EP4324778A1 - Verfahren zum betrieb einer schachttür eines aufzugsschachtes und türöffnungswerkzeug für eine solche tür - Google Patents

Verfahren zum betrieb einer schachttür eines aufzugsschachtes und türöffnungswerkzeug für eine solche tür Download PDF

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Publication number
EP4324778A1
EP4324778A1 EP23189353.8A EP23189353A EP4324778A1 EP 4324778 A1 EP4324778 A1 EP 4324778A1 EP 23189353 A EP23189353 A EP 23189353A EP 4324778 A1 EP4324778 A1 EP 4324778A1
Authority
EP
European Patent Office
Prior art keywords
handle part
landing door
detachable
door
detachable part
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.)
Pending
Application number
EP23189353.8A
Other languages
English (en)
French (fr)
Inventor
Malcolm Mielle
Shuhan He
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 EP4324778A1 publication Critical patent/EP4324778A1/de
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0087—Devices facilitating maintenance, repair or inspection tasks
    • 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

Definitions

  • the present invention relates to a method of operating a landing door of an elevator shaft and to a door opening tool for a landing door of an elevator shaft.
  • An elevator has a car travelling inside an elevator shaft between connected floors of a building or a structure.
  • the car has at least one car door.
  • the elevator shaft has at least one landing door per connected floor.
  • a lock mechanism of the landing door is activated by the car and/or the car door and enables the landing door to open together with the car door.
  • the landing door may be opened against a force generated by a closing mechanism such as a mechanical spring.
  • the spring may support the closing of the landing door.
  • the landing door may be opened when the car is situated at another floor. Therefore, the lock mechanism can be activated from outside of the elevator shaft with a specific tool or key. The landing door may then be opened against the force of the spring.
  • a method of operating a landing door of an elevator shaft comprises at least the following steps, preferably in the indicated order:
  • a door opening tool for a landing door of an elevator shaft comprises a detachable part, a handle part reversibly attachable to and detachable from the detachable part and a tether connecting the detachable part and the handle part.
  • the detachable part comprises a first interface connectable to the landing door.
  • the handle part comprises a second interface connectable to a fixpoint.
  • a landing door of an elevator may be opened from inside a shaft of the elevator.
  • the landing door may also be referred to as shaft door.
  • the landing door may be opened and closed in conjunction with a car door of a car of the elevator.
  • the landing door may be spring-loaded or weight-loaded and a certain amount of force may be required to move the door against the spring or weight. The force may also be necessary to keep the landing door open.
  • the force may be provided by a motor of the car door.
  • the landing door may also be opened without connecting the car door to the landing door.
  • the landing door may be opened by applying the necessary force to the landing door.
  • the force may be applied at an interface of the landing door.
  • the interface may be a specified force application point.
  • the interface may be configured to transmit the necessary force into the door.
  • the interface may be identical to an interface for connecting to the car door.
  • the interface may also be specific for an opening tool.
  • the opening tool may be configured to match the interface.
  • the opening tool may be configured to connect to the landing door and transmit the force to the landing door.
  • the opening tool may be dividable in two components or parts.
  • the components may be linked by a tether.
  • the tether may be a rope, chain, webbing or similar. Each end of the tether may be connected to one of the components.
  • the tether may be rolled up at one or more of the components, using a spring-loaded spool.
  • One (first) component may stay connected to the landing door while the other (second) component is moved away, and the tether is extended between the components.
  • the tether may be configured to transmit the force in a tensioned state. Until the tether is extended or tensioned, no force may be transmitted.
  • the tether may transmit the force along a direction of its extension.
  • the direction of extension may roughly match an opening direction of the landing door.
  • the direction of extension may also be acute angled to the opening direction.
  • an angle between the direction of extension of the tensioned tether and the opening direction of the landing door is less than 50°, more preferably less than 30°.
  • the handle part may be moved for an extension of the tether before the force may be applied. After the force is applied, the handle part may be moved on until the landing door is opened to a desired aperture or opening width. The handle part may then be connected to a fixpoint of the elevator shaft.
  • the fixpoint may be part of a frame of the landing door.
  • the fixpoint may also be part of a rail system of the elevator.
  • the term "fixpoint” shall be interpreted broadly as referring to an area or portion at which the handle part may be stably and reversibly attached such as to transmit the forces generated at the tether to a fix structure of the elevator, particularly a fix portion of the landing door.
  • the landing door may have a lock mechanism.
  • the interface may be located at the lock mechanism.
  • the detachable part may be connected to the lock mechanism.
  • the lock mechanism may be unlocked by tensioning the tether.
  • the landing door may be opened after the lock mechanism is unlocked.
  • the opening tool may be attached to the lock mechanism and the lock mechanism may be operated when the tether is tensioned.
  • the unlocked lock mechanism may then transmit the force to the landing door.
  • the robot may be temporally mounted on top the car and may be transported by the car from floor to floor.
  • the robot may use the opening tool to open landing doors and keep an opened landing door open.
  • the robot could have a door opening arm and a working arm.
  • the door opening arm could deactivate the lock mechanism and then move aside the landing door until it reaches a necessary opening width for the planned maintenance.
  • the door opening arm would then be occupied by keeping the door open for a duration of the maintenance.
  • the door opening arm would generally be unable to participate in the maintenance.
  • the handle part may be manipulated or handled by the robot.
  • the handle part may comprise a handling interface for the robot.
  • the handling interface may be a specific gripping area for gripping the handle part with a robot claw of a manipulator robot arm.
  • the handling interface may also be shaped to fit a counterpart on the robot.
  • the handling interface may have target markers to facilitate coupling with the robot.
  • a movement of the handle part may be transmitted to the detachable part via a rigid connection between the handle part and the detachable part while connecting the detachable part to the landing door.
  • the detachable part may be connected to the landing door while being connected to the handle part.
  • the detachable part and the handle part may be moved towards the landing door and its interface together.
  • the handle part may be manipulated directly.
  • the detachable part may be manipulated indirectly via an inter-component interface of the detachable part and the handle part.
  • the inter-component interface may comprise an alignment geometry configured to align the detachable part to the handle part in a connecting process.
  • the alignment geometry may also provide form closure via positive form locking.
  • the detachable part and the handle part may be magnetically connected via at least one magnet.
  • the magnet may be configured to rigidly connect the detachable part to the handle part.
  • a connecting force of the magnet may be strong enough to handle the detachable part while being connected to the handle part.
  • the connecting force may be substantially smaller than the force necessary to open the landing door. This way, the handle part detaches itself from the detachable part before the landing door is pulled open.
  • the detachable part may be mechanically connected to the landing door with positive form locking.
  • the detachable part may be hooked to the landing door.
  • the interface between the landing door and the detachable part may create form closure between the detachable part and the landing door or the lock mechanism.
  • the landing door or the lock mechanism may have at least an opening or protrusion that matches an opening or protrusion of the detachable part.
  • the first interface may comprise a keyhole opening with a wide part and a laterally offset narrow part.
  • the wide part may be configured to pass over a protruding roller of the landing door.
  • the narrow part may be configured to slide behind the roller.
  • a roller of the landing door may be part of the lock mechanism. During normal operation, the roller may roll onto an angled surface of the car or car door and be moved by the car and/or the car door while the car is aligned with the landing door. The motion of the roller may deactivate the lock mechanism and unlock the landing door.
  • the roller may protrude into the elevator shaft. The roller may be easily reachable by the robot.
  • the handle part may be magnetically connected to the fixpoint.
  • the second interface may comprise a base with a magnet, especially a strong magnet.
  • the magnet may create enough friction between the base and the fixpoint to counteract the closing force of the landing door.
  • the fixpoint may be a ferromagnetic object inside the elevator shaft.
  • the fixpoint may be a metal plate.
  • the handle part may be freely positioned on a surface of the fixpoint to accommodate different positions of the landing door.
  • the base may have a friction enhancing material, for example a rubber or silicone material to create the necessary friction between the fixpoint and the base.
  • the magnet in the base may also be part of the inter-component interface to connect the detachable part and the handle part. The base may be turned around during the movement from the detachable part to the fixpoint.
  • the handle part may be released after connecting to the fixpoint.
  • the robot may let go of the handle part after opening the landing door.
  • the handle part is released after connecting to the fixpoint by the robot.
  • the robot may carry out maintenance work with its single arm. After completion of the maintenance work, the robot may grab the handle part again and close the landing door.
  • the handle part may be detached from the fixpoint and may be moved approximately against the opening direction until the landing door is in a closed position and the tether is detensioned.
  • the handle part may be connected to the detachable part and the joined opening tool may be disconnected from the landing door.
  • the handle part and the detachable part may be disconnected from the landing door together.
  • the two components may be rigidly joined at their intercomponent interface.
  • the detachable part may be handled in conjunction with the handle part. Movements introduced into the handle part may be transferred into the detachable part via the rigid connection of the intercomponent interface.
  • the detachable part while still being attached to the landing door, may be rotated into a vertical orientation by detensioning the tether.
  • the handle part may then be arranged below the vertically oriented detachable part and may be moved upwards against the detachable part, to connect the detachable part and the handle part.
  • the detachable part may be rotated by gravity.
  • the detachable part may comprise an off-center weight in the proximity of the intercomponent interface. The weight may be a magnet of the intercomponent interface.
  • Fig. 1 shows a robot 100 operating a landing door 102 utilizing a door opening tool 104 in accordance with an embodiment of the present invention.
  • the door opening tool 104 comprises a detachable part 106, a handle part 108, that is detachable and reconnectable to the detachable part 106 and a tether 110 connecting the detachable part 106 and the handle part 108.
  • a rigid connection between both parts results. Movements introduced into the handle part 108 are directly transferred into the detachable part 106 so that the handle part 108 and the detachable part 106 can be handled as a stiff unit.
  • the robot 100 has one manipulator arm 112.
  • the manipulator arm 112 has a gripping claw.
  • the gripping claw grips the handle part 108 at a gripping interface of the handle part 108.
  • the manipulator arm 112 connects the detachable part 106 to the landing door 102 while the detachable part 106 and the handle part 108 are connected. Then the manipulator arm 112 pulls on the handle part 108. Once a connection force between the handle part 108 and the detachable part 106 is exceeded, the handle part 108 separates from the detachable part 106.
  • the detachable part 106 stays on the landing door 102.
  • the disconnected detachable part 106 is held in a vertical position by gravity.
  • the manipulator arm 112 moves the handle part 108 away from the detachable part 106 approximately in an opening direction 114 of the landing door 102 to tension the tether 110.
  • the detachable part 106 is rotated into a pulling position approximately aligned to an extension of the tether 110.
  • the manipulator arm 112 moves the handle part 108 further.
  • the tether 110 transfers a pulling force of the robot 100 to the detachable part 106.
  • the detachable part 106 transfers the pulling force to the landing door 102 and pulls the landing door 102 open.
  • the manipulator arm 112 moves the handle part 108 until the landing door 102 has reached a desired position or opening width. Then the manipulator arm 112 affixes the handle part 108 to a fixpoint 116.
  • the fixpoint 116 is a static part of a frame 118 of the landing door 102.
  • the manipulator arm 112 releases the handle part 108 and carries out maintenance work on the landing door 102 and/or the frame 118.
  • the tensioned tether 110 keeps the landing door 102 open in the meanwhile.
  • the manipulator arm 112 grabs the handle part 108, disconnects the handle part 108 from the fixpoint 116 and moves the handle part 108 approximately against the opening direction 114 until the landing door 102 reaches a closed position and the tether 110 is detensioned.
  • the manipulator arm 112 then moves the handle part 108 with the attached detachable part 106 further upwards and then away from the landing door 102, to disconnect the detachable part from the landing door 102.
  • the detachable part 106 is connected to a lock mechanism 120 of the landing door 102.
  • the lock mechanism 120 is operated and the landing door 102 is unlocked.
  • the lock mechanism 120 must move upward in an arc-shaped unlocking motion to reach an unlocked position.
  • the handle part 108 is moved higher than the lock mechanism 120 while being moved in the opening direction 114. This way the tensioned tether 110 exerts a force with an upward component to the lock mechanism 120 and less force is necessary to execute the unlocking motion.
  • the tensioned tether 110 keeps the lock mechanism 120 in its unlocked position while the landing door 102 is pulled and kept open.
  • Fig. 2 shows a detachable part 106 of a door opening tool 104 in accordance with an embodiment of the present invention.
  • the door opening tool 104 essentially corresponds to the door opening tool in Fig. 1 .
  • the detachable part 106 has a first interface 200 to connect the detachable part 106 to a force application point of the landing door or a locking mechanism of the landing door.
  • the first interface 200 is a mechanical interface creating a form closure with the force application point.
  • the first interface 200 has a keyhole opening 202.
  • the keyhole opening 202 has a wide part 204 and a laterally offset narrow part 206.
  • the wide part 204 is configured to fit over a protrusion of the landing door or a locking mechanism of the landing door.
  • the protrusion has a wide end and an undercut.
  • the narrow part 206 is configured to slide behind the wide end of the protrusion and create positive locking with the protrusion.
  • the protrusion may be a roller of the landing door or the locking mechanism.
  • the detachable part 106 has an intercomponent interface 208 to connect the detachable part 106 to the handle part of the door opening tool 104.
  • the intercomponent interface 208 comprises an alignment geometry 210 to align the detachable part 106 to the handle part in a connection process.
  • the alignment geometry 210 consists of two protrusions configured to fit into two matching depressions of the handle part.
  • the intercomponent interface 208 has two magnets 212 to create a magnetic connection to the handle part.
  • the detachable part 106 has a trough hole 214 for the tether.
  • the tether may be threaded through the through hole 214 and knotted onto itself to fix the tether to the detachable part 106.
  • Fig. 3 shows a handle part 108 of a door opening tool 104 in accordance with an embodiment of the present invention.
  • the door opening tool 104 essentially corresponds to the door opening tool in Fig. 1 .
  • the handle part 108 has an essentially rotationally symmetric body and comprises a second interface 300 to connect the handle part 108 to a fixpoint.
  • the second interface 300 comprises a wide base 302 with a flat surface 304 and a strong magnet 212.
  • the strong magnet 212 is embedded in the base 302 behind the flat surface 304.
  • the flat surface 304 provides a contact area to the fixpoint.
  • the magnetic force of the magnet 212 creates friction between the base 302 and the fixpoint.
  • At least a part of the flat surface 304 has a non-slip material to enhance the friction.
  • the second interface 300 is configured to be part of the intercomponent interface 208. Since the handle part 108 is either connected to the fixpoint or the detachable part, the magnet 212 may have dual purpose.
  • the alignment geometry 210 in form of two depressions for the protrusions protruding from the detachable part is integrated into the flat surface 304 of the base 302. The depressions also have insertion slopes to facilitate the alignment of the detachable part and the handle part 108.
  • the handle part 108 is rotated such that the second/intercomponent interface 300, 208 faces the detachable part.
  • the handle part 108 is rotated such that the second/intercomponent interface 300, 208 faces the fixpoint.
  • the handle part 108 has a handling interface 306.
  • the handling interface 306 has at least two parallel gripping surfaces 308 for a robot claw.
  • the gripping surfaces 308 enable a defined gripping position for an accurate coupling of the handle part 108 to the detachable part.
  • the gripping surfaces 308 are located on opposing sides of the body of the handle part 108.
  • the gripping surfaces 308 are aligned at right angles to the base of the second interface 300.
  • the handle part 108 has a through hole 214 for the tether.
  • the tether may be threaded through the through hole 214 and knotted onto itself to fix the tether to the handle part 108.
  • Fig. 4 shows a connected door opening tool 104 in accordance with an embodiment of the present invention.
  • a detachable part 106 similar to the detachable part in Fig 2 and a handle part 108 similar to the handle part in Fig 3 are joined at the intercomponent interface 208.
  • the detachable part 106 and the handle part 108 are connected by the detensioned tether 110.
  • the intercomponent interface 208 of the handle part 108 is part of the second interface 300.
  • the detachable part 106 is aligned to the handle part 108 by the alignment geometry of the intercomponent interface 208.
  • the door opening tool 104 is ready to be picked up by the robot.
  • the first interface 200 is oriented perpendicular to the gripping surfaces 308, so that the robot may place the first interface 200 directly onto the force application point of the landing door.
  • the presented approach enables a single robot arm to open and lock an elevator door in open position. Leaving the door open enables the robot to do specific work on the door and would conventionally necessitate two arms.
  • the tool is used by a robot arm with one hand to open and lock elevator doors during maintenance.
  • the door it works on is the one on the wall, not the one on the elevator cart.
  • the tool is made of three parts.
  • a "ring” element to put around the roller of the lock, a base element with a magnet strong enough to be static on a metal component, but removable by the robot, and a rope between the two elements.
  • the ring element and the base element can be connected through a system of magnets to allow the robot to remove the ring element from the roller while holding the base element. Furthermore, the base element has a stronger magnet to give enough force to put it on a metal plate so that it does not go off unless the robot removes it.
  • the ring element has a passive locking system to stay on the roller and move the lock in an unlock position, allowing the door to be opened when the rope is pulled. By putting the base element on a static metal plate, the door is locked open by the robot.
  • Essential features of the presented approach include an adaptive mechanism to lock around a roller and enable upward motion by pulling of rope and a magnetic system to join and separate the two parts of the tool using only one robot arm.
  • the robot grabs the base element.
  • the base element and the ring element are linked by one or more magnets.
  • the robot detects the roller using machine learning and puts the ring element around it.
  • the robot pulls the base element away, disconnecting it from the ring element.
  • the robot then moves the base element slightly up and pulls it away. Thanks to the rope between both elements and the passive alignment and lock system of the ring element, the lock of the door switches to the unlock position.
  • the base element is then put on a static metal plate where its large magnet and the friction created by the magnet case allows it to stay without movement.
  • the robot can then perform tasks, such as cleaning of the rails.
  • the robot grabs the base element and moves it away from the metal plate.
  • the robot brings the base element back to the roller and the ring element where the smaller magnet of the ring element enables the two parts to become one again.
  • the robot arm can now remove the ring element from the roller simply by moving the base element again.
  • the presented approach enables the use of a single robot arm, lowering the cost of operation and technique. Furthermore, no coordination of two robot arms is needed anymore. Thus, a broad range of possible tasks to be done is enabled.
  • the use of a robot with one arm saves space when collaborating with fitters in the shaft and reduces the risk of accidents.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)
EP23189353.8A 2022-08-19 2023-08-03 Verfahren zum betrieb einer schachttür eines aufzugsschachtes und türöffnungswerkzeug für eine solche tür Pending EP4324778A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22191119.1A EP4324776A1 (de) 2022-08-19 2022-08-19 Verfahren zum betrieb einer schachttür eines aufzugsschachts und türöffnungswerkzeug für eine solche tür

Publications (1)

Publication Number Publication Date
EP4324778A1 true EP4324778A1 (de) 2024-02-21

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP22191119.1A Withdrawn EP4324776A1 (de) 2022-08-19 2022-08-19 Verfahren zum betrieb einer schachttür eines aufzugsschachts und türöffnungswerkzeug für eine solche tür
EP23189353.8A Pending EP4324778A1 (de) 2022-08-19 2023-08-03 Verfahren zum betrieb einer schachttür eines aufzugsschachtes und türöffnungswerkzeug für eine solche tür

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP22191119.1A Withdrawn EP4324776A1 (de) 2022-08-19 2022-08-19 Verfahren zum betrieb einer schachttür eines aufzugsschachts und türöffnungswerkzeug für eine solche tür

Country Status (1)

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EP (2) EP4324776A1 (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013252928A (ja) * 2012-06-06 2013-12-19 Mitsubishi Electric Corp エレベータ手動戸開装置
DE112012006072T5 (de) * 2012-03-22 2014-12-04 Mitsubishi Electric Corporation Sicherheitseinrichtung für einen Aufzug
JP6827844B2 (ja) * 2017-02-23 2021-02-10 三菱電機ビルテクノサービス株式会社 エレベーター乗場扉の開錠システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112012006072T5 (de) * 2012-03-22 2014-12-04 Mitsubishi Electric Corporation Sicherheitseinrichtung für einen Aufzug
JP2013252928A (ja) * 2012-06-06 2013-12-19 Mitsubishi Electric Corp エレベータ手動戸開装置
JP6827844B2 (ja) * 2017-02-23 2021-02-10 三菱電機ビルテクノサービス株式会社 エレベーター乗場扉の開錠システム

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