JP2010089881A - Control device of elevator door - Google Patents

Abstract

[PROBLEMS] To stop operation of an elevator door until the user removes the pinched object when the pinched object is not removed following the stop of the elevator door when an overload is detected during operation of the elevator door. An elevator door control device is obtained.
A door opening / closing control means for controlling an opening / closing speed or an opening / closing torque during operation of an elevator door, a door load detecting means for detecting a door load during the operation of the elevator door, and the vicinity of the elevator door. In the elevator door control device provided with the obstacle detection means 35 for detecting an obstacle in the elevator door, the door opening / closing control means 30 causes the elevator door when the door load detected by the door load detection means 31 exceeds a predetermined value. When the obstacle detection means 35 detects an obstacle after the operation of the elevator door 1 is stopped, the operation stop of the elevator door 1 is continued until a control restart signal is input to the door opening / closing control means 30. .
[Selection] Figure 3

Description

  The present invention provides an elevator car or elevator door control that facilitates removal of a user's hand or baggage when it is sandwiched between the elevator door or the elevator door and a structure. It relates to the device.

  Conventionally, as a control device for an elevator door, a motor torque command is generated for a motor that drives the elevator door so that the motor speed command follows the actual motor speed, and the motor torque command is set to a predetermined motor torque limit value. In comparison, there is one that reverses or stops an elevator door by detecting an overload during a door opening / closing operation (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 52868664 (summary column, FIG. 1)

  The elevator door control device disclosed in Patent Document 1 includes a torque command generating means for generating a torque command so that a speed command of a door motor for opening and closing the elevator door follows an actual motor rotation speed, and a torque command. An overload abnormality detecting means for detecting an overload abnormality during opening and closing of the door compared with a predetermined torque limit value, a door control means for reversing or stopping the elevator door according to the abnormality detection, and a user approaching the elevator door Door safety means for detecting that the door is in operation, and torque limit value changing means for making the torque limit value for detecting an overload abnormality smaller than a predetermined value when the door safety means is operating It is.

  According to this device, when there is a high possibility that the user's hand or luggage will be caught between the elevator door or the elevator door and the structure, the detection level is lowered by lowering the torque limit value, and overload Since the sensitivity of detection can be increased, it is possible to prevent injuries caused by the user's hand or luggage being pinched, and safety is improved.

  However, when a user's hand or baggage is sandwiched between an elevator door or an elevator door and a structure, the elevator door is reversed or stopped. When the elevator door is reversed, the user When removing a hand or baggage that is pinched, the elevator door automatically reverses against the timing and direction of removal intended by the user, which may add unintended force and may be difficult to remove. is there. Also, when stopping the elevator door, after the overload abnormality detecting means detects the abnormality, for example, when the user's sandwiched baggage can be removed, that is, after the elevator door stops, the cause of the overload abnormality When there is no such problem, the elevator stops even after the cause of the overload abnormality is eliminated, which causes inconvenience to the user.

  The present invention has been made to solve the above-described problem, and when an overload is detected during operation of the elevator door, following the stoppage of the elevator door, if the pinched object is not removed, It is an object of the present invention to obtain an elevator door control device that stops the operation of an elevator door until a user is removed.

  An elevator door control device according to the present invention includes door opening / closing control means for controlling opening / closing speed or opening / closing torque during operation of the elevator door, door load detection means for detecting door load during operation of the elevator door, And an obstacle detection means for detecting an obstacle in the vicinity of the elevator door. The door opening / closing control when the door load detected by the door load detection means is a predetermined value or more. The operation of the elevator door is stopped by means, and after the operation of the elevator door is stopped, when the obstacle detecting means detects an obstacle, the operation of the elevator door is continued until a control restart signal is input to the door opening / closing control means. The stop will be continued.

  According to the present invention, when an overload is detected during operation of the elevator door, the door opening / closing control is performed when the user removes the elevator door or the object sandwiched between the elevator door and the structure after the elevator door is stopped. Until a signal is input to the means, the user can freely move in the intended timing and in the direction in which the user wants to move, and a sufficient time can be obtained for removing the pinched object.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of an elevator door control device according to the present invention will be described with reference to the accompanying drawings. Note that the present invention is not limited to these embodiments.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing an elevator door device to which Embodiment 1 of the present invention is applied, and shows a state in which the elevator door is being opened. FIG. 2 is a schematic plan view showing a state in which the elevator door of the elevator door device shown in FIG. 1 is closed.

  1 and 2, a guide roller 3 that is rotatable along the guide rail 2 is provided at the upper end of an elevator door 1 (hereinafter also simply referred to as a door). Thereby, the door 1 is configured to be capable of opening and closing along the guide rail 3. Further, one end of the coupling tool 4 is fixed to the upper end portion of the door 1, and the other end of the coupling tool 4 is fixed to each facing position of the protruding belt 6 wound around the pulley 5.

  The pulley 5 is rotationally driven by a motor 7 via a speed reduction mechanism. The speed reduction mechanism includes a speed reduction pulley 8 having the same rotational center as the pulley 5 and a belt 9 wound around the speed reduction pulley 8 and the central axis of the motor 7.

  The rotational torque of the motor 7 is transmitted to the door 1 via the belt 9, the speed reduction pulley 8, the pulley 5, the protruding belt 6, and the coupling tool 4, and drives the door 1 to open and close. As shown in FIG. 2, the door 1 is formed with a slight gap in the vicinity of the door 1 and the structure of the entrance / exit part where the door 1 is installed, for example, the column 10, that is, in the vicinity of the door 11. It is opened and closed. In FIG. 1, an elevator hall door is typically shown as an elevator door device, but the elevator hall door and the car door are normally configured to be opened and closed in conjunction with each other.

  FIG. 3 is a functional block diagram illustrating the control device for the elevator door according to the first embodiment. In FIG. 3, the elevator door control device 100 includes a control microcomputer 32 including a door opening / closing control means 30 and a door load detection means (hereinafter referred to as a door load detection unit) 31 described later, and a motor under the control of the control microcomputer 32. 7, a control board 33 that drives the motor 7, a pulse encoder 34 that detects the rotational speed of the motor 7, an obstacle device 35 that detects an obstacle between the door 1 and the pillar 10 (see FIG. 2), and door opening / closing control. A control resumption signal input means for inputting a control resumption signal to the means 30, for example, a button device 36 is provided.

  The control microcomputer 32 includes a speed command generator 37 that generates a speed command V * during normal operation, a speed amplifier 38 that generates a torque command Tr * based on the speed command V *, and a current that amplifies the torque command Tr *. An amplifier 39, a PWM unit 40 for generating a PWM signal based on the speed command V * and the torque command Tr *, an input / output port 41 for inputting / outputting a signal to / from the outside, a door load Ld and detecting an overload And a door load detector 31 for generating a speed command V * for the hour. The speed command generator 37, the speed amplifier 38, the current amplifier 39 and the PWM unit 40 constitute a door opening / closing control means 30.

  Further, the control microcomputer 32 takes in an external signal (such as a car call) of the door 1 and an output pulse from the pulse encoder 34 via the input / output port 41, manages the operation status of the door 1, and controls the control board 33. The door 7 is controlled to be opened and closed by controlling the motor 7 through the door.

  The control board 33 includes a gate signal generator 42, a converter 43 constituting a DC power supply, an inverter 44 driven by a gate signal from the gate signal generator 42, a smoothing capacitor 45 for stabilizing the DC power supply, U Current sensors 46 and 47 for detecting the phase and V phase currents, and the three-phase (U phase, V phase, W phase) motor 7 for driving the door is driven by the output voltage of the inverter 44. Converter 43 and inverter 44 constitute a power circuit for driving motor 7 based on the gate signal from gate signal generator 42.

  The U-phase and V-phase current signals detected by the current sensors 46 and 47 are input to the current amplifier 39 and the door load detection unit 31 in the control microcomputer 32 via the input / output port 41. The rotation signal of the motor 7 detected by the pulse encoder 34 is input to the speed amplifier 38 and the door load detection unit 31 in the control microcomputer 32 via the input / output port 41.

  In the control microcomputer 32, the door load detection unit 31 is operating the door 1 based on the U-phase current value and the V-phase current value input via the input / output port 41 and the pulse signal from the pulse encoder 34. The door load Ld is detected. The input / output port 31 also takes in an external sensor signal (not shown).

  The door load Ld from the door load detection unit 31, the obstacle detection signal transmitted from the obstacle detection device 35 via the input / output port 41, and the button signal transmitted from the button device 36 via the input / output port 41. Input to the speed command generator 37. The button device 36 is provided with a new button for operating this function. In addition, the button device 36 may use a button used as another function, such as a door opening button in an elevator car, a specific floor, or a call button on a landing. Although not shown, the button device 36 and the announcement may be combined and operated.

  The door opening / closing control means 30 controls the opening / closing speed V during the operation of the door 1, and the PWM unit 40 sends a PWM signal to the gate signal generator 42 in the control board 33, via the gate signal generator 42. The inverter 44 is PWM driven. The door opening / closing control means 30 also functions as an overload detection means in connection with the door load detection unit 31, and stops the operation of the door 1 when the door load Ld indicates an overload of a predetermined value or more. To control. In addition, as an overload detection means relevant to the door load detection part 31, it was provided in the motor 7 so that it might be referred to the well-known literature, for example, the load detection method currently disclosed by Unexamined-Japanese-Patent No. 7-97167. A torque limiter (not shown) may be used.

  Next, a control operation when the door is opened and closed in the elevator door control device according to the first embodiment will be described with reference to the flowchart of FIG.

  In FIG. 4, first, the opening / closing operation of the door 1 at the normal time is started (step S11), it is determined whether or not the door load Ld is equal to or greater than a predetermined value (overload) (step S12), and the door load Ld. <If it is determined to be a predetermined value (that is, No), the process returns to step S11 to continue the normal door opening / closing operation. If it is determined in step S12 that the door load Ld ≧ predetermined value (that is, Yes), the opening / closing operation of the door 1 is stopped (step S13), and the door vicinity 11, that is, near the door 1 and the column 10 is stopped. It is determined whether an obstacle has been detected (step S14).

  If it is determined in step S14 that an obstacle is detected in the vicinity of the door 1 and the pillar 10 (that is, Yes), it is determined whether the button device 36 has been pressed (step S15).

  If it is determined in step S15 that the button device 36 has been pressed (ie, Yes), the opening / closing operation of the door 1 is resumed (step S16). If it is determined in step S14 that an object is not detected (ie, No) in the vicinity of the door 1 and the pillar 10, the opening / closing operation of the door 1 is resumed (step S16).

  If it is determined in step S15 that the button device 36 is not pressed (that is, No), the opening / closing operation of the door 1 is stopped (step S13). In step S16, after the opening / closing operation of the door 1 is resumed, the process returns to step S11 (normal door opening / closing operation).

  As described above, the elevator door control device according to the first embodiment includes the door opening / closing control means 30 that controls the opening / closing speed V during operation of the door 1 and the door that detects the door load Ld during operation of the door 1. And a load detection unit 16. The door opening / closing control means 30 stops the operation of the door 1 when the door load Ld is greater than or equal to a predetermined value (overload), and there is an obstacle near the door 1 after the operation of the door 1 stops. Is detected so that the operation of the door 1 is stopped until the button device 36 installed in the elevator is pressed. Therefore, after the operation of the door 1 is stopped when an overload is detected, the obstacle can be moved freely in the user's intended timing and the direction in which the user wants to move, and is sandwiched between the door 1 or the door 1 and the pillar 10. It is possible to obtain an elevator door control device that can stop moving an obstacle in a direction unintended for the user.

Embodiment 2.
Next, an elevator door control apparatus according to Embodiment 2 of the present invention will be described. In the first embodiment, in the control microcomputer 32, the obstacle detection device 35 controls the operation of the door opening / closing control means 30 according to the presence or absence of the obstacle detection in the vicinity of the door 1. It may be controlled by the presence or absence of an operation when a necessary torque is applied.

  The elevator door control device 200 according to the second embodiment is provided with a door operation necessary torque map 51 in the control microcomputer 50 as shown in FIG. 5 in contrast to the elevator door control device 100 according to the first embodiment. However, the obstacle detection device 35 shown in FIG. 3 is not provided. Since other configurations are the same as those in the first embodiment, the same reference numerals are given and description thereof is omitted.

  In FIG. 5, the door operation required torque map 51 calculates the position of the door 1 based on the pulse signal from the pulse encoder 34 when Ld output from the door load detection unit 31 is equal to or greater than a predetermined value. A torque Tn necessary for operating the door 1 at the position of the door 1 is given as a torque command value of the current amplifier 39 (illustrated by a broken line arrow in FIG. 5). When this torque command value Tn is output, the torque command Tr * output from the speed amplifier 38 is not used in the calculation in the current amplifier 39.

  Next, a control operation when the door is opened and closed in the elevator door control device according to the second embodiment will be described with reference to the flowchart of FIG.

  In FIG. 6, the processing of step S11, step S12, step S13, step S15, and step S16 is the same as the processing of FIG. 4 described in the first embodiment, and the same reference numerals are given and detailed description thereof is omitted. . Step S14A corresponds to step S14 in FIG. 4, and step S14 in FIG. 4 is not necessary.

First, the door opening / closing control means 30 in the control microcomputer 50 stops the operation of the door 1 (step S13) when the door load Ld indicates an overload of a predetermined value or more (step S12).
Subsequently, after the operation of the door 1 is stopped, it is determined whether the door 1 is operated by the opening / closing operation of the door 1 using the torque Tn output from the operation required torque map 33 of the door 1 at the position where the door 1 is stopped ( Step S14A).

  If it is determined in step S14A that it has been operated (that is, Yes), the opening / closing operation of the door 1 is resumed (step S16). On the other hand, if it is determined in step S14A that it does not operate (ie, No), it is determined whether the button device 36 has been pressed (step S15). Thereafter, the same operation as in the first embodiment is performed.

  As described above, according to the second embodiment, the door opening / closing control means 30 for controlling the opening / closing torque Tr during the operation of the door 1, the door load detecting unit 31 for detecting the door load Ld during the operation of the door 1, The door opening / closing control means 30 is necessary for stopping the operation of the door 1 when the door load Ld is greater than or equal to a predetermined value (overload) and for the door 1 to operate after the operation of the door 1 stops. When a force greater than torque is required, control is performed so that the operation of the door 1 is continued until the button device 36 installed in the elevator is pressed. Therefore, after the operation of the door 1 is stopped when an overload is detected, the obstacle can be moved freely in the user's intended timing and the direction in which the user wants to move, and is sandwiched between the door 1 or the door 1 and the pillar 10. It is possible to obtain an elevator door control device that can stop moving an obstacle in a direction unintended for the user.

  In the elevator door control device according to the present invention, when the overload abnormality is detected, the user can select whether to start the operation of the elevator door, so that the user can remove a hand or a load sandwiched with a margin. It can be used especially for passenger elevators.

It is a block diagram which shows the elevator door apparatus with which Embodiment 1 of this invention is applied. FIG. 2 is a schematic plan view showing a state in which the door of the elevator door device shown in FIG. 1 is closed. It is a functional block diagram which shows the control apparatus of the elevator door which concerns on Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the control apparatus of the elevator door which concerns on Embodiment 1 of this invention. It is a functional block diagram which shows the control apparatus of the elevator door which concerns on Embodiment 2 of this invention. It is a flowchart which shows operation | movement of the control apparatus of the elevator door which concerns on Embodiment 2 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Elevator door 2 Guide rail 3 Guide roller 4 Connecting tool 5 Pulley 6 Protruding belt 7 Motor 8 Deceleration pulley 9 Belt 10 Pillar 11 Door vicinity 30 Door opening / closing control means 31 Door load detection means 32, 50 Control microcomputer 33 Control board 34 Pulse encoder 35 Obstacle device 36 Button device 37 Speed command generator 38 Speed amplifier 39 Current amplifier 40 PWM unit 41 Input / output port 42 Gate signal generator 43 Converter 44 Inverter 45 Smoothing capacitor 46, 47 Current sensor 51 Required torque map for door operation 100 , 200 Elevator door control device

Claims (2)

Door opening / closing control means for controlling opening / closing speed or opening / closing torque during operation of the elevator door;
Door load detection means for detecting a door load during operation of the elevator door;
Obstacle detection means for detecting obstacles in the vicinity of the elevator door;
In an elevator door control device comprising:
When the door load detected by the door load detection means is a predetermined value or more, the door opening / closing control means stops the operation of the elevator door, and after the operation of the elevator door stops, the obstacle detection means The elevator door control device continues to stop the operation of the elevator door until a control restart signal is input to the door opening / closing control means. Door opening / closing control means for controlling opening / closing speed or opening / closing torque during operation of the elevator door;
Door load detection means for detecting a door load during operation of the elevator door;
In an elevator door device with
When the door load detected by the door load detecting means is equal to or greater than a predetermined value, the operation of the elevator door is stopped, and after the operation of the elevator door is stopped, the operation is performed with a torque necessary for operating the elevator door. When the elevator door does not operate, the elevator door control device continues to stop the operation of the elevator door until control resumption information is input to the door opening / closing control means.

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