EP0429835B2 - Verfahren und Vorrichtung zur Herabsetzung der Einklemmgefahr bei automatischen Türen - Google Patents

Verfahren und Vorrichtung zur Herabsetzung der Einklemmgefahr bei automatischen Türen Download PDF

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Publication number
EP0429835B2
EP0429835B2 EP90119947A EP90119947A EP0429835B2 EP 0429835 B2 EP0429835 B2 EP 0429835B2 EP 90119947 A EP90119947 A EP 90119947A EP 90119947 A EP90119947 A EP 90119947A EP 0429835 B2 EP0429835 B2 EP 0429835B2
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EP
European Patent Office
Prior art keywords
door
motor
drive
force
dvmax
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP90119947A
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German (de)
English (en)
French (fr)
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EP0429835B1 (de
EP0429835A1 (de
Inventor
Mark Heckler
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Inventio AG
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Inventio AG
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Publication of EP0429835B1 publication Critical patent/EP0429835B1/de
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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
    • B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
    • B66B13/26—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers between closing doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/50—Fault detection
    • E05Y2400/504—Fault detection of control, of software
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/56—Obstruction or resistance detection by using speed sensors
    • E05Y2400/564—Obstruction or resistance detection by using speed sensors sensing motor speed
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/104—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for elevators

Definitions

  • the present invention relates to a method and a device for reducing the risk of pinching in automatic doors with a motor with drive control for elevators with controlled door drive, which, via the motor with drive control and mechanical transmission and coupling members, door leaf of a shaft and cabin door from a closed position into an open position and vice versa and which stops the door leaf in any position between the two end positions open and closed, moves it in the same direction or reverses.
  • Pinching elevator users between closing elevator doors must be prevented by means of suitable devices due to the relevant regulations.
  • Such devices usually consist of electromechanical closing force limiters, which have a resilient element in the power transmission between the motor and the door, which actuates an electrical contact by deflection when the force is exerted on the door and initiates a reversal of the door via door control.
  • US Pat. No. 4,563,625 has disclosed a solution in which an impermissible force on the door is detected without electromechanics.
  • a measuring resistor 230, Fig. 4
  • the voltage drop proportional to the motor current is interpreted as a torque value and compared with an adjustable limit value. If it is exceeded, stop and reverse operations are triggered.
  • a major disadvantage of this solution is that the closing force must never be greater than the value permitted by the regulations. This unnecessarily reduces the acceleration force of the drive and the short-term overload possibility of an electric motor is not exploited. Furthermore, with a gradual change in the efficiency in the mechanical drive system, an incorrect response of the closing force limitation and thus a door fault is the result.
  • capacitive sensors are attached to the closing edges of automatic elevator doors, which generate error signals when their antennas are capacitively influenced by an obstacle or a disturbance.
  • the disclosed solution describes the further processing of the error signals and their compensation in the event of slowly changing interference.
  • a sensor device is used for a pinch protection required and the pinch protection is no longer guaranteed when the door closes in the last few cm of the closing movement due to the necessary passivation of the sensors.
  • the present invention is based on the object of providing a method and a device for limiting the closing force without additional, discrete measuring and switching circuits which limit the motor output.
  • FIG. 1 shows an automatic elevator door 1 with a door motor 1.1, a door drive control 1.2, a belt transmission 1.3 and a drive belt 1.4.
  • door drivers 1.5 door leaves 1.6 are moved, which have door rollers 1.7, guide pieces 1.13 and safety strips 1.11 with control parts 1.12.
  • door drivers 1.10 on the door wings 1.6.
  • a switch cam 1.15 on the upper edge of the right door leaf 1.6 actuates a limit switch open position 1.9 in the open position and a limit switch closed position 1.8 in the closed position.
  • FIG. 2 is a block diagram in which functional elements and their relationship to one another are shown on a cabin 2.
  • the door drive control 1.2 contains a uP control 2.3 and a switching electronics 2.4.
  • the door motor 1.1 consists of a DC motor 2.1 and a digital speedometer 2.2.
  • the drive elements 1.3, 1.4 and 1.5 shown in FIG. 1 are combined with a mechanical drive 2.5.
  • the shaft door drivers 1.10 act on a shaft door 2.8.
  • the functional elements 2.5, 1.6 and 2.8 still act on a mechanical locking device 2.6 and this on locking contacts 2.7.
  • actuated limit switches 1.8, 1.9 are connected to a control logic part, not shown in this figure, in the uP controller 2.3, which forwards the corresponding signals via a hanging cable 2.12 into a machine room 2.13.
  • the door security strips 1.11 and an anteroom monitoring 2.10 react to effects from a periphery 2.11 and are connected to the uP control 2.3 as well as to the machine room 2.13, in which there is an elevator control, not shown in this figure.
  • a power supply 2.9 supplies the entire door drive control 1.2.
  • Fig. 3 shows the control scheme with the door drive.
  • the bordered area of the UP control 2.3 has all the elements of the door motor control.
  • a setpoint generator 3.5 essentially consists of the stored driving curves 3.20, 3.21 and 3.22 and the driving curve selector 3.18, which is influenced by an elevator control 3.17. From the setpoint generator 3.5, a setpoint V ref leads to a first comparator 3.1, to which an actual value V ist is also led from the digital tachometer 2.2 via a DA converter 3.15.
  • a subsequent differential value transmitter 3.6 has a first connection to a limit value comparator 3.7 and a second connection to a second comparator 3.2.
  • the limit value comparator 3.7 which additionally receives the tolerance values from a setpoint generator 3.5 via a second input, appropriate signals are sent to the elevator control system 3.17 if they are exceeded.
  • a learning trip selector 3.19 influenced by the elevator control 3.17 activates a learning trip computer 3.11, which determines values for a mass compensation 3.12 and a friction compensation 3.13.
  • a fourth comparator 3.4 these values are added and their sum is passed to the second comparator 3.2 as a compensation value V k .
  • the output of the second comparator 3.2 leads to a controller 3.8, in which the corresponding manipulated variable value is generated for a subsequent switching electronics 2.4.
  • a second input in the switching electronics 2.4 is connected to the elevator control 3.17.
  • the DC motor 2.1 is controlled by the switching electronics 2.4 on the principle of pulse width modulation.
  • the motor force F mot leads via a third comparator 3.3 to a drive load 3.10, which in response causes the drive counterforce F A.
  • An external interference force 3.9 acts as a negative force F w on the third comparator 3.3 in the event of a fault.
  • the connection of the DC motor 2.1 with the digital speedometer 2.2 is mechanical.
  • the digital tachometer 2.2 is electrically connected to the digital filter 3.15 and via 3.1.1 to the learning trip selector 3.19.
  • FIG. 4 shows a diagram with the closing travel curve 3.22, which corner points a, b, c, d, e and f.
  • a real setpoint curve 4.1 is generated by rounding filter circuits from the closing travel curve 3.22.
  • a positive tolerance curve 4.3 with a distance + dV max and a negative tolerance curve 4.2 with a distance - dV max from the real target value curve are generated from the real setpoint curve 4.1.
  • FIG. 4a shows this process.
  • a filter 3.22.1 rounds off the corners of the closing travel curve 3.22 to such an extent that this results in the real setpoint 4.1, which is present in this form at the output of the setpoint generator 3.5 as V ref .
  • the same value is also fed to a divider 3.22.2. This continuously determines, for example, a 5% share of the current real target value 4.1, and the positive tolerance limit value + dV max is obtained in this way.
  • the negative tolerance limit value - dV max is formed.
  • Fig. 5 is a flow chart showing the functions of a door closing trip. The mode of operation of the invention is explained in more detail below with reference to this and FIG.
  • the elevator control 3.17 sets the travel curve selector 3.18 to the close position. This process takes place contactlessly and with memory addressing.
  • the closing travel curve 3.22 called up in the memory (not shown) is also stored as a number of straight lines with the corner points a, b, c, d, e, and f. These key points are defined on the occasion of the first learning trip and are, for example, a at 30%, b at 50%, c at 70%, d at 75%, e at 85% and f at 95% of the total closing path of the Door.
  • V ref starts according to the real setpoint 4.1.
  • the actual value V ist originating from the digital tachometer 2.2 and converted into an analog value in the DA converter 3.15 is supplied. The difference between the two values is then available as a control error dV.
  • the control error dV is checked for its tolerance.
  • the value dV in the second comparator 3.2 is added a compensation value V k supplied by the fourth comparator 3.4 and the input signal for the controller 3.8 is formed.
  • the controller 3.8 produces a modulation signal for the switching electronics 2.4, which in turn controls the DC motor 2.1 according to the previously mentioned principle of pulse width modulation.
  • the motor force F mot counteracts a reaction force F A caused by a drive load 3.10, which has negative values when accelerating and positive values when decelerating.
  • the third comparator 3.3 is used to represent the comparison of forces and is not really available. In the normal case, the external interference force 3.9 or F w is not effective.
  • the timing of the real setpoint 4.1 is controlled depending on the path, which is made possible by the digital tachometer 2.2 via integrator 3.16.
  • a negative value means: The actual value V ist has fallen below the current real setpoint 4.1 or V ref by more than - dV max .
  • a positive value means: The actual value V ist has exceeded the current value V ref by more than + dV max .
  • the latter can occur, for example, in the event of a belt break, in which case the suddenly outgoing DC motor 2.1 briefly generates such values via digital tachometer 2.2 and digital filter 3.15 until it is regulated.
  • An interference signal 3.14.1 is then formed in the sequence, followed by switching off via elevator control 3.17 or door control logic 3.14. If the closing door is held open or braked by an external interference force 3.9, a negative overshoot occurs, ie dV> - dV max . In this case, the DC motor is braked electrodynamically and, if necessary, additionally mechanically to a standstill and a reversal, ie an opening movement, is initiated.
  • the setpoint generator 3.5 has a learning travel curve 3.20 which, if necessary, is called up by the elevator controller 3.17 by means of the travel curve selector 3.18.
  • the learn run selector 3.19 is activated and the learn run is carried out as a closing movement at constant and very low speed.
  • the time course of the control error dV registered with the learning trip computer gives the indication of the mass to be accelerated in the acceleration phase and, over the entire course, the information about the friction conditions on the basis of the determined control error dV.
  • a mass compensation value 3.12 is calculated with the former and a friction compensation value 3.13 with the latter.
  • the two compensation values added together in the fourth comparator 3.4 are then fed to the second comparator 3.2 with each normal closing travel.
  • the very first learning trip is used to record route data, which then defines the key points, accelerations and speeds for the driving curves 3.21 and 3.22.
  • Learning trips can be carried out at any time interval as required. This can be, for example, once in 24 hours or even every time the door is closed without a lift command.
  • FIG. 1 shows, automatic elevator doors 1 with safety strips 1.11 are normal. equipped. However, these only fulfill their functions up to a certain distance from each other. If, for example, the front edges of the door have approached five to two cm during a closing movement, the detection systems of the security strips have to be made less sensitive or even switched off to prevent self-detection.
  • the invention fulfills the requirement for complete protection against pinching up to the last mm.
  • the door speed is also so low that the dynamic force component is negligibly small and only the static part is effective.
  • the response values of the closing force limit can be set considerably below the prescribed maximum value without impairing the door operations, in order to protect the elevator users even better.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)
  • Elevator Door Apparatuses (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Devices For Checking Fares Or Tickets At Control Points (AREA)
  • Disintegrating Or Milling (AREA)
  • Crushing And Pulverization Processes (AREA)
  • Control Or Security For Electrophotography (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Vending Machines For Individual Products (AREA)
EP90119947A 1989-11-27 1990-10-18 Verfahren und Vorrichtung zur Herabsetzung der Einklemmgefahr bei automatischen Türen Expired - Lifetime EP0429835B2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4244/89 1989-11-27
CH424489 1989-11-27

Publications (3)

Publication Number Publication Date
EP0429835A1 EP0429835A1 (de) 1991-06-05
EP0429835B1 EP0429835B1 (de) 1994-07-13
EP0429835B2 true EP0429835B2 (de) 1997-03-26

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ID=4272487

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Application Number Title Priority Date Filing Date
EP90119947A Expired - Lifetime EP0429835B2 (de) 1989-11-27 1990-10-18 Verfahren und Vorrichtung zur Herabsetzung der Einklemmgefahr bei automatischen Türen

Country Status (18)

Country Link
US (1) US5162711A (no)
EP (1) EP0429835B2 (no)
JP (1) JP2870664B2 (no)
CN (1) CN1020578C (no)
AT (1) ATE108416T1 (no)
AU (1) AU637164B2 (no)
BR (1) BR9005971A (no)
CA (1) CA2030768C (no)
DE (1) DE59006423D1 (no)
DK (1) DK0429835T3 (no)
ES (1) ES2059948T5 (no)
FI (1) FI93940C (no)
HK (1) HK86097A (no)
HU (1) HU210690B (no)
NO (1) NO177612C (no)
PT (1) PT96000B (no)
RU (1) RU2068197C1 (no)
ZA (1) ZA909478B (no)

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Also Published As

Publication number Publication date
ES2059948T3 (es) 1994-11-16
HUT56606A (en) 1991-09-30
BR9005971A (pt) 1991-09-24
FI93940B (fi) 1995-03-15
FI905785A0 (fi) 1990-11-23
CN1020578C (zh) 1993-05-12
ATE108416T1 (de) 1994-07-15
CN1057626A (zh) 1992-01-08
JP2870664B2 (ja) 1999-03-17
NO904539D0 (no) 1990-10-19
RU2068197C1 (ru) 1996-10-20
NO177612C (no) 1995-10-18
FI905785A (fi) 1991-05-28
NO904539L (no) 1991-05-28
ZA909478B (en) 1991-10-30
JPH03180684A (ja) 1991-08-06
PT96000B (pt) 1998-07-31
PT96000A (pt) 1992-08-31
DE59006423D1 (de) 1994-08-18
AU6693490A (en) 1991-05-30
DK0429835T3 (da) 1994-10-17
CA2030768A1 (en) 1991-05-28
FI93940C (fi) 1995-06-26
HU210690B (en) 1995-06-28
EP0429835B1 (de) 1994-07-13
NO177612B (no) 1995-07-10
HU907064D0 (en) 1991-05-28
ES2059948T5 (es) 1997-07-16
AU637164B2 (en) 1993-05-20
CA2030768C (en) 2000-01-11
EP0429835A1 (de) 1991-06-05
US5162711A (en) 1992-11-10
HK86097A (en) 1997-06-27

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