the shaft. However, according to the present invention, since the moving bodies 30 and 31 stick to each other, there is a mutual detent action.
There is no need to provide an extra detent. Further, since the shaft and the rolling bearing are in contact with each other due to friction, even if an abnormal torque acts on the shaft, slippage occurs between them, the moving body is not subjected to an abnormal force, and there is only frictional contact. There is an advantage that no noise is generated.

Embodiment according to the invention of claim 5 (FIG. 2): relates to a control method, and uses the displacement of the weight (the output signal of the displacement detector 15 in the figure) detected in the embodiment of FIG. Regarding the control method that was used. In the block diagram of FIG. 2, the control signal P (motor rotation command) output from the calculator 17 can be expressed by the following equation. P = k · P0 −g · Xd (1) where P0 is the control output obtained by the original control calculation, which is calculated from the signal obtained from the vibration sensor, and k
Is the gain. Xd is the displacement from the origin of the weight (the center of the movable range of the weight), and g is its gain. Therefore, the second term on the right side of the equation (1) gives the return to origin of the weight. Here, as shown in FIG. 6, when the position of the weight is within the range centered on the origin (-X1 <Xd <X1), k = 1, and when the position of the weight exceeds the range, k The value is reduced according to the output position, and ± X2
When it exceeds, k is set to zero. At this time, only the origin return (the second term on the right side of the equation (1)) acts.

An embodiment of the invention according to claim 6 relates to a control method, wherein, in a movable range of a weight driven by a motor, a position separated by a distance Xa from the origin, that is, Xd is a displacement of the weight. , Xd =
At the time of ± Xa, the value of the gain k in the above formula (1) is set to zero (k = 0), the home-return operation is given only by the second term on the right side, and the time when Xd reaches the vicinity of the home (−δ <Xd <
δ and δ are small values set in advance and k = 1. That is, Xd = ± Xa is the movement limit value of the control weight. If the above operation is performed, the movement of the weight changes abruptly (abrupt stop, abrupt acceleration) and an impact force is generated.
Instead of abruptly changing the gain from k = 1 to k = 0 or from k = 0 to k = 1, the gain is gradually changed in a fixed time. For example, when the control calculation is performed digitally, assuming that the sampling period is 10 ms, the value of k is gradually changed by 10% over 10 steps, that is, 100 ms. Even if the above operation was added to the control calculation, some abnormalities occurred and the weight was ± Xa.
When moving beyond the position of, the second limiting position ± Xb is set at a position away from the origin from ± Xa, and a limit switch is provided here. This limit switch is a switch that generates an electrical signal when a part of the moving weight makes mechanical contact or when light is blocked by an optical sensor.When this signal is output, the entire control system The power is cut off. That is, when this switch is turned on, there is a high possibility that the control system will run out of control, so the power is cut off for safety.

An embodiment of the invention of claim 7 (FIG. 7)
(A), (b)):-A car is provided with a vertical acceleration or speed detector, and the signal is used to give a driving instruction for the vibration damping device. Gives the signal output shown in FIG. FIG. 7 (a) shows acceleration when the elevator is moving up, and FIG. 7 (b) shows speed. The present invention inputs any one of these signals to the controller to detect the start of traveling of the car and thereby suppress the vibration. It has a function to start the operation of and to stop the operation of the vibration damping device together with the stop. Specifically, in the case of using the acceleration signal (in the case of FIG. 7A), the vibration damping operation is started when the absolute value of the acceleration first exceeds the threshold value due to traveling, and the constant speed operation is performed after passing the acceleration region. After that, when the vehicle enters the deceleration region after exceeding the threshold value for the second time, the damping operation is stopped when the threshold value is passed toward the stop. At this time, when the vibration damping operation is turned ON / OFF by acceleration, it is difficult to distinguish between the constant speed operation state and the stopped state of the elevator (both have zero acceleration). If the lighting is continued for more than the constant lighting operation time), an algorithm is added to determine that the elevator is stopped and correct it. It is easy to use the speed signal shown in Fig. 7 (b). When the speed exceeds a preset threshold value, the operation of the vibration damping device is started, and when the speed exceeds the threshold value, the vibration damping operation is started. To stop.

Embodiment of the invention according to claim 8: -A system for protecting a vibration damping device. Among the failure of the vibration damping device, the failure of the controller body (computer) that is in charge of control calculation and the driver that drives the motor is fatal to the operation of the vibration damping device, and in the unlikely event of a malfunction of the vibration damping device. Conceivable. In order to prevent this, the controller main body and the driver are selected to have protective contact points, and if this contact point signal is input due to some abnormality, the power supply for the entire vibration damping device is cut off. Specifically, when using a protective contact that is released in the event of an abnormality, if this contact is configured in series with the drive circuit of the magnet switch of the main power supply, when this contact is released, the magnet switch is released and the main power supply It is cut off and the operation of the vibration damping device is stopped.

Embodiment 9 of the invention of claim 9 (FIG. 8): FIG. 8 is a view of an actuator portion of a vibration damping device installed in a lower portion of an elevator cab viewed from a moving direction of a weight. According to the present invention, when an actuator portion (a portion surrounded by a two-dot chain line in FIG. 2) including a motor, a linear motion device, and a weight is attached to a cab, the actuator portion is installed via a viscoelastic body as shown in FIG. Is. In the figure, the members 36 to 38 are fixed to the cab 35, and the bearings 42 to 44 of the actuator are installed via the viscoelastic bodies 39 to 41.
(A) is an embodiment according to the present invention, in which the bearing base 42 is supported by a viscoelastic body 39 placed in the vertical direction. The bearing 45 of the shaft of the linear motion device is fixed to the bearing stand, and the weight 46 is supported so as to be movable in the direction perpendicular to the plane of the drawing. This viscoelastic body 39
Has a relatively weak rigidity in the direction perpendicular to the paper surface and a corresponding damping effect, and is in the vertical direction (direction supporting the actuator's own weight)
Has a directionality of rigidity so as to have sufficient compressive strength. (B) is another embodiment according to the present invention, in which the viscoelastic body 40 is in the vertical direction (the direction in which the weight of the actuator is supported).
Has a sufficient tensile strength, has a relatively weak rigidity in the direction perpendicular to the paper surface, and has a corresponding damping effect. (C) is still another embodiment of the present invention, in which the viscoelastic body 41 has sufficient strength for vertical shearing,
A material having a relatively weak rigidity and a corresponding damping effect in the direction perpendicular to the paper surface was selected.

An embodiment of the invention of claim 10 (FIG. 9)
(A), (b), and FIG. 10):-FIG. 9 illustrates a method of mounting the actuator portion of the vibration damping device installed in the lower portion of the elevator cab. (A) is a front view thereof, and (b) is It is a side view. In (a),
Wheels 47, which are rotatably installed on arms 46 fixed to the elevator cab 35, support a frame 48 of the actuator movably in the weight movement direction. A spring 50 is provided between the arm 46 and the flange portion 49 of the frame 48 of the actuator so that the restoring force acts on the horizontal movement of the actuator. In another embodiment (FIG. 10), the actuator portion 48 of the vibration damping device is supported from the elevator cab 35 through a leaf spring 51.

Embodiment 11 of the Invention of Claim 11: -Relating to the invention of claim 10, the constant k of the spring 50 of FIG. 9 or the leaf spring 51 of FIG. 10 is determined by the following equation. K = M · f ₀ ² / (2π) ² (2) where M is the total mass of the actuator part of the vibration damping device (total mass of the motor, linear motion mechanism, weight, frame, etc.), f ₀
Is the natural frequency of rolling in the elevator cab.

An embodiment of the invention of claim 12 (FIG. 11,
12):-Attenuator 52 is added in parallel to spring 50 in the case of the embodiment of FIG. Further, FIG. 12 shows another embodiment, in which an attenuator 52 is installed in parallel with a leaf spring on an actuator 48 supported by a leaf spring 51.

[0035]

According to the first aspect of the present invention, the vibration damping device acts on the vibration of the cab to reduce the vibration, so that the vibration can be effectively reduced and the riding comfort can be improved. A good elevator can be provided.

According to the second aspect of the present invention, even if a vibration sensor for detecting the vibration of the cab is damaged, the vibration sensor can be promptly detected and the vibration damping device can be stopped.
It is possible to prevent malfunction of the vibration damping device and provide a highly reliable vibration damping device.

According to the invention of claim 3, similarly to the above, it is possible to prevent the malfunction of the vibration damping device due to the failure of the vibration sensor.
It is possible to provide a highly reliable vibration damping device.

According to the invention of claim 4, it is possible to minimize the generation of high-frequency minute vibrations and noises expected to be generated from the actuator portion of the vibration device, and to suppress the vibrations and noises by-products. In addition to being provided, the friction loss of the sliding portion can be reduced, so that it is possible to provide a vibration damping device with low power consumption.

According to the fifth aspect of the present invention, even if a sudden movement of passengers or loads, a wind sway of a building, or an extremely large sway caused by an earthquake, a shocking force due to an excessive reaction of the vibration damping device is generated. It is possible to provide a vibration damping device that can prevent the occurrence of the car and does not deteriorate the riding comfort of the car.

According to the sixth aspect of the present invention, it is possible to prevent the center of movement of the movable weight of the actuator from deviating from the origin position of the movable range and deviating from the movable range. As a result, the vibration damping device of the present invention can be continuously operated.

According to the seventh aspect of the present invention, there is a situation in which, for example, when a large load is loaded into an elevator, shaking occurs more than during normal operation, the vibration damping device excessively reacts, and the movable weight deviates from the movable range. A vibration damping device that can be avoided can be provided. Further, the vibration damping device with low power consumption can be provided by stopping the operation of the vibration damping device while the car is on standby (a state where the car is in a stopped state and waits for a driving command for the next passenger).

According to the eighth aspect of the present invention, it is possible to prevent a runaway due to a failure of the main equipment of the vibration damping device and provide a highly reliable vibration damping device.

According to the ninth or tenth aspect of the present invention, it is possible to provide a highly reliable vibration damping device in which the generation of high-frequency minute vibrations and noise secondary to the operation of the vibration damping device is small. You can

According to the eleventh aspect of the present invention, the dynamic vibration absorber constructed according to the present invention, together with the damping force generated by the vibration damping device, causes the vibration of the cab to resonate with the vibration force from the outside and expands. Can be suppressed more effectively.

The effect of the present invention will be described with reference to FIG. In the figure, the vibration magnitude is plotted on the horizontal axis of the sway of the cab, and the solid line shows the sway condition without the vibration control device, and the sway increases at a certain frequency. Indicates a so-called strong earthquake condition in which the frequency of external vibration and the natural frequency of the cab match.
In such a state, the elevator car sways significantly, which considerably deteriorates the riding comfort. The broken line in the figure is claim 1.
The vibration of the cab when the vibration damping device according to the invention is operated is significantly reduced as compared with the case where the vibration damping device is not provided. In the figure, the alternate long and short dash line represents the sway when the vibration damping device according to the present invention is installed and operated, and the size of the maximum sway is further reduced as compared with the case of the dotted line. I understand. That is, by applying the present invention of claim 11 to the vibration damping device according to the invention of claim 1, it is possible to greatly reduce the vibration as indicated by the one-dot chain line.

According to the twelfth aspect of the present invention, the fact that the cab resonates in response to the vibration force from the outside to expand the vibration, together with the damping force generated from the vibration damping device, the attenuator constructed according to the present invention is used. It can be effectively suppressed by the included dynamic vibration absorber (the effect is as described with reference to FIG. 13, and further, the shake shown by the alternate long and short dash line in the figure can be reduced). Even when the operation is stopped, the actuator mounting portion itself becomes a dynamic vibration absorber, and there is a vibration damping effect.

[Brief description of the drawings]

FIG. 1 is a partial front view of a car provided with a car room vibration damping device according to the present invention;

FIG. 2 is a block diagram of a vibration damping device and a control circuit of the device according to the present invention;

FIG. 3 is an explanatory view of the signal output of the shake detection sensor in the cab of the vibration damping device according to the present invention;

FIG. 4 is an explanatory diagram of a verification coil of a servo-type vibration sensor according to the present invention and its signal processing.

5 (a) is an explanatory view of a configuration of an actuator of the vibration damping device according to the present invention, (b) a detailed view of a part of FIG. 5 (a), (c).
(B) Side view of the figure,

FIG. 6 is an explanatory diagram of upward and downward acceleration and speed signals associated with traveling of the car.

FIG. 7 is an explanatory view of the displacement of the movable weight of the actuator part of the vibration damping device of the present invention and the change in the control gain accompanying it.

FIG. 8 (a) is an explanatory view of the damping device actuator part mounting method 1 of the present invention, and (b) is an explanatory view of the same mounting method 2;
(C) Similarly, an explanatory diagram of mounting method 3,

9A is an explanatory view of a vibration damping device actuator partial attachment method 2 of the present invention, FIG. 9B is a side view of FIG.

FIG. 10 is an explanatory view of a method 3 of mounting the actuator part of the vibration damping device of the present invention;

FIG. 11 is an explanatory view of a method 4 of mounting an actuator of a vibration damping device of the present invention,

FIG. 12 is an explanatory view of an actuator part mounting method 5 of the vibration damping device of the invention,

FIG. 13 is a characteristic explanatory view of the vibration damping device according to the present invention,

FIG. 14 is a front view of a conventional elevator car,

FIG. 15 is a partial detailed view of FIG.

[Explanation of symbols]

 1 hoistway 16 A / D converter 2 guide rail 17 calculator 3 main rope 18 D / A converter 4 car 19 driver 5 car frame 20 pendulum 6 car room 21 servo coil 7 guide device 22 displacement detector 9 floor pedestal 23 Verification coil 10 Anti-vibration rubber 24 Oscillator 11 Motor 25 Low-pass filter 12 Direct-acting mechanism 26 Band-pass filter 13, 32 Weight 30, 31 Moving body 14 Vibration sensor 39, 40, 41 Viscoelastic body 15 Position detector 52 Damping mechanism

Claims (12)

[Claims] 1. A means for detecting shaking caused by traveling of a car room, which is installed on a car frame via a vibration isolator, and a magnitude and a direction of motion of a direct-moving weight provided on the car for damping the shaking. By the means for calculating and the means for directly moving the weight by changing the output of the rotary motor into a linear motion, a command for controlling the drive motor of the weight is output by using the detected swing signal, and the car is output. A vibration control device for an elevator car room, which is characterized by damping vibrations in the room. 2. A sensor for detecting shaking of a cab is provided, and means for calculating a sum and difference of respective signals, means for controlling the vibration damping device by using the sum signal, and a difference It is characterized in that it is provided with a means for monitoring the signal and comparing it with a preset level, a means for comparing and judging that the level is higher than a preset level, and a means for stopping the operation of the vibration damping device thereby. The vibration damping device for an elevator cab according to claim 1. 3. A means for providing a verification coil with a servo coil of a servo-type vibration sensor for detecting shaking of a cab, and giving a verification signal of a frequency higher than the vibration frequency of the cage shaking to the verification coil, and an output signal of the vibration sensor. From the means for separating the vibration component of the elevator, means for separating the verification signal component given from the output signal of the vibration sensor, and means for comparing the separated verification signal component with the set value to determine whether there is an abnormality,
2. The vibration control device for an elevator cab according to claim 1, further comprising a car shake detection unit that is configured to stop the operation of the vibration control device in the event of an abnormality. 4. A means for distributing the driving force of a drive motor of a weight for damping the car sway into a plurality of means, a means for converting the distributed rotational driving force into a linear movement of a plurality of moving bodies, and a plurality of linear movements. 2. A vibration damping device for an elevator cab according to claim 1, further comprising means for integrally fixing the moving body to the weight. 5. A means for detecting the position of the weight and determining the position of the weight while determining the magnitude of the control gain of the vibration damping device in advance as a function of the position of the weight and storing it in the vibration damping device as information. The vibration damping device for an elevator cab according to claim 1, further comprising means for determining a magnitude of a control gain of the vibration damping device based on information stored by using the vibration damping device. 6. A means for preliminarily determining a moving range of a weight of the vibration damping device, detecting this when the weight exceeds the range, and means for stopping the vibration damping operation of the vibration damping device by the detected signal. And at the same time, a means to return the weight to the origin position,
The vibration damping device for an elevator cab according to claim 1, further comprising means for detecting that the weight has returned to the home position and means for restarting the vibration damping operation of the vibration damping device for returning to the home position. 7. A means for detecting vertical acceleration or velocity associated with the running of the car and inputting it to the controller of the vibration damping device,
Elevator operating status (running or stopped) based on this signal
2. The vibration control system for an elevator cab according to claim 1, wherein the vibration control device starts the vibration control operation of the vibration control device when the elevator is running and stops the operation of the vibration control device when the elevator is stopped. apparatus. 8. A means for incorporating a failure detection contact of a control arithmetic unit of a vibration damping device and a driver of a drive motor into a power supply circuit of the vibration damping device, and this contact being turned on or off when an abnormality occurs.
2. The vibration damping device for an elevator cab according to claim 1, further comprising means for promptly shutting off the power source of the vibration damping device when the vibration is applied. 9. A means for fixing an actuator portion, which comprises a weight of the vibration damping device, a linear motion mechanism for driving the weight, and a drive motor, to the elevator cab via a viscoelastic body. Vibration control device for the elevator car room described. 10. A means for fixing an actuator portion comprising a weight of a vibration damping device, a linear motion mechanism for driving the weight, and a drive motor to an elevator cab so as to be freely movable in a direction in which an inertial force is generated from the actuator, 2. The vibration control device for an elevator cab according to claim 1, further comprising means for generating a restoring force with respect to a movement displacement of the actuator portion. 11. A means for fixing a weight of a vibration damping device, an actuator portion composed of a direct-acting mechanism for driving the weight and a drive motor, to the elevator cab so as to be freely movable in a direction in which an inertial force is generated from the actuator, Means for generating a restoring force for the movement displacement of the actuator part,
2. The vibration control device for an elevator cab according to claim 1, wherein the eigenfrequency of the vibration system composed of the inertial force and the restoring force of the actuator portion is brought close to the eigenfrequency of the cab. 12. A means for fixing an actuator portion composed of a movable weight of a vibration damping device, a direct-acting mechanism for driving the same, and a drive motor to the elevator cab so that the actuator portion is free to move in a direction in which an inertial force is generated from the actuator. A means for generating a restoring force for the displacement of the actuator portion, a means for providing a damping force in parallel with the means, and a natural frequency of the vibration system composed of the inertial force and the restoring force of these actuator portions are calculated as follows. The vibration damping device for an elevator cab according to claim 1, wherein the vibration damping device is arranged close to the natural frequency.