EP3710392A1 - Ascenseur avec mécanisme d'actionnement à commander activement pour le déverrouillage des portes palières - Google Patents

Ascenseur avec mécanisme d'actionnement à commander activement pour le déverrouillage des portes palières

Info

Publication number
EP3710392A1
EP3710392A1 EP18796980.3A EP18796980A EP3710392A1 EP 3710392 A1 EP3710392 A1 EP 3710392A1 EP 18796980 A EP18796980 A EP 18796980A EP 3710392 A1 EP3710392 A1 EP 3710392A1
Authority
EP
European Patent Office
Prior art keywords
actuator
door
unlocking
shaft
elevator according
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.)
Granted
Application number
EP18796980.3A
Other languages
German (de)
English (en)
Other versions
EP3710392B1 (fr
Inventor
Jules Christen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventio AG
Original Assignee
Inventio AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Inventio AG filed Critical Inventio AG
Publication of EP3710392A1 publication Critical patent/EP3710392A1/fr
Application granted granted Critical
Publication of EP3710392B1 publication Critical patent/EP3710392B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B66B13/16—Door or gate locking devices controlled or primarily controlled by condition of cage, e.g. movement or position
    • B66B13/18—Door or gate locking devices controlled or primarily controlled by condition of cage, e.g. movement or position without manually-operable devices for completing locking or unlocking of doors
    • B66B13/20—Lock mechanisms actuated mechanically by abutments or projections on the cages

Definitions

  • the present invention relates to an elevator.
  • the invention relates to a lift with an actuating mechanism by means of which elevator shaft doors can be locked and unlocked and possibly also opened and closed.
  • Elevators are generally used to move people or goods between floors within a building or structure.
  • a cabin can be vertically displaced within an elevator shaft.
  • Access to the cabin can be enabled or disabled by means of a cabin door provided inside the cabin by opening and closing the car door.
  • shaft doors are typically provided in the hoistway at the level of each floor, which can also be opened and closed to clear access between the car and the respective floor.
  • the cab usually has an actively driven
  • Mechanism by means of which, by means of an actuator provided in the mechanism, the car door can be unlocked and then opened or closed and subsequently locked.
  • a belt may be attached to the cab door and the belt may be actively shifted by means of a belt drive.
  • the shaft doors usually do not have their own actuators, i. The shaft doors can not actively open themselves. Instead, a landing door is typically mechanically coupled to the cabin door by means of a hoist door opener mechanism as soon as the elevator car stops on the floor concerned, and then properly unlocked and opened and closed and locked by movement of the car door.
  • WO 2009/156256 A2 shows a conventional elevator door system with a car door locking mechanism.
  • EP 0 498 247 A1 shows a device for actuating and Unlocking the landing doors of a lift.
  • WO 2006/082461 A1 describes a security lock for a shaft door.
  • WO 2009/078837 A1 describes
  • Locking system for an elevator door Locking system for an elevator door.
  • the car door and the respective shaft door must be positioned precisely relative to one another. Only when the car door and the respective hoistway door are within acceptable tolerances, can generally components of the hoistway door opener mechanism provided on the car door suitably cooperate with components of the hoistway door opener mechanism provided on the hoistway door.
  • Lift cabin with its components of the shaft door opener mechanism is held sufficiently precise when holding on a floor to a coupling of their
  • an elevator which has an elevator shaft with a plurality of horizontally displaceable shaft doors arranged at different heights, a cabin which can be displaced vertically in the elevator shaft and an actuating mechanism to be actively controlled.
  • Each shaft door in this case has an unlocking mechanism by means of which the shaft door is to be locked and unlocked upon actuation of an actuating element of the unlocking mechanism against opening.
  • the operating mechanism has a sensor, a
  • Actuatorics and a controller.
  • the sensor system is set up to detect a position of the actuating element on the unlocking mechanism.
  • the controller and the actuator are adapted to suitably control the actuator, taking into account the detected by the sensor position of the actuator to actuate by means of the actuator, the actuator positionally correct.
  • landing doors are generally only passively opened and closed, i. a shaft door is mechanically coupled to the car door of the elevator car, which stops in front of the shaft door, and then moved along by the car door, which is actively moved with an actuator.
  • the actuating mechanism may preferably be mounted on the cabin, for example on its roof or under the floor, so that it forms a cabin-side part of a shaft door opener mechanism.
  • the actuating mechanism can thus be moved together with the car through the hoistway and therefore be easily brought to a position in the vicinity of a shaft door opposite the car.
  • the actuating mechanism may be arranged on the bay door side.
  • the unlocking mechanism may collectively form a bay door side part of the shaft door opener mechanism, ie, the development mechanism may be attached to the hoistway door or to a hoistway doorway structure disposed within the hoistway.
  • the unlocking mechanism may comprise an actuating element, via which the unlocking mechanism can be actuated.
  • the actuation mechanism in contrast to conventional elevators, in which the cab side part of the hoistway door opening mechanism and the hoistway door part of the hoistway door opening mechanism have been passively combined and then coupled with each other while being precisely aligned with each other, it is now proposed to form the actuation mechanism as an actively controlled mechanism. Under active to be controlled here can be understood that an operation of the actuating mechanism can be actively influenced and taking into account control variables in particular, for example, displacement movements and / or Gripping movements of the actuating mechanism positionally and / or
  • the active to be controlled actuating mechanism can thus automatically and automatically provided a current position of the shaft door
  • Actuator mechanism can independently adapt to the current relative arrangement between itself and the unlocking mechanism in order to then actuate the latter.
  • the actuating mechanism has a sensor, an actuator and a controller.
  • the actuating mechanism can automatically detect a current position of the shaft door-side arranged actuating element.
  • the sensors can have one or more sensors, which are set up to recognize the actuating element and then analyze its current position.
  • Various types of sensors can be used for this purpose.
  • optical sensors magnetic field sensing sensors, electric field sensing sensors, mechanical sensors, etc.
  • non-contact sensors are used.
  • the sensor system may for example comprise an optical sensor to detect the position of the actuating element.
  • an optically operating sensor can be configured, for example, as a camera with an image analysis logic. The optical sensor can, for example, after a corresponding image analysis the
  • the actuator is designed to operate the actuator suitably mechanically and in the correct position, ie, as a rule, to displace it in a suitable direction, in order thereby to actuate the unlocking mechanism.
  • the actuator may have one or more actuators, which are adapted to exercise in a controlled manner, for example, a mechanical force or pressure on the actuator and / or to relocate this.
  • the actuator can be driven by means of one or more acting as actuators electric motors.
  • An electric motor can in a controlled manner cause a linear, rotating and / or pivoting movement of a component such as an arm of the actuator.
  • the electric motor can cause strong forces or torques, cause rapid movements, be easily controlled or controllable and / or supplied in a simple manner with energy in the form of electricity.
  • the actuator system can have an arm which can be actively displaced in a plurality of mutually transverse directions.
  • Such an arm can be controlled, for example, by two actuators to be actuated separately, either in a first
  • Displacement direction or in a second displacement direction or in a composite of the first and second displacement direction displacement direction are shifted.
  • the first and the second displacement direction are transverse, preferably perpendicular, to each other.
  • the first displacement direction may, for example, correspond to an unlocking direction described below, and the second displacement direction may, for example, be described below
  • the arm or one end of the arm may be adapted to cooperate with the actuating element of the unlocking mechanism and / or the opening mechanism and to displace it as necessary.
  • the actuator can have an actively controlled to open and close the gripper.
  • This gripper can be arranged, for example, at one end of the aforementioned arm of the actuator.
  • the gripper can be selectively opened and closed using its own actuator.
  • the gripper can, for example, grasp the actuating element and cooperate with it in a force-locking and / or form-fitting manner, thereby effecting a movement of the actuators of the actuating mechanism to be transmitted to the actuating element of the unlocking mechanism.
  • the actuating mechanism may be formed by means of a robot arm. Under a robotic arm can in this
  • Multi-axis motion machines whose movements in terms of
  • robots are already used in the manufacture of industrial machinery, cars, etc., and may have structural and functional properties adapted to a variety of applications.
  • the robot arm can be moved in different directions by means of actuators and controlled by a controller.
  • the robot arm can be displaced in three independent spatial directions by means of a plurality of actuators provided therein.
  • the robot arm can furthermore be designed to be able to perform not only translational movements but also rotational movements about one, two or preferably three axes. Accordingly, the robot arm may have two, three, four, five or even six degrees of freedom of movement.
  • the robot arm additionally comprises, for example, optically operating or in some other way preferably non-contact sensor technology by means of which the
  • Actuator and its current position can be detected.
  • the provided with the robot arm actively controlling actuating mechanism can thus, as soon as the elevator car, for example, stops at a floor, first "seek” with the help of its sensors for the actuator of the release mechanism on the opposite shaft door and once its position has been detected, by suitable Ansteuem his actuator move towards this and operate this suitably.
  • control and the actuator system of the robot arm are preferably designed to operate the actuator in one position by means of the actuator system
  • the bay door-side part of the hoistway door opener mechanism formed by the unlocking mechanism may be configured such that the unlocking mechanism can be actuated by the operating member by moving it in the unlocking direction.
  • a movement of the actuating element performed thereby may be linear, e.g. straight, in particular, the unlocking direction can be vertical.
  • the actuator can then be lifted by the actuator, for example, upwards to unlock the unlocking mechanism and then open the shaft door can. After the shaft door has been closed again, the actuator can be lowered by the actuator back down.
  • the actuator may release the actuator so that it falls back down due to gravity, thereby re-locking the unlocking mechanism.
  • the shaft door can then be opened, as soon as the elevator car stops, for example, at the relevant floor, by means of the actuating mechanism to be actively controlled, in which the
  • Actuator approaches and mechanically coupled with this and then moves the actuator in the unlocking, thereby the Unlocking mechanism to unlock the landing door to operate. Then the shaft door can be opened. After passengers enter or leave the elevator car, the process may be performed in reverse order and direction to close and lock the landing door.
  • the actuator may be formed in the described embodiment of the Schachtföffhermechanismus with a lever which locks or unlocks a displacer of the unlocking mechanism in displacements in or against the unlocking.
  • the latch may lock a door panel of the landing door to be relocated with a door frame or another door door of the landing door to be relocated so that the landing door can not be opened while the latch is in its locked position.
  • the controller and the actuator system may be adapted to mechanically couple the actuating mechanism to the landing door by means of the actuator system such that the landing door can be moved by moving the landing door
  • Actuating mechanism is opened or closed.
  • the actuating mechanism can not only be adapted to the
  • unlocking mechanism to unlock or unlock the shaft door, but also in addition to produce by means of the actuator mechanism of the actuating mechanism and a resilient mechanical coupling to the shaft door.
  • the mechanical coupling should be such that the shaft door, as soon as the actuating mechanism is moved, moves with it and is thereby opened or closed.
  • a door drive and an actively displaceable by the door drive cabin door is typically arranged on the cabin.
  • the operating mechanism may preferably be fixed to the car door, so that when the car door is closed e.g. is actively moved by its drive, is moved with the car door. Since the actuating mechanism itself was previously coupled to the shaft door, there is a mechanical over the actuating mechanism
  • the controller and the actuator may be adapted to move the actuator in a door movement step in a door movement direction transverse to the unlocking direction by means of the actuator to open or close the shaft door with the actuator.
  • Actuating mechanism can be used not only for locking and unlocking the door, but additionally designed to be attached to the shaft door
  • Actuator transverse to the unlocking direction i. for example, move horizontally.
  • the thus moved actuator takes the shaft door with it and thus opens or closes this in the direction of door movement.
  • the actuating element may be formed with a lever which opens or closes the shaft door in displacements in or against the direction of door movement.
  • the lever may possibly be the same lever as
  • Actuator of the release mechanism can be moved in the unlocking to unlock or unlock the shaft door.
  • the two said levers may be at least mechanically coupled together.
  • the actuating mechanism can thus first approach the lever of the unlocking mechanism in a targeted manner and with this z. B. coupled, then this lever in the unlocking, i. For example, upwards, relocate to unlock the landing door, and then the lever in the
  • the actuating mechanism may be mounted on an actively driven car door of the cabin, so that it is moved with the opening and closing of the car door with this. Once the actuating mechanism is coupled to the actuating element of the unlocking mechanism, the actuating mechanism during the closing of the car door can move or exert a force on the actuating element. If the actuating element is mechanically coupled, for example, with the shaft door, an opening or closing of the shaft door can be effected in this way simultaneously with the car door movement.
  • the actuating mechanism may be attached to a supporting structure of the cab.
  • the actuating mechanism may be mounted on a roof of the elevator car or a floor of the elevator car, in particular on one of the supporting spars, which form the supporting structure of the car.
  • the actuating mechanism may not only be designed to unlock or lock the shaft door by operating the unlocking mechanism, but the actuating mechanism may also be suitably configured to move the shaft door opening or closing horizontally, for example, by appropriately moving the robot arm forming it. Accordingly, in this case a mechanical coupling between the actively driven car door and the landing door is no longer absolutely necessary.
  • an active drive of the car door can be dispensed with and, instead, the car door can be moved or opened with the shaft door actively driven by the actuating mechanism.
  • Fig. 1 shows a side view of an elevator according to the invention.
  • Fig. 2 shows an enlarged partial side view of the elevator according to the invention.
  • Fig. 3 shows an enlarged partial top view of the elevator according to the invention.
  • Fig. 1 shows a side view of an embodiment of an elevator 1 according to the invention.
  • Figs. 2 and 3 is an enlarged partial side view and partial top view of an actuating mechanism 11 and an unlocking mechanism 13, which together form a Schachtföffhermechanismus 2 shown.
  • the elevator 1 has a cabin 3, which can be displaced vertically within a hoistway 5.
  • a car door 9 is provided on the cabin 3, which can be displaced vertically within a hoistway 5.
  • a car door 9 is provided on the cabin 3, a car door 9 is provided.
  • Door leaves of the car door 9 can be moved actively by a drive (not shown), in particular a belt drive driven by an electric motor, in the horizontal direction.
  • shaft doors 7 are provided at respective heights corresponding to different floors.
  • the shaft doors 7 can be opened in the horizontal direction, wherein the shaft doors 7 generally do not have an active drive, but can only be opened passively.
  • each shaft door 7 is locked by means of a bolt 33 to prevent opening of the shaft door 7.
  • the latch 33 can, for example, engage behind a recess in a hoistway door frame 41 with a latch 43.
  • the latch 33 is mechanically coupled to the unlocking mechanism 13 such that it is replaced by a Movement in a unlocking direction 35 can be unlocked so as to release the shaft door 7 and can be opened.
  • the unlocking direction 35 is a vertical upward direction, ie, to unlock the latch 33, it must be raised against gravity.
  • the hoist door opener mechanism 2 serves to temporarily unlock the hoistway door 7 and then open to allow passengers to enter or leave the elevator car 3 enable.
  • the shaft door opener mechanism 2 has the actively to be controlled
  • Actuating mechanism 11 which is formed in the example shown as a robot arm 25 having a plurality of relatively movable arms 26, as it is used in a similar manner in industrial robots.
  • the actuating mechanism 11 has a sensor 17, by means of which he can recognize an actuator 15 of the unlocking mechanism 13 and locate with respect to its position.
  • the actuating element 15 is a lever 23, which protrudes slightly with its one end into the elevator shaft 5 and which is coupled at its other end to the latch 33.
  • the sensor system 17 in the illustrated example has an optical sensor 27 in the form of a camera, which is equipped with image processing logic.
  • the image processing logic can analyze images captured by the camera and include therein e.g. recognize the actuator 15 and / or a marker attached thereto.
  • a controller 21 of the actuating mechanism 11 can determine how the robot arm 25 must be moved currently in order to grip with a arranged at its end gripper 31, the actuator 15 can. The controller 21 can then use electric motors 29 of an actuator 19 of the actuating mechanism 11 suitable to move the gripper 31 toward the actuating element 15.
  • the controller 21 can drive parts of the actuator 29 in the gripper 31 to drive the gripper 31 together in a gripping direction 39 in order to effect a frictional and / or positive coupling between the gripper 31 and one end of the lever 23 of the actuating element 15 can.
  • the actuating mechanism 11 can move the actuating element 15 vertically in the unlocking direction 35. This can do that
  • Actuator 15 actuate the unlocking mechanism 13, that is, the latch 33 with its latch 43 lift, and unlock in this way.
  • the door movement direction 37 is generally transverse to the unlocking direction 35, in particular horizontally, and substantially corresponds to a direction in which the shaft door 7 can be opened. Since the actuating element 15 is mechanically coupled to the shaft door 7, the unlocked shaft door 7 can be opened in this way.
  • the actuating mechanism 11 may for example be firmly connected to the car door 9.
  • Actuating mechanism 11 are displaced together with the car door 9 relative to the rest of the elevator car.
  • the actuating mechanism 11 is mitverlagert with the car door 9 and can take along the coupled via the actuator 15 with him shaft door 7.
  • the operating mechanism 11 may be fixedly secured to a supporting structure of the elevator car 3. In this case, the position of the
  • Actuating mechanism 11 is not affected by moving the car door 9. Nevertheless, the actuating mechanism 11 can be used to the
  • Unlocking mechanism 13 to operate.
  • the actuating mechanism 11 can be used in addition to its unlocking function to actively open the shaft door 7.
  • the robot arm 25 can actively shift, for example, the actuating element 15 gripped by means of its gripper 31 into the direction of movement of the door 37 in order to move the door
  • this can also be the car door 9 mechanically coupled to the shaft door 7, so that it can be opened together with the shaft door 7.
  • the actuating mechanism 11 may be used to open and close both the landing door 7 and the car door 9 coupled thereto.
  • the actuating mechanism 11 which is preferably provided on the elevator car 3, can independently recognize by means of its sensor system 17 where the actuating element 15 of an adjacent shaft door 7 is currently located, and can then actuate it in position using its controllable actuator 19.
  • the actuating mechanism 11 may be within relatively large tolerance ranges, which may be dependent on the
  • the operating mechanism 11 as the cabin-side part of the shaft door opening mechanism 2 on the one hand and the operating member 15 as part of the shaft door-side part of the shaft door opener mechanism 2 on the other hand need not be positioned with high accuracy relative to each other. This can be an assembly effort or a
  • Embodiment of the actuating mechanism 11 is shown as a robot arm 25 only roughly schematically. Possibilities of movement, which are dependent on the Mechanism 11 can be implemented, depending on the type of elevator and its components installed therein may be different. Accordingly, the actuator 19 as well as the controller 21 may be adapted. For example, different or differently arranged actuators 19 can be used to move arms 26 of the robot arm 25 in different spatial directions and / or to be able to pivot in different spatial orientations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)

Abstract

L'invention concerne un ascenseur (1) qui possède une cage d'ascenseur (5) comprenant plusieurs portes palières (7) disposées à des hauteurs différentes et pouvant être déplacées horizontalement, une cabine (3) pouvant se déplacer verticalement dans la cage d'ascenseur (5) et un mécanisme d'actionnement (11) à commander activement. Chaque porte palière (7) possède un mécanisme de déverrouillage (13) au moyen duquel le porte palière (7) peut être verrouillée contre une ouverture ou déverrouillée. Le mécanisme d'actionnement (11) dispose d'un système de détection (17), d'un système d'actionnement (19) et d'une commande (21). Le système de détection (17) est conçu pour reconnaître une position d'un élément d'actionnement (15) au niveau du mécanisme de déverrouillage (13). La commande (21) et le système d'actionnement (19) sont conçus pour commander le système d'actionnement (19) de manière appropriée en tenant compte de la position de l'élément d'actionnement (15) reconnue par le système de détection (17) afin d'actionner l'élément d'actionnement (15) de manière adaptée à la position au moyen du système d'actionnement (19). Le mécanisme d'actionnement (11) peut notamment être réalisé avec un bras de robot (25).
EP18796980.3A 2017-11-17 2018-11-13 Ascenseur doté du mécanisme de commande actif permettant de déverrouiller des portes palières Active EP3710392B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17202304 2017-11-17
PCT/EP2018/080994 WO2019096755A1 (fr) 2017-11-17 2018-11-13 Ascenseur avec mécanisme d'actionnement à commander activement pour le déverrouillage des portes palières

Publications (2)

Publication Number Publication Date
EP3710392A1 true EP3710392A1 (fr) 2020-09-23
EP3710392B1 EP3710392B1 (fr) 2021-07-07

Family

ID=60387911

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18796980.3A Active EP3710392B1 (fr) 2017-11-17 2018-11-13 Ascenseur doté du mécanisme de commande actif permettant de déverrouiller des portes palières

Country Status (3)

Country Link
EP (1) EP3710392B1 (fr)
ES (1) ES2884784T3 (fr)
WO (1) WO2019096755A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5174417A (en) 1991-02-07 1992-12-29 Inventio Ag Device and method for the actuating and unlatching of the shaft doors of an elevator
ES2286449T3 (es) * 2002-03-27 2007-12-01 Inventio Ag Sistema de control de caja para un ascensor.
EP1863733B1 (fr) 2005-02-03 2008-12-03 Otis Elevator Company Serrure de securite pour porte paliere d'ascenseur de detection d'intrusion dans le puits a travers la porte paliere et ascenseur equipe d'une telle serrure
US9695015B1 (en) * 2005-12-28 2017-07-04 James Marinelli Elevator door safety lock system
CN102083731B (zh) 2007-12-18 2016-06-01 因温特奥股份公司 用于电梯门的闭锁系统
EP2138442A1 (fr) 2008-06-25 2009-12-30 Inventio Ag Système de porte d'ascenseur dotée d'un verrouillage de la porte de la cabine
WO2016059685A1 (fr) * 2014-10-15 2016-04-21 三菱電機株式会社 Dispositif de porte de cabine d'ascenseur

Also Published As

Publication number Publication date
EP3710392B1 (fr) 2021-07-07
WO2019096755A1 (fr) 2019-05-23
ES2884784T3 (es) 2021-12-13

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