Patent Application
20220055863
The subject matter disclosed herein relates generally to the field of elevator systems, and specifically to a method and apparatus for moving elevator cars from an elevator shaft to a parking area.
Elevator cars are conventionally operated by ropes and counter weights, which typically only allow one elevator car in an elevator shaft at a single time. Ropeless elevator systems may allow for more than one elevator car in the elevator shaft at a single time.
According to an embodiment, a robotic transporter system for elevator cars is provided. The robotic transporter system including: a propulsion system configured to move an elevator car through an elevator shaft; and a robotic transporter configured to move the elevator car within a parking area, the robotic transporter including: an elevator containment slot to receive the elevator car and the propulsion system of the elevator car when the elevator containment slot is aligned with the elevator shaft.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the robotic transporter further includes: a propulsive system and wheels.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the robotic transporter is configured to move along an X-axis and a Y-axis perpendicular to the X-axis
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a first guide beam that extends vertically through the elevator shaft, the first guide beam including a first surface and a second surface opposite the first surface, wherein the propulsion system is a beam climber system including: a first wheel in contact with the first surface; and a first electric motor configured to rotate the first wheel.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the elevator containment slot further includes: a first containment slot guide beam configured to align with the first guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a first guide rail that extends vertically through the elevator shaft, wherein the elevator containment slot further includes: a first containment slot guide beam configured to align with the first guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a second guide beam that extends vertically through the elevator shaft, the second guide beam including a first surface of the second guide beam and a second surface of the second guide beam opposite the first surface of the second guide beam, wherein the beam climber system further includes: a second wheel in contact with the second surface of the first guide beam; a third wheel in contact with the first surface of the second guide beam; and a second electric motor configured to rotate the third wheel.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the elevator containment slot further includes: a second containment slot guide beam configured to align with the second guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a second guide beam that extends vertically through the elevator shaft, the second guide beam including a first surface of the second guide beam and a second surface of the second guide beam opposite the first surface of the second guide beam, wherein the beam climber system further includes: a second wheel in contact with the second surface of the first guide beam; a third wheel in contact with the first surface of the second guide beam; and a second electric motor configured to rotate the third wheel.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the elevator containment slot further includes: a second containment slot guide beam configured to align with the second guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a second guide rail that extends vertically through the elevator shaft, wherein the elevator containment slot further includes: a second containment slot guide beam configured to align with the second guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the robotic transporter is located on a truck configured to transport the elevator car from a factory to a building where the elevator shaft is located or from the building to the factory.
According to another embodiment, a method of moving an elevator car from an elevator shaft to a parking area is outside of the elevator shaft, the method including: moving a robotic transporter to an elevator shaft to pick up the elevator car; aligning an elevator car containment slot within the robotic transporter with the elevator shaft; moving, using a propulsion system, the elevator car from the elevator shaft into the elevator car containment slot; and moving the robotic transporter with the elevator car within the elevator containment slot to a location within the parking area.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the moving, using the propulsion system, the elevator car from the elevator shaft into the elevator car containment slot further includes: rotating, using a first electric motor of a beam climber system, a first wheel, the first wheel being in contact with a first surface of a first guide beam that extends vertically through the elevator shaft.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include aligning a first containment slot guide beam of the elevator car containment slot with the first guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include aligning a first containment slot guide rail of the elevator car containment slot with a first guide rail that extends vertically through the elevator shaft.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the moving, using the propulsion system, the elevator car from the elevator shaft into the elevator car containment slot further includes: rotating a second wheel, the second wheel being in contact with the second surface of the first guide beam that extends vertically through the elevator shaft; and rotating, using a second electric motor of the beam climber system, a third wheel, the third wheel being in contact with a first surface of a second guide beam that extends vertically through the elevator shaft.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include aligning a second containment slot guide beam of the elevator car containment slot with the second guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include aligning a second containment slot guide rail of the elevator car containment slot with a second guide rail that extends vertically through the elevator shaft.
According to another embodiment, a computer program product embodied on a non-transitory computer readable medium, the computer program product including instructions that, when executed by a processor, cause the processor to perform operations including: moving a robotic transporter to an elevator shaft to pick up the elevator car; aligning an elevator car containment slot within the robotic transporter with the elevator shaft; moving, using a propulsion system, the elevator car from the elevator shaft into the elevator car containment slot; and moving the robotic transporter with the elevator car within the elevator containment slot to a location within the parking area.
Technical effects of embodiments of the present disclosure include using a robotic transporter to move an elevator car from an elevator shaft to a parking area that is outside of the elevator shaft.
The foregoing features and elements may be combined in various combinations without exclusivity, unless expressly indicated otherwise. These features and elements as well as the operation thereof will become more apparent in light of the following description and the accompanying drawings. It should be understood, however, that the following description and drawings are intended to be illustrative and explanatory in nature and non-limiting.
The present disclosure is illustrated by way of example and not limited in the accompanying figures in which like reference numerals indicate similar elements.
The beam climber system 130 is configured to move the elevator car 103 within the elevator shaft 117 and along guide rails 109a, 109b that extend vertically through the elevator shaft 117. In an embodiment, the guide rails 109a, 109b are T-beams. The beam climber system 130 includes one or more electric motors 132a, 132b. The electric motors 132a, 132b are configured to move the beam climber system 130 within the elevator shaft 117 by rotating one or more wheels 134a, 134b that are pressed against a guide beam 111a, 111b. In an embodiment, the guide beams 111a, 111b are I-beams. It is understood that while an I-beam is illustrated, any beam or similar structure may be utilized with the embodiment described herein. Friction between the wheels 134a, 134b, 134c, 134d driven by the electric motors 132a, 132b allows the wheels 134a, 134b, 134c, 134d to climb up 21 and down 22 the guide beams 111a, 111b. The guide beam extends vertically through the elevator shaft 117. It is understood that while two guide beams 111a, 111b are illustrated, the embodiments disclosed herein may be utilized with one or more guide beams. It is also understood that while two electric motors 132a, 132b are illustrated, the embodiments disclosed herein may be applicable to beam climber systems 130 having one or more electric motors. For example, the beam climber system 130 may have one electric motor for each of the four wheels 134a, 134b, 134c, 134d. The electrical motors 132a, 132b may be permanent magnet electrical motors, asynchronous motor, or any electrical motor known to one of skill in the art. In other embodiments, not illustrated herein, another configuration could have the powered wheels at two different vertical locations (i.e., at bottom and top of an elevator car 103).
The first guide beam 111a includes a web portion 113a and two flange portions 114a. The web portion 113a of the first guide beam 111a includes a first surface 112a and a second surface 112b opposite the first surface 112a. A first wheel 134a is in contact with the first surface 112a and a second wheel 134b is in contact with the second surface 112b. The first wheel 134a may be in contact with the first surface 112a through a tire 135 and the second wheel 134b may be in contact with the second surface 112b through a tire 135. The first wheel 134a is compressed against the first surface 112a of the first guide beam 111a by a first compression mechanism 150a and the second wheel 134b is compressed against the second surface 112b of the first guide beam 111a by the first compression mechanism 150a. The first compression mechanism 150a compresses the first wheel 134a and the second wheel 134b together to clamp onto the web portion 113a of the first guide beam 111a. The first compression mechanism 150a may be a metallic or elastomeric spring mechanism, a pneumatic mechanism, a hydraulic mechanism, a turnbuckle mechanism, an electromechanical actuator mechanism, a spring system, a hydraulic cylinder, a motorized spring setup, or any other known force actuation method. The first compression mechanism 150a may be adjustable in real-time during operation of the elevator system 101 to control compression of the first wheel 134a and the second wheel 134b on the first guide beam 111a. The first wheel 134a and the second wheel 134b may each include a tire 135 to increase traction with the first guide beam 111a.
The first surface 112a and the second surface 112b extend vertically through the shaft 117, thus creating a track for the first wheel 134a and the second wheel 134b to ride on. The flange portions 114a may work as guardrails to help guide the wheels 134a, 134b along this track and thus help prevent the wheels 134a, 134b from running off track.
The first electric motor 132a is configured to rotate the first wheel 134a to climb up 21 or down 22 the first guide beam 111a. The first electric motor 132a may also include a first motor brake 137a to slow and stop rotation of the first electric motor 132a. The first motor brake 137a may be mechanically connected to the first electric motor 132a. The first motor brake 137a may be a clutch system, a disc brake system, a drum brake system, a brake on a rotor of the first electric motor 132a, an electronic braking, an Eddy current brakes, a Magnetorheological fluid brake or any other known braking system. The beam climber system 130 may also include a first guide rail brake 138a operably connected to the first guide rail 109a. The first guide rail brake 138a is configured to slow movement of the beam climber system 130 by clamping onto the first guide rail 109a. The first guide rail brake 138a may be a caliper brake acting on the first guide rail 109a on the beam climber system 130, or caliper brakes acting on the first guide rail 109 proximate the elevator car 103.
The second guide beam 111b includes a web portion 113b and two flange portions 114b. The web portion 113b of the second guide beam 111b includes a first surface 112c and a second surface 112d opposite the first surface 112c. A third wheel 134c is in contact with the first surface 112c and a fourth wheel 134d is in contact with the second surface 112d. The third wheel 134c may be in contact with the first surface 112c through a tire 135 and the fourth wheel 134d may be in contact with the second surface 112d through a tire 135. A third wheel 134c is compressed against the first surface 112c of the second guide beam 111b by a second compression mechanism 150b and a fourth wheel 134d is compressed against the second surface 112d of the second guide beam 111b by the second compression mechanism 150b. The second compression mechanism 150b compresses the third wheel 134c and the fourth wheel 134d together to clamp onto the web portion 113b of the second guide beam 111b. The second compression mechanism 150b may be a spring mechanism, turnbuckle mechanism, an actuator mechanism, a spring system, a hydraulic cylinder, and/or a motorized spring setup. The second compression mechanism 150b may be adjustable in real-time during operation of the elevator system 101 to control compression of the third wheel 134c and the fourth wheel 134d on the second guide beam 111b. The third wheel 134c and the fourth wheel 134d may each include a tire 135 to increase traction with the second guide beam 111b.
The first surface 112c and the second surface 112d extend vertically through the shaft 117, thus creating a track for the third wheel 134c and the fourth wheel 134d to ride on. The flange portions 114b may work as guardrails to help guide the wheels 134c, 134d along this track and thus help prevent the wheels 134c, 134d from running off track.
The second electric motor 132b is configured to rotate the third wheel 134c to climb up 21 or down 22 the second guide beam 111b. The second electric motor 132b may also include a second motor brake 137b to slow and stop rotation of the second motor 132b. The second motor brake 137b may be mechanically connected to the second motor 132b. The second motor brake 137b may be a clutch system, a disc brake system, drum brake system, a brake on a rotor of the second electric motor 132b, an electronic braking, an Eddy current brake, a Magnetorheological fluid brake, or any other known braking system. The beam climber system 130 includes a second guide rail brake 138b operably connected to the second guide rail 109b. The second guide rail brake 138b is configured to slow movement of the beam climber system 130 by clamping onto the second guide rail 109b. The second guide rail brake 138b may be a caliper brake acting on the first guide rail 109a on the beam climber system 130, or caliper brakes acting on the first guide rail 109a proximate the elevator car 103.
The elevator system 101 may also include a position reference system 113. The position reference system 113 may be mounted on a fixed part at the top of the elevator shaft 117, such as on a support or guide rail 109, and may be configured to provide position signals related to a position of the elevator car 103 within the elevator shaft 117. In other embodiments, the position reference system 113 may be directly mounted to a moving component of the elevator system (e.g., the elevator car 103 or the beam climber system 130), or may be located in other positions and/or configurations as known in the art. The position reference system 113 can be any device or mechanism for monitoring a position of an elevator car within the elevator shaft 117, as known in the art. For example, without limitation, the position reference system 113 can be an encoder, sensor, accelerometer, altimeter, pressure sensor, range finder, or other system and can include velocity sensing, absolute position sensing, etc., as will be appreciated by those of skill in the art.
The controller 115 may be an electronic controller including a processor 116 and an associated memory 119 comprising computer-executable instructions that, when executed by the processor 116, cause the processor 116 to perform various operations. The processor 116 may be, but is not limited to, a single-processor or multi-processor system of any of a wide array of possible architectures, including field programmable gate array (FPGA), central processing unit (CPU), application specific integrated circuits (ASIC), digital signal processor (DSP) or graphics processing unit (GPU) hardware arranged homogenously or heterogeneously. The memory 119 may be but is not limited to a random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic or any other computer readable medium.
The controller 115 is configured to control the operation of the elevator car 103 and the beam climber system 130. For example, the controller 115 may provide drive signals to the beam climber system 130 to control the acceleration, deceleration, leveling, stopping, etc. of the elevator car 103.
The controller 115 may also be configured to receive position signals from the position reference system 113 or any other desired position reference device.
When moving up 21 or down 22 within the elevator shaft 117 along the guide rails 109a, 109b, the elevator car 103 may stop at one or more landings 125 as controlled by the controller 115. In one embodiment, the controller 115 may be located remotely or in the cloud. In another embodiment, the controller 115 may be located on the beam climber system 130. In embodiment, the controller 115 controls on-board motion control of the beam climber system 115 (e.g., a supervisory function above the individual motor controllers).
The power supply 120 for the elevator system 101 may be any power source, including a power grid and/or battery power which, in combination with other components, is supplied to the beam climber system 130. In one embodiment, power source 120 may be located on the beam climber system 130. In an embodiment, the power supply 120 is a battery that is included in the beam climber system 130.
The elevator system 101 may also include an accelerometer 107 attached to the elevator car 103 or the beam climber system 130. The accelerometer 107 is configured to detect an acceleration and/or a speed of the elevator car 103 and the beam climber system 130.
It is understood that while a beam climber system 130 is illustrated herein for exemplary discussion, the embodiments disclosed herein may be applicable to other self-propelled elevator systems, such as, for example, a permanent magnet linear motor propulsion system.
Referring now to
The robotic transporter 202 is configured to move an elevator car 103 from beneath (or above) the elevator shaft 117 to anywhere in the parking area 210. The robotic transporter 202 may configured to move along an X-axis 272 and a Y-axis 274 perpendicular to the X-axis 272. The wheels 214 of the robotic transporter 202 may be omni wheels that allow movement in along both the X-axis 272 and a Y-axis 274. It is understood that the robotic transporter 202 is not limited to omni wheels and the embodiments disclosed herein are applicable to robotic transporters having different propulsion apparatuses or structure.
The robotic transporter 202 is configured to align an elevator car containment slot 220 with an elevator shaft 117 to receive an elevator car 103 and beam climber system 130. For example, the robotic transporter 202 may align a first elevator car containment slot 220a with a first elevator shaft 117a to receive the elevator car 103 and the beam climber system 130. The elevator car containment slot 220 may include a first containment slot guide beam 111a-1 and a second containment slot guide beam 111b-1.
The first containment slot guide beam 111a-1 is configured to align with the first guide beam 111a so that the wheels 134a, 134b (see
The second slot containment guide beam 111b-1 is configured to align with the second guide beam 111b so that the wheels 134c, 134d (see
The first containment slot guide rail 109a-1 is configured to align with the first guide rail 109a. The first sensor 240a may be configured to detect when the first containment slot guide rail 109a-1 is aligned with the first guide rail 109a.
The second slot containment guide rail 109b-1 is configured to align with the second guide rail 109b. The robotic transporter 202 may include a second sensor 240b configured to detect when the second containment slot guide rail 109b-1 is aligned with the second guide rail 109b.
It is understood that while
The sensors 240a, 240b are configured to communicate alignment to the controller 115 (see
The sensors 240a, 240b are configured to communicate alignment or misalignment to a robotic transporter controller 215 of the robotic transporter 202. The robotic transporter controller 215 is configured to control operations of the robotic transporter 202. By reporting misalignment to the robotic transporter controller 215, the robotic transporter controller 215 may then take action to achieve alignment, such as moving forward or backward. By reporting alignment to the robotic transporter controller 215, the robotic transporter controller 215 may no longer need to move the robotic transporter 202 until the elevator car 103 and the beam climber system 130 move from the elevator shaft into the elevator car containment slot 220 of the robotic transporter 202.
The robotic transporter controller 215 may be an electronic controller including a processor 216 and an associated memory 219 comprising computer-executable instructions that, when executed by the processor 216, cause the processor 216 to perform various operations. The processor 216 may be, but is not limited to, a single-processor or multi-processor system of any of a wide array of possible architectures, including field programmable gate array (FPGA), central processing unit (CPU), application specific integrated circuits (ASIC), digital signal processor (DSP) or graphics processing unit (GPU) hardware arranged homogenously or heterogeneously. The memory 219 may be but is not limited to a random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic or any other computer readable medium.
The robotic transporter system 200 also includes a parking supervisory controller 315. The parking supervisory controller 315 may be in communication with the robotic transporter controller 215 of each robotic transporter 202. The parking supervisory controller 315 is configured to detect a location of each robotic transporter 202 using a location sensor 320 attached to the robotic transporter 202. The parking supervisory controller 315 is configured to coordinate the movement of each of the robotic transporters 202 within the parking area 210.
The parking supervisory controller 315 may be an electronic controller including a processor 316 and an associated memory 319 comprising computer-executable instructions that, when executed by the processor 316, cause the processor 316 to perform various operations. The processor 316 may be, but is not limited to, a single-processor or multi-processor system of any of a wide array of possible architectures, including field programmable gate array (FPGA), central processing unit (CPU), application specific integrated circuits (ASIC), digital signal processor (DSP) or graphics processing unit (GPU) hardware arranged homogenously or heterogeneously. The memory 319 may be but is not limited to a random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic or any other computer readable medium.
Although illustrated in
Referring now to
At block 404, a robotic transporter 202 is moved to an elevator shaft 117 to pick up the elevator car 103. At block 406, an elevator car containment slot 220 within the robotic transporter 202 is aligned with an elevator shaft 117.
At block 408, a propulsion system moves the elevator car 103 from the elevator shaft 117 into the elevator car containment slot 220. In an embodiment, the propulsion system is a beam climber system 130 and the elevator car 103 may be moved by rotating, using a first electric motor 132 of a beam climber system 130, a first wheel 134a. The first wheel 134a being in contact with a first surface 112a of a first guide beam 111a that extends vertically through the elevator shaft 117.
At block 410 the robotic transporter 202 is moved with the elevator car 103 within the elevator containment slot 220 to a location within the parking area 210. The location may be determined by the parking supervisory controller 315. The parking supervisory controller 315 may periodically or sporadically reorganize the parking area 210, thus requiring the robotic transporters 202 to move around within the parking area 210.
The method 400 may also comprise aligning a first containment slot guide beam 111a-1 of the elevator car containment slot 220 with the first guide beam 111a. The method 400 may further comprise aligning a first containment slot guide rail 109a-1 of the elevator car containment slot 220 with a first guide rail 109a that extends vertically through the elevator shaft 117.
The elevator car 103 may also be moved by rotating, using a second electric motor 132b of the beam climber system 130, a third wheel 134c, the third wheel being in contact with a first surface 112c of a second guide beam 111b that extends vertically through the elevator shaft 117.
The method 400 may also comprise aligning a second containment slot guide beam 111b-1 of the elevator car containment slot 220 with the second guide beam 111b. The method 400 may further comprise aligning a second containment slot guide rail 109b-1 of the elevator car containment slot 220 with a second guide rail 109b that extends vertically through the elevator shaft 117.
Additionally, the robotic transporter system 200 can be used to introduce additional elevator cars 103 during busy times, remove elevator cars 103 during slow times, remove elevator cars 103 for service, introduce elevator cars 103 that have been modernized and remove older elevator cars. In one embodiment, the robotic transporter 202 is located on a truck configured to transport elevator cars 103 from a factory to a building where the elevator shaft 117 is located or from the building to the factory.
While the above description has described the flow process of
The present invention may be a system, a method, and/or a computer program product at any possible technical detail level of integration. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention.
As described above, embodiments can be in the form of processor-implemented processes and devices for practicing those processes, such as processor. Embodiments can also be in the form of computer program code (e.g., computer program product) containing instructions embodied in tangible media (e.g., non-transitory computer readable medium), such as floppy diskettes, CD ROMs, hard drives, or any other non-transitory computer readable medium, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes a device for practicing the embodiments. Embodiments can also be in the form of computer program code, for example, whether stored in a storage medium, loaded into and/or executed by a computer, or transmitted over some transmission medium, loaded into and/or executed by a computer, or transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an device for practicing the exemplary embodiments. When implemented on a general-purpose microprocessor, the computer program code segments configure the microprocessor to create specific logic circuits.
The term “about” is intended to include the degree of error associated with measurement of the particular quantity and/or manufacturing tolerances based upon the equipment available at the time of filing the application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, element components, and/or groups thereof.
Those of skill in the art will appreciate that various example embodiments are shown and described herein, each having certain features in the particular embodiments, but the present disclosure is not thus limited. Rather, the present disclosure can be modified to incorporate any number of variations, alterations, substitutions, combinations, sub-combinations, or equivalent arrangements not heretofore described, but which are commensurate with the scope of the present disclosure. Additionally, while various embodiments of the present disclosure have been described, it is to be understood that aspects of the present disclosure may include only some of the described embodiments. Accordingly, the present disclosure is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.
