Patent Application
20200002126
The invention relates to method for diagnosis and/or maintenance of a brake configured to apply braking force to a hoisting machine of a transportation system, a software program, and a brake apparatus.
Transportation systems such as elevators, escalators and the like commonly have electromechanical brakes. For example, elevators have electromechanical brakes of the hoisting machine of the elevator as safety devices to apply braking force to a traction sheave or rotating axis of the hoisting machine to brake a movement of the hoisting machine and therefore the elevator car of the elevator. There are normally two separate brakes. There are two similar brakes which are used in tandem during normal operation as well as during emergency operation. These two brakes must be able to stop an elevator car with 125% load. If one brake fails, the other brake must still hold the elevator car standstill with 115% load. The brakes thus have to be dimensioned to stop and hold an elevator car with 125% load (25% overload) at standstill in the elevator shaft. Additionally, the brakes are also used in rescue situations and also in emergency braking situations to stop the elevator car if an operational fault occurs, like in an overspeed situation of the elevator car. Further, the brakes are used to protect elevator passengers from unintended car movement with doors open in the proximity of a landing. Braking force can be produced with a suitable energy storage device mounted to the brake, such as a compression spring. The brake is opened by supplying an adequate amount of current with a brake controller to an electromagnet of the brake to resist thrust force generated by the energy storage device (e.g. compression spring). The brake is closed when the current has decreased enough such that the thrust force of the energy storage device is dominant to cause movement of the brake armature towards the braking position. In EP 1 701 904 B1, it has been suggested to test a sufficiency of the braking force. In the following, opening and closing of the brake, are defined by using the terms “picking” and “dropping”. Here, “picking” means opening of the brake. The brake armature is removed from the braking position and a rotor (and traction sheave) can rotate freely. “Dropping” means closing of the brake. The brake armature is moved to the braking position to brake a movement of the rotor.
Traditionally, an elevator is driven with steel ropes running via the traction sheave of the hoisting machine. When the brakes of the hoisting machine, also called hoisting machinery brakes, are closed to stop an elevator car movement, the steel ropes slip on the traction sheave to prevent a too high deceleration of the elevator car, which might be uncomfortable or even dangerous to elevator passengers. In an emergency stop situation for example, the brakes are controlled to close by an elevator safety chain. When the safety chain opens, a current to coils of the brake is interrupted and both brakes are applied simultaneously. While it might become possible in the future by using a more advanced safety circuit (e.g. an electronic safety controller) to allow a closing of the brakes at different times to relieve the problem of decelerating too quickly, coated ropes hamper to avoid to decelerate too quickly, wherein traditional elevators with steel ropes and lower friction did not have this problem.
To this end, a new kind of coated hoisting ropes has nowadays been introduced. These coated ropes may be traditional round ropes with a high-friction coating, or belts with high-friction coating, such as polyurethane coating. High-friction roping, like belts, is used in some elevators to reduce traction sheave diameter, wherein this roping without the coating friction would not be according to the safety regulations. Smaller diameter means higher rotating frequency for the hoisting motor and thus higher power can be achieved from a smaller motor.
On the other hand, a high-friction coating is characteristic for so called KONE Ultraropes (registered trademark), which are non-steel light ropes for high-rise elevators. Instead of steel, the load-carrying parts are made of glass fiber, carbon fiber or other suitable synthetic fibres secured inside a (high-friction) polymer jacket. Because of lightness, these ropes can be used for longer hoisting distances than traditional ropes. With traditional steel ropes the weight of the ropes would cause braking of the ropes. With this new kind of coated hoisting ropes, friction between each rope and the respective traction sheave may be so high that the ropes do not slip sufficiently when the hoisting machinery brakes have been closed to stop the elevator car movement. This could lead to increased deceleration of the elevator car.
To reduce elevator car deceleration, it is possible to redimension the energy storage device of the hoisting machinery brake to provide a lower braking force to the hoisting machine and thus lower deceleration of the elevator car. However, the redimension tends to increase an operating time of the hoisting machinery brake, i.e. time required for opening and closing of the brake. On the other hand, the brake closing time should not exceed 350 ms which may be defined as a reaction time in an overspeed situation of the elevator car near a shaft end, also called ETSL time (ETSL: Emergency Terminal Speed Limiting). In some cases, the brake closing time should not even exceed 300 ms which may be defined as a reaction time in a situation of unintended car movement with doors of the elevator car open in the proximity of a landing, also called UCMP time (UCMP: Unintended Cabin Movement Protection). When a compression spring is used as an energy storage device of the hoisting machinery brake, reaction time tends to increase in the course of time because of gradual reduction of the spring force. In case lower brake torque should be required, the reaction time of the brake restricts the spring force adjustment to this brake torque, as a low spring force is causing excessive reaction times. In order to provide sufficiently fast reaction times, a spring force adjustment window, i.e. a range of spring forces, in conformity with the allowed dimensions of the air gap between the electromagnet and the brake armature is limited such that reaction times will be reachable at conditions on site of the elevator without verification. The spring force adjustment window can be defined for a given spring arranged between the brake armature and the magnet core as a range of heights of a spacer placed between the spring and the magnet core to adjust a pre-tension of the spring. The height of the spacer is called LM dimension and the range of heights of the spacer is called LM dimensions. At a given air gap between the electromagnet and the brake armature, the height of the spring, i.e. dimension of the spring in the direction of the tension of the spring, is reduced by the height of the spacer. The spring at given air gap is thus pre-tensioned stronger with an increasing height of the spacer. At a given tension of the spring, the air gap increases with an increasing height of the spacer.
It is therefore an object of the present invention to adjust deceleration times of a transportation system.
The object is solved by the method of claim 1, the computer program product of claim 14, and the brake apparatus of claim 15. Further developments and advantageous embodiments are defined in the dependent claims.
The method according to the invention for diagnosis and/or maintenance of a brake configured to apply braking force to a hoisting machine of a transportation system comprises the following steps:
The brake operating time interval lasts from a beginning of the first point in time to an end of the second point in time, i.e. including the second point in time. So, if it is measured from a first second until a third second, the duration of the brake operating time interval or the brake operating time interval itself is three seconds.
When a response, e.g. a detected change in current and/or voltage of an electromagnet of the brake of a predefined value/values, on a brake control action, e.g. a decrease in current and/or voltage of the electromagnet of the brake, has not been detected within a predetermined threshold, e.g. 500 ms, an information indicating that an operation of the brake should be modified, e.g. an alarm, is established. In an embodiment of the first alternative of the invention, a brake operating time interval is run, e.g. started by a timer device, from starting of the brake control action and an alarm is generated when a certain value of the predetermined threshold, such as 300 ms or 500 ms, is exceeded before the response on the brake control action has been or could be detected. Establishing the information indicating that an operation of the brake should be modified occurs by generating an alarm which then indicates a brake malfunction. In this case, the brake must not be monitored until the response can be detected. The monitoring is ended once the predetermined threshold is reached or exceeded. Without having waited until the response is detected, there is no brake operating time interval from the first point in time of starting of the brake control action until the second point in time of detecting the response. Instead, the brake operating time interval ends at the predefined threshold with the information that no response has been or could be detected. Without having detected the response, i.e. the response time, but by having detected there is no response during the predetermined threshold, the first alternative of the invention represents a fast way of establishing the information indicating that an operation of the brake should be modified.
In the second alternative of the invention, when a response, e.g. a detected change in current and/or voltage of an electromagnet of the brake of a predefined value/values, on a brake control action, e.g. a decrease in current and/or voltage of the electromagnet of the brake, has been detected but not within a predetermined threshold, e.g. 500 ms, an information indicating that an operation of the brake should be modified, e.g. an alarm, is established. The response is thus detected but after the brake operating time interval reaches and/or exceeds the predetermined threshold of e.g. 500 ms. In an embodiment of the second alternative of the invention, a brake operating time interval is run, e.g. started by a timer device, from starting of the brake control action and an alarm is generated when the response is detected later than a certain value of the predetermined threshold for the brake operating time interval, such as 300 ms or 500 ms. Having monitored the brake until the response is detected, there is a brake operating time interval from the first point in time of starting of the brake control action until the second point in time of monitoring the brake to detect the response until detecting the response. Establishing the information indicating that an operation of the brake should be modified occurs by generating an alarm which then indicates a brake malfunction. The alarm can contain an information of the brake control action and the brake operating time interval for detecting the response, i.e. the response time. The second alternative of the invention therefore not only allows to establish the information indicating that an operation of the brake should be modified, but additionally allows for monitoring until the response is detected and establishing an information of the brake operating time interval for detecting the response, i.e. the response time.
The inventive method thus allows to meet required reaction times for a braking/deceleration, such as UCMP and ETSL braking, when using an elevator or escalator equipped with electromechanical hoisting machinery brakes and high friction ropes and/or belts. The inventive method allows to monitor, adjust, and control the brake such that a reaction time is within set limits, even if the brake characteristics change over the life time of the brake.
The method according to the invention allows for a bigger window/larger range of values for setting of the brake torque while ensuring the brake reaction times required by the elevator standards and codes. The inventive method can be applied as a brake adjustment method which allows to manufacture brakes which can be provided to front lines with full brake torque setting. The controlled brake torque ensures that the elevator is safe even when a counterweight and elevator car might not have final decorations and filler bits causing a balance of the elevator which varies from the calculated 50%.
The method is preferably executed by providing a brake control unit for controlling the brake, a sensor device for monitoring the brake to detect the response of the brake, and a timer device for measuring the brake operating time interval, wherein the timer device and/or the sensor device are/is provided as a device separate from the brake control unit or integrated into this unit. An internal clock of a computer can act as the timer device. Alternatively, hardware added to a conventional transportation system can represent the timer device.
In a further embodiment, the transportation system is provided with a transportation system control unit which is operated separate from the brake control unit, wherein the timer device and/or the sensor device are/is provided as a device separate from the transportation system control unit or integrated into this unit.
The operating current of the electromagnet of the brake is preferably controlled such that the brake operating time interval for detecting the response stays below or at the predetermined threshold and the controlled operating current of the electromagnet of the brake is monitored to determine or at least evaluate a wear of a friction lining of a rope or belt of the transportation system and/or to determine a misalignment of the friction lining. It is preferred that the operating current of the electromagnet of the brake is controlled automatically which enables automatized brake current setting, detection of a friction lining wear evaluation and a friction lining misalignment detection and thus preemptive maintenance, while the transportation system, e.g. an elevator, can still be in service even with slightly reduced performance, e.g. with increased start delay for moving a passenger's tread-pallet of an escalator or in case of an elevator, the elevator car.
It is preferred that the information indicates a certain kind and/or severity of failure or problem of the brake or the transportation system such that a request for modifying the operation of the brake or the transportation system is signaled to the brake control unit, the transportation system control unit or another unit outside of the transportation system such as a maintenance unit. The brake operating time interval for detecting the response can be utilized for signalling a request for modifying the operation of the brake or the transportation system, i.e. as content information of the request.
In an advantageous embodiment of the invention, the information indicating that an operation of the brake should be modified is established by comprising a corrective action which may be one or more of the following:
The transportation system is preferably kept in continuous operation while a maintenance visit is pending by controlling the brake to lower the operating current of the electromagnet of the brake while requesting maintenance of the brake from the service center. The operating current of an electromagnet of the brake is also called operating current of the brake, brake operating current, brake coil current, or current of the coil of the brake.
In other words: a timer device is introduced as a separate device or integrated into the elevator control unit or the brake control unit to measure a brake operating time interval or brake operating time lapse, called in short brake operating time. When the brake operation time exceeds the given threshold, a need of a corrective action is signaled. The corrective action may be one or more of the following:
It is preferred that the brake operating time interval for detecting the response is measured by measuring a brake pick time and/or a brake drop time, wherein the brake pick time is e.g. less than 500 ms and/or the brake drop time ranges e.g. between 50 and 100 ms. Pick time is defined as an opening time, i.e. time interval from a point in time of applying a (DC) voltage signal to a coil of a brake electromagnet, such that a coil current starts to gradually increase due to a given inductance of the coil, until a point in time when the brake opens such that a brake armature has moved so much that opening can be detected, e.g. with opening detection means. Correspondingly, drop time is defined as closing time, i.e. a time interval from a point in time of interrupting a voltage signal of a brake coil until a point in time when a coil current has gradually decreased so much that the brake armature has moved back to a closing position such that this movement can be detected, e.g. with closing detection means.
A brake magnet iron saturation and magnet force can then be set to meet locking and/or picking force requirements by measuring the brake pick time and/or the brake drop time. These requirements for the picking force are in relation to the opening means of the brake. The Brake can have a compression spring that provides a thrust force (normal force) that pushes a brake pad against a surface of the object to be braked. The real braking force is then calculated as the friction coefficient of the brake pad times the normal force. Picking force is the attraction force of the electromagnet that pulls the brake armature towards the electromagnet resisting thrust force of the compression spring. When voltage is applied to brake the coil of the electromagnet, current starts to raise and therefore the attraction force of the electromagnet starts to raise. At a certain point current and thus the attraction force exceeds the thrust force of the compression spring; this is the moment in time the brake starts to open. This moment is not necessarily exactly the same moment opening is detected with the opening detection means such as the sensor device, but it is directly related to it such that degradation of the brake can be monitored from increasing of the opening time.
It is particularly preferred that the brake pick time is measured by one of the following:
In a further embodiment, the brake drop time is measured alternatively or in addition to the brake pick time by one of the following:
The specific discontinuous peak pattern of the operating current of the electromagnet of the brake is advantageously verified when a brake pad of the brake contacts a surface whereon the braking force is to be applied, e.g. a brake wheel, and the peaks verified at different points in time are used to determine and/or monitor a wear and/or misalignment of the brake pad.
When the brake drop time is determined from the operating current of the brake, a misalignment of the brake pad is preferably detected from two or multiple current peak patterns while brake pad hits the corresponding surface or brake wheel. Misalignment of the brake pad can advantageously be evaluated from a difference of the peak patterns of the operating current measured at different points in time such as once an hour, a day, a week, a month etc. or in a fraction of these intervals.
A brake magnet force can thus be controlled by controlling the brake operating current. Brake magnet iron saturation and magnet force can be set to meet dropping/picking force requirements by measuring the brake pick time and the brake drop time. In case of having an excessive drop time, the brake operating current will be regulated down until the required reaction time is met. If the pick time should be excessive then the operating current will be adjusted to meet the required pick time.
The operating current of the electromagnet of the brake may be selected from/measured by using an existing brake control unit. The drop time can be measured by using an additional measurement device such as a timer device. Alternatively an internal clock of a server or local computer in connection with which the method of the invention is executed, may be used.
After the information is established, it is preferred that the information is transferred or made accessible to a remote maintenance center or a mobile service unit or the local transportation system control unit depending on a content of the information.
The setting of the operating current of the brake can be done by setting a current command. A control module separate from or integrated into the brake controller will automatically pick and drop the brake (one sided), measure the drop time and adjust the operating current of the brake until reaction times are within specification.
Such a method may comprise one, several or all of the following steps:
Detecting of friction lining wear can be performed since an increased air gap can be detected from an increased brake pick time. Preferably, detecting of the friction lining wear occurs when the elevator performs a one-sided brake test.
Condition based maintenance is preferably performed according to the invention by monitoring of a brake pad wear by monitoring of the pick time wherein different pick times indicate a change in the air gap between the brake pad and the surface whereon the braking force is to be applied, e.g. a brake wheel. In case the pick time is out of a specified window/range of values, the elevator controller or brake controller can either set an increased operating current of the brake or increase an elevator start delay or adjust a timing of preliminary operations of the elevator. A change in the operation current outside a predetermined range required to ensure the specified reaction times, also called brake control current, launches a request for a preventive maintenance call to the service center. If the reaction times will exceed allowed limits, the elevator will perform a last call and stay on landing.
The transportation system is selected with advantage from one of an elevator, an escalator, a moving walkway, a cablecar, a railway locomotive, a railcar, a roller coaster, a conveyor, a crane, a positioning unit, and combined systems of a plurality of single units of the same. It is particularly preferred that an elevator or escalator serves as the transportation system. Most preferably, the transportation system is an elevator.
Another aspect of the invention is a software program realizing the methods according to the invention when executed on a computer. In the aforementioned software program the computer is preferably a distributed computing system wherein part of the computing system is located/arranged/operated in a cloud computing system. The software program may be embodied as a computer program product or a data carrier carrying data representing the software program.
The invention also relates to a brake apparatus for application of braking force to a hoisting machine of a transportation system configured to execute the methods according to the invention.
Other aspects, features and advantages of the invention will become apparent by the below description of exemplary embodiments alone or in cooperation with the appended drawings.
Now, exemplary embodiments of the invention will be described in further detail.
A family of ten curves 1 each representing a magnetic force over time is shown where the upper curve with a peak at 1.5 seconds and 175 kN is excited by applying a transient voltage of 230 V. The lower curve of the family of curves 1 revealing at 2 seconds a peak at 72.5 kN is excited by applying a transient voltage of 80 V. The eight consecutive curves between the lower and upper curves are excited with a transient voltage of 96.7 V, 113.3 V, 130 V, 146.7 V, 163.3 V, 180 V, 196.7V, and 213.3 V, respectively. Each voltage is applied as a DC voltage to a coil of an electromagnet of a brake according to the invention starting at zero seconds (see reference sign 5) until 1.5 seconds indicated by the dot dashed line 6. Alternatively to a DC voltage an alternating voltage or a combination of a DC and an alternating voltage can be applied to increase the magnetic force and the magnetic energy of the braking system.
A compression spring is comprised by the brake such that, when the magnetic force reaches a level of 40 kN, a brake armature of the brake moves away from a surface of the brake whereon braking force is to be applied. Consequently, there is a family of curves 2 shown in
In the time interval between 1.5 and 2 seconds, the DC voltage for all curves of the family of curves 1 is set equal to 113.3 V (see dot dashed lines 6 and 7) leading to an increase for the three lower curves and a decrease in magnetic force for the other curves.
At 2 seconds as indicated by the dot dashed line 7, a counter-voltage is applied to the coil in the electromagnetic operation of the brake to decrease the magnetic force in the braking system as fast as possible. The drop time means the time from interrupting the voltage signal of brake coil to the time that the coil current has gradually decreased due to the inductance of the coil so much that the brake armature has moved back to closing position such that this movement can be detected. The dropping of the brake, i.e. closing of the brake, occurs depending on the transient voltage applied to the coil in the time interval 4 between approximately 2.2 and 3.3 seconds. As the driving voltage is lowered, the drop time of the brake is shortened from ca. 3.3 seconds at 230 V in the time interval between zero and 1.5 seconds to ca. 2.2 seconds at 80 V of voltage initially driving the coil of the electromagnet of the brake. Therefore, with decreasing voltage, the resultant magnetic force, and as a result thereof the stored magnetic energy of the braking system is also decreased, allowing for faster closing operation of the brake, as the counter-voltage of the electromagnetic operation is sufficient for diminishing the magnetic energy of the braking system low enough to let the compression spring release the brake to apply the braking force onto the surface whereon braking force is to be applied.
By determining the pick time and/or the drop time, it is possible to adjust the driving voltage to meet the required pick times and/or drop times from
The diagram of
The inductance is inversely proportional to the air gap or air gap length such that, when the air gap lengthens, inductance diminishes. When the air gap increases, for example because of wearing of a brake pad, the magnetic force decreases and the thrust force of the compression spring relative to the magnetic force tends to increase. When the air gap widens, a higher brake current is needed to open the brake. Drop time includes also the travel time of the brake armature from open to close which increases when the air gap is widened. Additionally, if the brake current is high then the brake iron of the magnet core electromagnet is highly saturated. This also increases the drop time. It takes time before the brake current has dimished so much that the brake armature starts to move. The travel time is short, but the hold time before the brake current has diminished and the brake armature starts to move is the dominating time for the drop time. On the other hand, when the air gap between the brake armature and the magnet core of the electromagnet of the brake increases, more brake current is needed to pick the brake.
Each of
However, by controlling the operating current of the electromagnet of the brake, i.e. the driving current of the coil, such that the brake operating time interval stays below or at the predetermined threshold, the pick time and/or drop time can be controlled with the least possible current avoiding a saturation as shown in
In
The invention provides a method for allowing a bigger brake torque and spring force window or range from current brakes, still ensuring the required brake reaction times for UCMP and ETSL braking. It is therefore not necessary anymore that a given brake control module is providing one preset current value only which must provide fast enough reaction times with full spring force. The method according to the invention allows to control and/or reduce and/or avoid excessive brake torque which has not been addressed with conventional rope elevators with conventional single wrap roping where rope slip has limited maximum deceleration. In case of an over saturation of the magnet iron due to an excessive current (force) compared to the spring force that the magnet force must overcome, a counter voltage peak can reduce the brake magnet force to a state in which a set spring force can create initial air gap between magnet and armature. This way, the initial air gap will be created by the counter voltage such that the applied spring force reaction time of the brake will not exceed reaction time limits. Friction lining wear and misalignment detection in the prior art is based on preventive maintenance visits by service personnel.
By adjusting the brakes according to method described above, it is possible to use a friction lining which has a bigger fluctuation in the coefficient of friction than the fluctuation able to be used previously.
A technical feature or several technical features which has/have been disclosed with respect to a single or several embodiments discussed herein before, e.g. the embodiment of condition based maintenance with respect to an elevator, may be present also in another embodiment, e. g. with respect to an escalator or crane, except it is/they are specified not to be present or it is impossible for it/them to be present for technical reasons.
| Number | Date | Country | Kind |
|---|---|---|---|
| 18180669.6 | Jun 2018 | EP | regional |
