CN114920117B - Elevator door machine control method, device, equipment and storage medium - Google Patents
Elevator door machine control method, device, equipment and storage medium Download PDFInfo
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- CN114920117B CN114920117B CN202210470018.2A CN202210470018A CN114920117B CN 114920117 B CN114920117 B CN 114920117B CN 202210470018 A CN202210470018 A CN 202210470018A CN 114920117 B CN114920117 B CN 114920117B
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- 230000033001 locomotion Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
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- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
Abstract
The invention discloses an elevator door machine control method, an elevator door machine control device, elevator door machine control equipment and a storage medium. The elevator door machine control method, the elevator door machine includes the sedan-chair door link plate, door motor, door ball and door knife, the door knife has clamping state and safe release state, in clamping state, the door knife holds the door ball, in safe release state, the door knife releases the door ball and has safe distance between the door ball, the door motor can drive sedan-chair door link plate to close and can drive the door knife to release the door ball in closing the door action, the elevator door machine control method includes: receiving a door closing instruction, and controlling a door motor to perform door closing action; judging whether the car door hanging plate reaches a door closing position or not; judging whether the door knife is in a safe release state or not; and outputting a door closing in-place signal when the car door hanging plate is determined to reach the door closing in-place position and the door knife is in a safe release state. According to the elevator door machine control method provided by the embodiment of the invention, the operation safety of the elevator door machine can be improved.
Description
Technical Field
The invention relates to the field of elevators, in particular to an elevator door machine control method, an elevator door machine control device, elevator door machine control equipment and a storage medium.
Background
The elevator is used as a vertical transport tool in a high-rise building, and provides convenience for people to travel and goods to transport.
The elevator comprises elevator door motor, landing door, car door and other parts. The elevator door machine comprises a car door hanging plate, a landing door hanging plate, a door ball and a door knife. The sedan-chair door link plate can drive the sedan-chair door and carry out the door action of opening and closing, and the layer door link plate can drive the layer door and carry out the door action of opening and closing. The door knife is arranged on the car door hanging plate, and the door ball is arranged on the landing door hanging plate. When the door tool clamps the door ball, the landing door hanging plate and the car door hanging plate move synchronously.
After the elevator is closed, when the elevator runs vertically, the door knife and the door ball are easy to rub or collide.
Disclosure of Invention
The invention provides a control method, a device, equipment and a storage medium for an elevator door machine, which can improve the operation safety of the elevator door machine.
In a first aspect, an embodiment of the present invention provides a control method for an elevator door machine, the elevator door machine including a car door hanging plate, a door motor, a door ball and a door knife, the door knife having a clamping state and a safe release state, the door knife clamping the door ball in the clamping state, the door knife releasing the door ball and having a safe distance between the door ball in the safe release state, the door motor being capable of driving the car door hanging plate to close and driving the door knife to release the door ball in a door closing operation, the elevator door machine control method comprising: receiving a door closing instruction, and controlling a door motor to perform door closing action; judging whether the car door hanging plate reaches a door closing position or not; judging whether the door knife is in a safe release state or not; and outputting a door closing in-place signal when the car door hanging plate is determined to reach the door closing in-place position and the door knife is in a safe release state.
According to the foregoing embodiment of the first aspect of the present invention, the elevator door machine further includes a door-in-place trigger, the trigger position of the door-in-place trigger corresponds to the door-in-place position, and determining whether the car door hanging plate reaches the door-in-place position includes: if the door plate in-place trigger outputs a door plate in-place signal, the car door hanging plate reaches a door closing in-place position; if the door plate in-place trigger stops outputting the door plate in-place signal, the car door hanging plate does not reach the door closing in-place position.
According to any one of the embodiments of the first aspect of the present invention, the door in-place trigger is a tab switch, and includes a socket and a plug, one of the socket and the plug is disposed at a door in-place position, the other is disposed on a car door hanging plate, and when the plug is inserted into the socket, the door in-place trigger outputs a door in-place signal.
According to any of the foregoing embodiments of the first aspect of the present invention, before determining whether the door knife is in the safety release state, the method further includes: obtaining a mode of an elevator door motor; judging whether the door knife is in a safe release state comprises the following steps: and matching corresponding door knife in-place output conditions according to the mode of the elevator door machine, and when the corresponding door knife in-place output conditions are met, enabling the door knife to be in a safe release state.
According to any of the foregoing embodiments of the first aspect of the present invention, matching the corresponding vane in place output conditions according to the mode in which the elevator door machine is located includes: when the elevator door machine is in a normal mode, matching a first door knife in-place output condition; when the elevator door machine is in a positioning mode, the position of the car door hanging plate is judged to be matched with corresponding door knife in-place output conditions when a door closing instruction is received, wherein the positioning mode is a mode that the door width starting position is determined when the door closing instruction is received for the first time or the door opening instruction is received for the first time after the elevator door machine is restarted.
According to any of the foregoing embodiments of the first aspect of the present invention, the first vane in place output condition includes: the car door hanging plate reaches a door closing position; the door closing stroke value is larger than a first preset stroke value, wherein the door closing stroke value is a real-time stroke value of a door motor in a door closing action by taking the car door hanging plate as an initial value when the car door hanging plate is completely opened, and the first preset stroke value is a stroke value when the door motor drives the car door hanging plate to a door closing position; and the current value of the door motor is larger than or equal to the door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value is increased along with the increase of resistance of the door motor, and the door closing maintaining current value is a current value for the door motor to maintain the door closing clamping state of the elevator.
According to any of the foregoing embodiments of the first aspect of the present invention, when the elevator door machine is in the positioning mode, determining that the corresponding door vane in-place output condition is matched after receiving the door closing instruction from the car door hanger position includes: the elevator door machine is in a positioning mode, and when a door closing instruction is received, the car door hanging plate reaches a door closing in-place position, and a second door cutter in-place output condition is matched; when the elevator door machine is in a positioning mode and receives a door closing instruction, the car door hanging plate does not reach a door closing in-place position, and a third door knife in-place output condition is matched.
According to any of the foregoing embodiments of the first aspect of the present invention, the second vane in-position output condition comprises: the current value of the door motor is larger than or equal to the door closing maintaining current value, wherein the current value of the door motor is a current value configured to the door motor, the current value of the door motor is increased along with the increase of resistance received by the door motor, and the door closing maintaining current value is a current value for the door motor to maintain the door closing clamping state of the elevator.
According to any of the foregoing embodiments of the first aspect of the present invention, the third vane in place output condition includes: the car door hanging plate reaches a door closing position; after the car door hanging plate reaches a door closing in-place position, the door closing stroke distance reaches a door knife release stroke distance, wherein the door closing stroke distance is the stroke distance generated by a door motor in a door closing action, and the door knife release stroke distance is the stroke distance corresponding to the conversion of a door knife driven by the door motor from a clamping state to a safe release state; and the current value of the door motor is larger than or equal to the door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value is increased along with the increase of resistance of the door motor, and the door closing maintaining current value is a current value for the door motor to maintain the door closing clamping state of the elevator.
According to any of the foregoing embodiments of the first aspect of the present invention, the elevator door machine control method further includes: and if the door closing signal is not output in place after the door closing instruction is received for a preset time, outputting door closing fault information.
According to any one of the foregoing embodiments of the first aspect of the present invention, the elevator door machine further includes a door-in-place trigger, and a trigger position of the door-in-place trigger corresponds to a door-in-place position, wherein, in the positioning mode, the door width starting position is determined according to whether the door-in-place trigger outputs the door-in-place signal.
According to any one of the foregoing embodiments of the first aspect of the present invention, in the positioning mode, determining the door width start position according to whether the door-in-place trigger outputs the door-in-place signal in the positioning mode includes: taking the position of the car door hanging plate at the moment when the door plate in-place trigger is converted from the output door plate in-place signal to the stop output door plate in-place signal as the door width starting position; or the position of the car door hanging plate at the moment when the door plate in-place trigger starts to output the door plate in-place signal is used as the door width starting position.
In a second aspect, an embodiment of the present invention provides an elevator door machine control apparatus, including: the instruction receiving module is capable of receiving a door closing instruction; the door motor connecting module is electrically connected with the door motor and the instruction receiving module and is configured to control the door motor to perform door closing action when the instruction receiving module receives a door closing instruction; the door hanging plate judging module can judge whether the car door hanging plate reaches a door closing position or not; the door knife judging module can judge whether the door knife is in a safe release state or not; and the in-place output module is electrically connected with the door hanging plate judging module and the door knife judging module and is configured to output a door closing in-place signal when the fact that the car door hanging plate reaches the door closing in-place position and the door knife is in a safe release state is determined.
In a third aspect, an embodiment of the present invention provides an elevator door motor control apparatus, including: a memory having instructions stored therein and at least one processor invoking the instructions in the memory to cause the elevator door motor control apparatus to perform the elevator door motor control method according to any of the foregoing embodiments of the first aspect of the invention.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon instructions that when executed by a processor implement an elevator door machine control method according to any of the foregoing embodiments of the first aspect of the present invention.
According to the elevator door machine control method provided by the embodiment of the invention, after a door closing instruction is received, whether the door knife is in a safe release state is judged besides judging whether the car door hanging plate reaches a door closing in-place position, when the door knife is in the safe release state, the door knife releases the door ball and has a safe distance from the door ball, and at the moment, friction or collision can not be generated between the door knife and the door ball when the elevator moves vertically. The control method of the embodiment of the invention can output the door closing in-place signal after meeting the condition that the car door hanging plate reaches the door closing in-place position and the door knife is in the safe release state, so that a sufficient safe distance is reserved between the door knife and the door ball when the elevator runs in the subsequent vertical direction, and the safe running of the elevator is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of an embodiment of a method for controlling an elevator door machine according to the present invention;
fig. 2 is a flow chart of another embodiment of the elevator door motor control method of the present invention;
fig. 3 is a schematic view of the whole door closing stroke in another embodiment of the elevator door machine control method of the present invention;
fig. 4 is a block diagram of an embodiment of an elevator door motor control apparatus according to the present invention;
fig. 5 is a schematic view of an embodiment of the elevator door motor control apparatus of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The elevator comprises elevator door motor, landing door, car door and other parts. The elevator door machine comprises a car door hanging plate, a landing door hanging plate, a door ball and a door knife. The sedan-chair door link plate can drive the sedan-chair door and carry out the door action of opening and closing, and the layer door link plate can drive the layer door and carry out the door action of opening and closing. The door knife is arranged on the car door hanging plate, and the door ball is arranged on the landing door hanging plate. When the door knife clamps the two lateral sides of the door ball, the landing door hanging plate and the car door hanging plate synchronously move. For example, in the process of opening or closing the door of an elevator, the landing door and the car door need to move transversely synchronously, and in the process of moving transversely synchronously, the door clamp clamps two transverse sides of the door ball.
The embodiment of the invention provides a control method of an elevator door machine, which is used for controlling the elevator door machine.
The elevator door machine provided by the embodiment of the invention comprises a car door hanging plate, a door motor, a door ball and a door knife. The door cutter has a clamping state and a safe release state. In the clamped state, the gate tool clamps the gate ball. In the safe release state, the gate knife releases the gate ball with a safe distance between the gate ball and the gate ball. The door motor can drive the car door hanging plate to close the door in the door closing action and can drive the door knife to release the door ball. In some embodiments, the door motor is connected with the car door hanging plate and the door knife through belt transmission, chain transmission and other transmission modes, so that the door motor can drive the action of the car door hanging plate and the action of the door knife.
Optionally, in the complete door closing action, the door motor drives the car door hanging plate to close the door, and after the car door hanging plate closes the door, the door motor continues to drive the door knife to release the door ball. Optionally, the door motor can also drive the door holder to clamp the door ball and drive the car door hanging plate to open the door during the door opening action. In the complete door opening action, the door motor drives the door cutter holder to clamp the door ball, and after the door cutter holder clamps the door ball, the door motor continuously drives the car door hanging plate to open the door.
Fig. 1 is a flow chart of an embodiment of the elevator door motor control method of the present invention. The elevator door motor control method comprises steps S110 to S140.
In step S110, a door closing command is received, and the door motor is controlled to perform a door closing operation. In some embodiments, the door closing command is output by a host computer, such as an elevator control system. In some embodiments, the upper computer may also output a door opening command. In the elevator door machine control method, after receiving a door opening instruction, a door motor can be controlled to perform door opening actions.
In step S120, it is determined whether the car door hanger has reached the door closing in-place position.
In step S130, it is determined whether the door knife is in a safety release state. The order of step S120 and step S130 may be set according to actual needs. In some embodiments, step S130 is performed after step S120; in some embodiments, step S120 is performed after step S130; in some embodiments, step S120 and step S130 are performed simultaneously.
In step S140, when it is determined that the car door hanging plate has reached the door closing in-place position and the door knife has been in the safety release state, a door closing in-place signal is output.
According to the elevator door machine control method provided by the embodiment of the invention, after a door closing instruction is received, whether the door knife is in a safe release state is judged besides judging whether the car door hanging plate reaches a door closing in-place position, when the door knife is in the safe release state, the door knife releases the door ball and has a safe distance from the door ball, and at the moment, friction or collision can not be generated between the door knife and the door ball when the elevator moves vertically. The control method of the embodiment of the invention can output the door closing in-place signal after meeting the condition that the car door hanging plate reaches the door closing in-place position and the door knife is in the safe release state, so that a sufficient safe distance is reserved between the door knife and the door ball when the elevator runs in the subsequent vertical direction, and the safe running of the elevator is ensured.
Fig. 2 is a flow chart of another embodiment of the elevator door motor control method of the present invention. The elevator door motor control method includes steps S210 to S250.
In some embodiments, the door motor is provided with a rotary encoder, and the door closing overall travel can be learned and recorded by the rotary encoder on the door motor in the installation and debugging stage of the elevator, namely before the elevator is delivered to run, and the door opening overall travel can be learned and recorded. The rotary encoder may feed back the door closing overall stroke in the form of pulses, which may be stored and recalled.
Fig. 3 is a schematic view of the whole door closing stroke in another embodiment of the elevator door machine control method of the present invention. The integral door closing stroke of the door motor comprises a car door hanging plate closing stroke and a door knife releasing stroke which are sequentially and continuously arranged.
In fig. 3, the stroke value a is a stroke value of the door motor when the door hanging plate is completely opened. And the stroke value B is the stroke value of the door motor when the car door hanging plate reaches the door closing position. And the stroke value A to the stroke value B are the complete closing stroke of the car door hanging plate in the whole door closing stroke. And from the stroke value B to the stroke value C, the complete door knife release stroke in the whole door closing stroke is realized. When the stroke of the door motor reaches the stroke value C, the door knife is fully opened, a sufficient distance is reserved between the door knife and the door ball, and the door knife is in a safe release state.
In step S210, a door closing command is received, and the door motor is controlled to perform a door closing operation.
In step S220, the mode in which the elevator door motor is located is obtained. In some embodiments, the modes of the elevator door machine include a normal mode and a positioning mode. The normal mode is a mode of normal operation of the elevator door motor. The positioning mode is a mode of determining the initial position of the door width when a door closing instruction is received for the first time or a door opening instruction is received for the first time after the elevator door machine is restarted. For example, when the elevator door machine is powered off in operation and is powered on again, after receiving the door opening instruction or the door closing instruction for the first time, the elevator door machine enters a positioning mode for acquiring the reference position of the stroke of the door motor. Optionally, in the positioning mode, a door opening action is successfully completed or a door closing action is successfully completed, at this time, the reference position of the stroke of the door motor is also obtained, and then the elevator door machine can be switched to the normal mode.
In some embodiments, the speed at which the door motor drives the movement of the door hanger is variable in the normal mode, i.e., the speed of movement of the door hanger may not be uniform throughout the door opening or closing motion. In the positioning mode, the speed of the door motor driving the car door hanging plate to move can be uniform, namely, the speed of the car door hanging plate to move can be uniform in the whole door opening action or the whole door closing action, and the speed of the car door hanging plate to move in the positioning mode can be reduced, so that unnecessary collision of components of the elevator in the positioning mode is avoided.
The positioning mode is a mode of determining the initial position of the door width when a door closing instruction is received for the first time or a door opening instruction is received for the first time after the elevator door machine is restarted. In some embodiments, the elevator door machine further comprises a door plate in-place trigger, wherein the trigger position of the door plate in-place trigger corresponds to the door closing in-place position, and in the positioning mode, the door width starting position is determined according to whether the door plate in-place trigger outputs a door plate in-place signal. The door plate in-place trigger is used as a physical switch signal, and the information of the door closing in-place trigger is accurate and reliable, so that the position searching of the door width starting position in the positioning mode is more reliable.
In some embodiments, in the positioning mode, determining the door width starting position according to whether the door panel in-place trigger outputs the door panel in-place signal may include: taking the position of the car door hanging plate at the moment when the door plate in-place trigger is converted from the output door plate in-place signal to the stop output door plate in-place signal as the door width starting position; or the position of the car door hanging plate at the moment when the door plate in-place trigger starts to output the door plate in-place signal is used as the door width starting position. After the elevator door machine is restarted and enters a positioning mode, when a door plate in-place trigger is converted from an output door plate in-place signal to a stop output door plate in-place signal, the fact that the car door hanging plate just leaves a door closing in-place position at the moment is indicated, and the position of the car door hanging plate at the moment is taken as a door width starting position; when the door plate in-place trigger starts to output a door plate in-place signal, the door plate is indicated to just reach the door closing in-place position at the moment, and the position of the door plate at the moment is taken as the door width starting position. In the embodiment, in the positioning mode, the door width starting position can be determined by using the physical switch signal of the door plate in-place trigger in both the door opening process and the door closing process, and the accuracy of the door width starting position determination is improved.
In step S230, it is determined whether the car door hanger has reached the door closing in-place position.
In some embodiments, the elevator door machine further comprises a door panel in-place trigger. The triggering position of the door plate in-place trigger corresponds to the door closing in-place position. At this time, judging whether the car door hanging plate reaches the door closing in-place position includes: if the door plate in-place trigger outputs a door plate in-place signal, the car door hanging plate reaches a door closing in-place position; if the door plate in-place trigger stops outputting the door plate in-place signal, the car door hanging plate does not reach the door closing in-place position.
Accordingly, as shown in fig. 3, the stroke value B is also a stroke value of the door motor corresponding to the triggering position of the door panel in-place trigger.
In some embodiments, the door panel in place trigger is a blade switch, including a receptacle and a plug. One of the socket and the plug is arranged at the position where the door is closed, the other is arranged on the car door hanging plate, and when the plug is inserted into the socket, the door plate in-place trigger outputs a door plate in-place signal. For example, the socket is disposed in a door closing in-place position and the plug is disposed in a car door hanger.
In step S240, it is determined whether the door knife is in a safety release state.
The order of step S230 and step S240 may be set according to actual needs. In some embodiments, step S240 is performed after step S230; in some embodiments, step S230 is performed after step S240; in some embodiments, step S230 and step S240 are performed simultaneously.
In the present embodiment, the aforementioned step S220 is located before the step S240. Through step S220, the mode in which the elevator door motor is located can be obtained. Step S240 may include: and matching corresponding door knife in-place output conditions according to the mode of the elevator door machine, and when the corresponding door knife in-place output conditions are met, enabling the door knife to be in a safe release state.
Specifically, matching corresponding door vane in-place output conditions according to the mode of the elevator door motor comprises: when the elevator door machine is in a normal mode, matching a first door knife in-place output condition; when the elevator door machine is in a positioning mode, the position of the car door hanging plate is judged to be matched with corresponding door knife in-place output conditions when a door closing instruction is received. As described above, the positioning mode is a mode in which the door width starting position is determined when the door closing instruction is received for the first time or the door opening instruction is received for the first time after the elevator door machine is restarted.
The first door vane in-place output conditions include: the car door hanging plate reaches a door closing position; the door closing stroke value is larger than a first preset stroke value, wherein the door closing stroke value is a real-time stroke value of a door motor in a door closing action by taking the car door hanging plate as an initial value when the car door hanging plate is completely opened, and the first preset stroke value is a stroke value when the door motor drives the car door hanging plate to a door closing position; and the current value of the door motor is larger than or equal to the door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value is increased along with the increase of resistance of the door motor, and the door closing maintaining current value is a current value for the door motor to maintain the door closing clamping state of the elevator.
The greater the door current value, the greater the force it drives the motion of the car door hanger plate or the door knife. When the elevator runs vertically, a door motor can be configured with a door closing maintenance current value, so that unnecessary opening of a car door during the vertical running of the elevator is avoided.
In this embodiment, the elevator door machine includes a door panel in-place trigger. In the first door vane in-place output condition, the fact that the car door hanging plate reaches the door closing in-place position can be reflected by whether the door plate in-place trigger outputs a door plate in-place signal. When the door plate in-place trigger outputs a door plate in-place signal, the condition that the car door hanging plate reaches the door closing in-place position is satisfied.
In the above embodiment, the first preset travel value is a travel value when the door motor drives the car door hanging plate to reach the door closing position. In some embodiments, the first vane in place output condition comprises: the car door hanging plate reaches a door closing position; the door closing stroke value is larger than or equal to a second preset stroke value, wherein the door closing stroke value is a real-time stroke value of a door motor in a door closing action by taking the car door hanging plate as an initial value when the car door hanging plate is completely opened, and the second preset stroke value is larger than a first preset stroke value, and the first preset stroke value is the first preset stroke value; and the current value of the door motor is larger than or equal to the door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value is increased along with the increase of resistance of the door motor, and the door closing maintaining current value is a current value for the door motor to maintain the door closing clamping state of the elevator.
When the elevator door machine is in a positioning mode, judging that the corresponding door knife in-place output condition is matched after the position of the car door hanging plate when the door closing instruction is received comprises the following steps: the elevator door machine is in a positioning mode, and when a door closing instruction is received, the car door hanging plate reaches a door closing in-place position, and a second door cutter in-place output condition is matched; when the elevator door machine is in a positioning mode and receives a door closing instruction, the car door hanging plate does not reach a door closing in-place position, and a third door knife in-place output condition is matched.
The second vane in place output conditions include: the current value of the door motor is larger than or equal to the door closing maintaining current value, wherein the current value of the door motor is a current value configured to the door motor, the current value of the door motor is increased along with the increase of resistance received by the door motor, and the door closing maintaining current value is a current value for the door motor to maintain the door closing clamping state of the elevator.
The third door vane in-place output conditions include: the car door hanging plate reaches a door closing position; after the car door hanging plate reaches a door closing in-place position, the door closing stroke distance reaches a door knife release stroke distance, wherein the door closing stroke distance is the stroke distance generated by a door motor in a door closing action, and the door knife release stroke distance is the stroke distance corresponding to the conversion of a door knife driven by the door motor from a clamping state to a safe release state; and the current value of the door motor is larger than or equal to the door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value is increased along with the increase of resistance of the door motor, and the door closing maintaining current value is a current value for the door motor to maintain the door closing clamping state of the elevator.
In this embodiment, the elevator door machine includes a door panel in-place trigger. In the above third door vane in-place output condition, the fact that the car door hanging plate has reached the door closing in-place position can be reflected by whether the door plate in-place trigger outputs a door plate in-place signal. When the door plate in-place trigger outputs a door plate in-place signal, the condition that the car door hanging plate reaches the door closing in-place position is satisfied.
As shown in fig. 2, in step S250, when it is determined that the car door hanger has reached the door closing in-place position and the door vane is in the safety release state, a door closing in-place signal is output.
For example, when the elevator door machine is in the normal mode, the door closing in-place signal is output when it is determined that the car door hanging plate has reached the door closing in-place position and it is determined that the first door knife in-place output condition is satisfied. For example, when the elevator door machine is in a positioning mode and receives a door closing instruction, the car door hanging plate reaches a door closing in-place position, and when the car door hanging plate is determined to reach the door closing in-place position and the second door knife in-place output condition is determined to be met, a door closing in-place signal is output. For example, when the elevator door machine is in a positioning mode and receives a door closing instruction, the car door hanging plate does not reach a door closing in-place position, and when the car door hanging plate is determined to reach the door closing in-place position and a third door knife in-place output condition is met, a door closing in-place signal is output.
In some embodiments, the elevator door machine control method may further include: and if the door closing signal is not output in place after the door closing instruction is received for a preset time, outputting door closing fault information. The door closing failure information is, for example, a corresponding failure code.
According to the elevator door machine control method provided by the embodiment of the invention, after a door closing instruction is received, whether the door knife is in a safe release state is judged besides judging whether the car door hanging plate reaches a door closing in-place position, when the door knife is in the safe release state, the door knife releases the door ball and has a safe distance from the door ball, and at the moment, friction or collision can not be generated between the door knife and the door ball when the elevator moves vertically. The control method of the embodiment of the invention can output the door closing in-place signal after meeting the condition that the car door hanging plate reaches the door closing in-place position and the door knife is in the safe release state, so that a sufficient safe distance is reserved between the door knife and the door ball when the elevator runs in the subsequent vertical direction, and the safe running of the elevator is ensured.
In the above embodiment, the elevator door machine further includes a door plate in-place trigger, and in the installation and debugging stage of the elevator, the integral door closing stroke can be learned and recorded through a rotary encoder on the door motor, wherein the trigger position of the door plate in-place trigger can be recorded, and the integral door closing stroke and the trigger position of the door plate in-place trigger can be stored and called. After that, whether the car door hanging plate reaches the position where the car door is closed or not can be judged through whether the door plate in-place trigger outputs a door plate in-place signal, the recorded trigger position and the like, so that the accurate identification of the position of the car door hanging plate is facilitated.
The embodiment of the invention also provides an elevator door machine control device, which is a microcontroller for example and can control the elevator door machine to operate.
Fig. 4 is a block diagram of an embodiment of the elevator door motor control apparatus of the present invention. The elevator door machine control device comprises an instruction receiving module 110, a door motor connecting module 120, a door hanging plate judging module 130, a door knife judging module 140 and an in-place output module 150.
The command receiving module 110 is capable of receiving a door closing command. The door motor connection module 120 is electrically connected to the door motor and the command receiving module 110. The door motor connection module 120 is configured to control the door motor to perform a door closing action when the command receiving module 110 receives a door closing command. The door hanger determining module 130 can determine whether the car door hanger has reached a closed position. The door knife determination module 140 can determine whether the door knife is in a safe release state. The in-place output module 150 is electrically connected to the door hanger plate judging module 130 and the door knife judging module 140. The in-place output module 150 is configured to output a door-closed in-place signal when it is determined that the car door hanger has reached the door-closed in-place position and the door knife has been in a safety release state.
In some embodiments, the elevator door machine further comprises a door panel in-place trigger. The triggering position of the door plate in-place trigger corresponds to the door closing in-place position. At this time, the door hanging plate judging module 130 may be electrically connected to the door plate in-place trigger, and if the door hanging plate judging module 13 receives the door plate in-place signal from the door plate in-place trigger, the car door hanging plate has reached the door-closing in-place position; if the door hanging plate judging module 13 does not receive the door plate in-place signal from the door plate in-place trigger, the car door hanging plate does not reach the door closing in-place position.
According to the elevator door machine control device of the embodiment of the invention, after the command receiving module 110 receives a door closing command, the door hanging plate judging module 130 judges whether the car door hanging plate reaches a door closing in-place position, and the door knife judging module 140 judges whether the door knife is in a safety release state. When the door knife is in a safe release state, the door knife releases the door ball and has a safe distance from the door ball, and at the moment, friction or collision can not be generated between the door knife and the door ball when the elevator moves vertically. After the condition that the car door hanging plate reaches the door closing in-place position and the door knife is in the safe release state is met, the in-place output module 150 outputs a door closing in-place signal, so that a sufficient safe distance is reserved between the door knife and the door ball when the elevator runs in the subsequent vertical direction, and the safe running of the elevator is ensured.
The invention also provides elevator door machine control equipment, which comprises a memory and a processor, wherein the memory stores computer readable instructions, and when the computer readable instructions are executed by the processor, the processor executes the steps of the elevator door machine control method in the above embodiments.
Fig. 5 is a schematic diagram of an embodiment of an elevator door control apparatus 500 of the present invention, which may vary considerably in configuration or performance, may include at least one processor (central processing units, CPU) 510 and memory 520, at least one storage medium 530 (e.g., at least one mass storage device) storing applications 533 and/or data 532. Wherein memory 520 and storage medium 530 may be transitory or persistent storage. The program stored in the storage medium 530 may include at least one module (not shown), each of which may include a series of instruction operations to the elevator door motor control apparatus 500. Still further, the processor 510 may be configured to communicate with the storage medium 530 to execute a series of instruction operations in the storage medium 530 on the elevator door motor control apparatus 500.
The elevator door motor control device 500 may also include at least one power supply 540, at least one wired or wireless network interface 550, at least one input output interface 560, and/or at least one operating system 531, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the elevator door operator control apparatus structure illustrated in fig. 5 is not limiting and may include more or fewer components than illustrated, or may be a combination of certain components, or a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and may also be a volatile computer readable storage medium, in which instructions are stored, which when run on a computer, cause the computer to perform the steps of the elevator door machine control method described above.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, but rather, the equivalent structural changes made by the description and drawings of the present invention or the direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. An elevator door machine control method, characterized in that the elevator door machine comprises a car door hanging plate, a door motor, a door ball and a door knife, the door knife has a clamping state and a safe release state, the door knife clamps the door ball in the clamping state, the door knife releases the door ball and has a safe distance with the door ball in the safe release state, the door motor can drive the car door hanging plate to close the door and can drive the door knife to release the door ball in the door closing action, the elevator door machine control method comprises the following steps:
receiving a door closing instruction, and controlling the door motor to perform door closing action;
judging whether the car door hanging plate reaches a door closing position or not;
judging whether the door knife is in the safe release state or not; and
when the car door hanging plate is determined to reach the door closing in-place position and the door knife is in the safe release state, outputting a door closing in-place signal;
before the judging whether the door knife is in the safe release state, the elevator door machine control method further comprises the following steps:
obtaining a mode of the elevator door machine;
the determining whether the door knife is in the safe release state includes:
Matching corresponding door knife in-place output conditions according to the mode of the elevator door machine, and when the corresponding door knife in-place output conditions are met, enabling the door knife to be in the safe release state;
the matching of the corresponding door knife in-place output conditions according to the mode of the elevator door machine comprises the following steps:
when the elevator door machine is in a normal mode, matching a first door knife in-place output condition;
when the elevator door machine is in a positioning mode, judging that the position of the car door hanging plate matches with a corresponding door knife in-place output condition when the door closing instruction is received, wherein the positioning mode is a mode of determining a door width starting position when the door closing instruction is received for the first time or a door opening instruction is received for the first time after the elevator door machine is restarted;
when the elevator door machine is in a positioning mode, judging that the corresponding door knife in-place output condition is matched after the position of the car door hanging plate when the door closing instruction is received comprises the following steps:
the elevator door machine is in a positioning mode, and when the elevator door machine receives the door closing instruction, the elevator door hanging plate reaches the door closing in-place position and matches a second door cutter in-place output condition;
the elevator door machine is in a positioning mode, and when the elevator door machine receives the door closing instruction, the elevator door hanging plate does not reach the door closing in-place position, and a third door knife in-place output condition is matched;
The second vane in place output condition comprises:
the door motor current value is greater than or equal to a door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value increases along with the increase of resistance received by the door motor, and the door closing maintaining current value is a current value for the door motor to maintain an elevator door closing clamping state;
the third door vane in-place output condition comprises:
determining that the car door hanging plate has reached the door closing in-place position;
after the car door hanging plate reaches the door closing in-place position, the door closing stroke distance reaches a door knife release stroke distance, wherein the door closing stroke distance is the stroke distance generated by the door motor in the door closing action, and the door knife release stroke distance is the stroke distance corresponding to the safety release state when the door motor drives the door knife to be converted from the clamping state; and
the door motor current value is greater than or equal to a door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value increases along with the increase of resistance received by the door motor, and the door closing maintaining current value is a current value for the door motor to maintain an elevator door closing clamping state.
2. The elevator door machine control method of claim 1, wherein the elevator door machine further comprises a door plate in-place trigger, a trigger position of the door plate in-place trigger corresponds to the door-closing in-place position, and the determining whether the car door hanging plate reaches the door-closing in-place position comprises:
if the door plate in-place trigger outputs a door plate in-place signal, the car door hanging plate reaches the door closing in-place position;
and if the door plate in-place trigger stops outputting the door plate in-place signal, the car door hanging plate does not reach the door closing in-place position.
3. The elevator door machine control method of claim 2, wherein the door plate in-place trigger is a tab switch, and comprises a socket and a plug, one of the socket and the plug is arranged at the door closing in-place position, the other is arranged at the car door hanging plate, and the door plate in-place trigger outputs the door plate in-place signal when the plug is inserted into the socket.
4. The elevator door motor control method of claim 1, wherein the first vane in place output condition comprises:
the car door hanging plate reaches the door closing in-place position;
The door closing stroke value is larger than a first preset stroke value, wherein the door closing stroke value is a real-time stroke value of the door motor in a door closing action when the car door hanging plate is completely opened, and the first preset stroke value is a stroke value when the door motor drives the car door hanging plate to the door closing in-place position; and
the door motor current value is greater than or equal to a door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value increases along with the increase of resistance received by the door motor, and the door closing maintaining current value is a current value for the door motor to maintain an elevator door closing clamping state.
5. The elevator door motor control method as claimed in claim 1, further comprising:
and if the door closing in-place signal is not output after the door closing instruction is received for a preset time, outputting door closing fault information.
6. The elevator door machine control method of claim 1, wherein the elevator door machine further comprises a door plate in-place trigger, the trigger position of the door plate in-place trigger corresponds to the door closing in-place position,
in the positioning mode, the door width starting position is determined according to the condition whether the door plate in-place trigger outputs a door plate in-place signal.
7. The elevator door machine control method according to claim 6, wherein in the positioning mode, the determining the door width start position according to whether the door plate in-place trigger outputs the door plate in-place signal includes:
taking the position of the car door hanging plate at the moment when the door plate in-place trigger is converted from the output door plate in-place signal to the stop output door plate in-place signal as a door width starting position; or alternatively
And taking the position of the car door hanging plate at the moment when the door plate in-place trigger starts to output the door plate in-place signal as a door width starting position.
8. An elevator door machine control device, characterized by comprising:
the instruction receiving module is capable of receiving a door closing instruction;
the door motor connecting module is electrically connected with the door motor and the command receiving module and is configured to control the door motor to perform door closing action when the command receiving module receives the door closing command;
the door hanging plate judging module can judge whether the car door hanging plate reaches a door closing position or not;
the door knife judging module can judge whether the door knife is in a safe release state or not; and
the in-place output module is electrically connected with the door hanging plate judging module and the door knife judging module and is configured to output a door closing in-place signal when the car door hanging plate is determined to reach the door closing in-place position and the door knife is in the safe release state;
The door vane determination module is configured to: before judging whether the door knife is in a safe release state, obtaining a mode in which an elevator door motor is positioned;
the door vane determination module is further configured to: matching corresponding door knife in-place output conditions according to the mode of the elevator door machine, and when the corresponding door knife in-place output conditions are met, enabling the door knife to be in the safe release state;
the matching of the corresponding door knife in-place output conditions according to the mode of the elevator door machine comprises the following steps:
when the elevator door machine is in a normal mode, matching a first door knife in-place output condition;
when the elevator door machine is in a positioning mode, judging that the position of the car door hanging plate matches with a corresponding door knife in-place output condition when the door closing instruction is received, wherein the positioning mode is a mode of determining a door width starting position when the door closing instruction is received for the first time or a door opening instruction is received for the first time after the elevator door machine is restarted;
when the elevator door machine is in a positioning mode, judging that the corresponding door knife in-place output condition is matched after the position of the car door hanging plate when the door closing instruction is received comprises the following steps:
the elevator door machine is in a positioning mode, and when the elevator door machine receives the door closing instruction, the elevator door hanging plate reaches the door closing in-place position and matches a second door cutter in-place output condition;
The elevator door machine is in a positioning mode, and when the elevator door machine receives the door closing instruction, the elevator door hanging plate does not reach the door closing in-place position, and a third door knife in-place output condition is matched;
the second vane in place output condition comprises:
the door motor current value is greater than or equal to a door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value increases along with the increase of resistance received by the door motor, and the door closing maintaining current value is a current value for the door motor to maintain an elevator door closing clamping state;
the third door vane in-place output condition comprises:
determining that the car door hanging plate has reached the door closing in-place position;
after the car door hanging plate reaches the door closing in-place position, the door closing stroke distance reaches a door knife release stroke distance, wherein the door closing stroke distance is the stroke distance generated by the door motor in the door closing action, and the door knife release stroke distance is the stroke distance corresponding to the safety release state when the door motor drives the door knife to be changed from the clamping state to the safety release state; and
the door motor current value is greater than or equal to a door closing maintaining current value, wherein the door motor current value is a current value configured to the door motor, the door motor current value increases along with the increase of resistance received by the door motor, and the door closing maintaining current value is a current value for the door motor to maintain an elevator door closing clamping state.
9. An elevator door motor control apparatus, comprising: a memory and at least one processor, the memory having instructions stored therein,
the at least one processor invokes the instructions in the memory to cause the elevator door motor control apparatus to perform the elevator door motor control method of any of claims 1-7.
10. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the elevator door motor control method of any of claims 1-7.
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| CN114920117A (en) | 2022-08-19 |
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