JP2007015787A - Elevator door device, door control device and door control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the noise when an engagement vane is brought into contact with an engagement roller when a door is re-opened. <P>SOLUTION: A door control device comprises a door device having and engagement device 3 of car doors 1, 1 with landing doors 2, 2, and control means 22-28 for controlling the speed of a motor 21 to drive the car doors, and further comprises a storage means 33 for storing the position of the car doors at the completely engaged position by the engagement device 3, a door re-opening position detection means 31 for detecting the car door position obtained from the rotation pulse of the motor by receiving a door re-opening starting command when the landing doors to be engaged with the car doors are being closed or cannot be fully closed, a door re-opening speed detection means 32 for detecting the motor speed from the rotation pulse of the motor when receiving the door re-opening starting command, and a door re-opening speed command change means 34 for transmitting the changing instruction for changing the acceleration starting position to the motor to the speed control means when the detected position of the car doors is below the position of the car door at the stored complete engagement, and the detected motor speed is not higher than the predetermined set value. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an elevator door device having an engagement device for engaging a car door and a landing door when the car is landed and transmitting the opening / closing driving force of the car door to the landing door, and door control. The present invention relates to an apparatus and a control method.

  Entrances to and from elevator floors are provided at the landings on each floor of the building, and sliding doors are provided at the entrances. This landing door is always closed, and when the car that goes up and down in the hoistway reaches the landing on the corresponding floor and stops, it receives the door opening driving force from the car door of the car The door opens. The landing door is provided with a lock mechanism. This locking mechanism is locked after the door is closed and unlocked when the door is opened. Further, an engagement device is provided between the car door and the landing door for transmitting the driving force of the car door to the landing door and for operating the lock mechanism.

10 and 11 are configuration diagrams of a door device including an engagement device that engages a car door and a landing door. 10 is a view of the engagement device as viewed from above, and FIG. 11 is a view of the engagement device as viewed from the front on the car door side.
As shown in FIG. 10, two left and right car doors 1 and 1 are installed on the car door side. When the car reaches the landing on the intended floor, the car doors 1 and 1 are placed on the landing side. Left and right landing doors 2 and 2 are installed so as to be parallel to each other with a predetermined interval. An engagement device 3 is provided between the car door 1 and the landing door 2.

  As shown in FIG. 10, the engagement device 3 has two L-shaped engagement vanes 4 a and 4 b arranged at predetermined intervals in the vertical direction of the car door 1. An engagement roller (an engaged body) 5 is rotatably attached to a portion corresponding to the intermediate position between the two engagement vanes 4a and 4b described above on the side of the landing door 2 facing the door. An arm 6 protrudes from one side surface of the engagement roller 5.

  In detail, as shown in FIG. 11A, the engaging device 3 has a base plate (not shown) fixed to the surface portion of the car door 1, and the shafts 7 and 8 protrude in two places on the base plate. It is installed. Intermediate portions of link plates 9 and 10 constituting a parallel link mechanism are rotatably attached to the shafts 7 and 8 via bearings (not shown).

  An engagement vane 4a having an L-shaped cross section is rotatably attached to one end of the link plates 9 and 10 with the shafts 7 and 8 as a boundary, and an L-shaped cross-section is similarly mounted on the other end. The engagement vanes 4b are rotatably attached, and the link plates 9 and 10 and the engagement vanes 4a and 4b constitute a so-called parallel link mechanism.

  The engaging roller 5 projecting on the landing door 2 side includes an upper roller 5u and a lower roller 5d, of which the lower roller 5d is rotatably fixed to the landing door 2 side, while the upper roller 5u is It is attached to a connecting arm 5a connected to the lower roller 5d, and constitutes a mechanism that rotates around the lower roller 5d.

  The engaging roller 5 is provided with the above-described arm 6 projecting from one side portion of the lower roller 5d, which is a part of the engaging roller 5, so as to cross the engaging vane 4, and a lock portion 11 installed on the upper portion of the car. And the above-described locking mechanism.

  Further, a fully-closed confirmation switch for the landing door 2 is constituted by the fixed side contact 12 fixed to the end of the arm 6 and the operation side contact 13 fixed to the car.

  Further, an engagement confirmation roller 15 is provided on the upper portion of the other engagement vane 4b via a frame member 14, and is configured to move along a guide member 16 fixed to a car (not shown). Has been.

  In the engagement device 3 as described above, the engagement vane 4a fixed to the car door 1 is moved from the position shown in FIG. Approaching the upper roller 5u, the interval between the two engagement vanes 4a and 4b gradually decreases and engages with the engagement roller 5 (engagement start position, see FIG. 5B).

  Then, as the car door 1 moves, the engagement confirmation roller 15 is gradually pushed down, and when the car doors 1 and 1 are opened, for example, about 10 cm, the engagement confirmation roller 15 becomes a break point of the guide member 16. Reach. At this time, the engagement vanes 4a and 4b and the engagement roller 5 on the landing door 2 side are completely engaged (completely engaged position, see FIG. 10C). At this time, the arm 6 is set in a state where the arm 6 rotates upward and exceeds the lock portion 11. Therefore, the door opening driving force of the car door 1 is directly transmitted to the landing door 2, and the landing door 2 is driven in the opening direction completely in conjunction with the car door 1.

  On the other hand, when the car doors 1 and 1 are moved in the closing direction, for example, the engagement device 3 performs a door closing operation opposite to that at the time of opening the door. When the car doors 1 and 1 and the landing doors 2 and 2 are closed, the lock mechanism is locked, and in synchronization with this lock, the fixed side contact 12 and the operating side contact 13 come into contact with each other, and the fully closed confirmation switch Output a close signal.

  FIG. 12 is a block diagram showing a conventional door control device. In the door control device, the car door drive motor 21 is provided with a pulse encoder 22, and the pulse encoder 22 outputs a number of pulses proportional to the rotational speed of the motor 21. On the other hand, when a door opening command or a door closing command is output from the opening / closing command output means 23, the speed command output means 24 outputs the speed command value Vref of the car door driving motor 11 in response to the door opening / closing command. This speed command output means 24 deviates the speed command value Vref while switching the time change of speed, acceleration / deceleration, and top speed based on the car door position Xd converted by the position calculation means 25 from the number of pulses of the pulse encoder 22. This is supplied to the calculation element 26. On the other hand, the speed calculating means 27 calculates the actual motor speed Vm converted from the number of pulses from the pulse encoder 22 into the motor speed, and supplies the same to the deviation calculating element 26. The speed controller 28 outputs a torque command value Tref based on the speed deviation between the speed command value Vref obtained by the deviation calculation element 26 and the actual motor speed Vm. The current controller 29 and the power converter 30 control the motor torque so as to follow the torque command value Tref.

  FIG. 13 is an operation waveform diagram of each part when the door opening control is performed using the door control device as described above. The speed command output means 24 drives the door driving motor 21 based on a constant low speed command value Vref at the start of door opening based on the door opening command from the opening / closing command output means 23, and causes the car doors 1 and 1 to move. Move in the door opening direction. As the door drive motor 21 rotates, the current door position Xd of the car doors 1 and 1 obtained by integrating pulses output from the pulse encoder 22 changes.

  Then, when the current door position Xd reaches the acceleration start position, the speed command output means 24 starts acceleration. Thereafter, when the speed command output means 24 reaches the door open end through a constant top speed, deceleration, and constant low speed based on the current door position Xd, the door open operation is completed. Since the acceleration start position is usually difficult to grasp accurately within a range of several millimeters, it is set at the position shown in FIG. 11C before the engagement vanes 4a and 4b are completely in contact with the engagement roller 5. Has been.

  By the way, in the door control device as described above, the landing doors 2 and 2 are not completely closed when foreign matter is caught in the landing doors 2 and 2 near the door closing end or the wind pressure of the wind blown from the outside during the door closing control. In this case, the engagement vanes 4a and 4b and the engagement roller 5 are in a positional relationship as shown in FIG. Originally, when the landing doors 2 and 2 are closed, the positional relationship is as shown in FIG. 11A, but when the above-described abnormal state occurs, the gap between the engagement vane 4a and the upper roller 5u of the engagement roller 5 Becomes larger.

  Conventionally, when the doors 2 and 2 are opened again in a state where the landing doors 2 and 2 are not completely closed, as described above, since the acceleration start position is set to a fixed position, the engagement vanes 4a and 4b are moved at a high speed. There is a problem in that noise comes into contact with the engaging roller 5. Further, when overload detection based on the motor torque of the car door driving motor 21 is performed, there is a problem that the detection margin is lowered and erroneous operation is caused in overload detection.

  On the other hand, when the acceleration start position is set sufficiently long, the door opening time becomes long, the appearance of the door opening operation is deteriorated, and the operation time of the elevator system is affected.

  The present invention has been made in view of the above circumstances, and reduces noise when the engagement vane at the time of re-opening contacts the engagement roller, prevents malfunction of overload detection, and at the time of re-opening. It is an object of the present invention to provide an elevator door device, a door control device, and a control method therefor that realize a quick door opening operation.

  In order to solve the above problems, the present invention provides a car door that opens and closes an entrance / exit of an elevator car, a landing door that opens / closes an entrance / exit of each floor floor, and an electric motor for opening and closing the elevator car door. The landing door is provided between the car door and the landing door, and opens and closes the landing door in conjunction with the opening and closing operation of the car door by driving the opening and closing of the electric motor when the car lands on the landing. In the door device provided with an engagement device, the engagement device is stretched over both ends of a pair of link plates that are rotatably supported by the intermediate portion of the cage door, and the cage door is vertically moved. A pair of engagement vanes constituting a parallel link mechanism disposed in parallel with the engagement vane, and an engaged body supported so as to be able to swing and swing at a position of the landing door corresponding to the center position of the pair of engagement vanes. It is attached to the end of one of the engagement vanes and rolls along a guide member having a break point that is installed at the top of the car door when the car door is opened to open the car door. Engagement check rollers arranged to reach the break point when the pair of engagement vanes reach a complete engagement position where the pair of engagement vanes are completely engaged with the entire engaged body as the operation proceeds. Is a door device.

  According to the present invention, with the above-described configuration, the engagement confirmation roller is set at the break point after the pair of engagement vanes reach the complete engagement position where the pair of engagement vanes are completely engaged with the entire engaged body. Since the torque changes and the acceleration is instructed, the engagement vane does not contact the engaged body at a high speed, and the contact noise can be greatly reduced.

  The present invention also relates to an elevator door control device comprising speed control means for controlling the speed of an electric motor that drives the door device and the car door described above, and an engagement device for engaging the car door and the landing door. A fully-engaged position storage means for storing the car door position when the fully-engaged position is reached, and a re-opening start command when the landing door engaging with the car door is closed or cannot be fully closed. A door opening position detecting means for detecting a car door position obtained from the rotation pulse of the electric motor, and a door opening position detecting means for detecting the motor speed from the rotation pulse of the electric motor when receiving the door opening start command. The car door position detected by comparing speed detection means and the car door position detected by the re-open position detection means with the car door position at the time of full engagement stored in the full engagement position storage means. When the car door position is less than or equal to the fully engaged position, or the detected car door position is less than or equal to the fully engaged car door position, and the motor speed detected by the re-opening speed detecting means is a predetermined setting. An elevator door control device provided with a re-opening speed command changing means for sending a change instruction for changing the acceleration start position to the electric motor to the speed control means when the speed is lower than the speed.

  According to the present invention, the re-opening position detecting means is configured so that the re-opening position detecting means is operated based on a re-opening start command when the landing door engaging with the car door is closed or cannot be fully closed. The car door position obtained from the rotation pulse is detected. The re-door opening speed detecting means detects the motor speed from the rotation pulse of the electric motor when receiving a re-opening start command. The re-door opening speed command changing means is configured such that the detected car door position is less than or equal to the car door position at the time of full engagement stored in the storage means in advance, or the car door position at the time of the car door position being fully engaged. When the motor speed detected by the re-opening speed detection means is equal to or lower than a predetermined set speed, the acceleration start position for the motor is changed after the complete engagement position, so that the engagement vane Contact with the engaged body is eliminated at a high speed, and contact noise can be greatly reduced. In addition, it prevents the malfunction of overload detection and accelerates after the car door position reaches the fully engaged position at the time of re-opening, so that the re-opening operation can be realized quickly, and the appearance of the door opening operation is poor. No longer affect the operation time of the elevator system.

  Further, in addition to the configuration of the elevator door control device described above, a complete engagement position where the pair of engagement vanes are completely engaged with all of the engaged bodies based on a change in torque or speed of the electric motor. If the full engagement position correcting means for taking in the car position detected by the re-open position detecting means and storing the car position as the car door position at the full engagement is provided in the complete engagement position storage means, Even if the mounting position of the combined device deviates from the standard mounting position, or even if the positional shift occurs due to long-term use, the complete engagement position is updated. Can be changed.

  Further, a complete engagement confirmation means such as a contact and a sensor for confirming that a pair of engagement vanes constituting the engagement device are completely engaged with the entire engaged body, and this complete engagement confirmation means The car position detected by the re-opening position detecting means when it is detected from the operating state of the vehicle that it is fully engaged, and is stored in the fully engaged position storage means as the car door position at the time of complete engagement. If the engagement position detection means is provided, it is possible to detect the complete engagement position from the output of the complete engagement confirmation means and update the appropriate complete engagement position.

  Furthermore, if a complete engagement looseness detecting means for detecting and outputting the looseness of the engagement state of the engagement device based on the torque change or speed change of the electric motor is provided, the engagement state of the engagement device is loosened at an early stage. It can be grasped and appropriate measures can be taken.

  Furthermore, the present invention provides an elevator door control control method comprising the above-described door device and a speed control means for controlling the speed of an electric motor that drives the car door, while the landing door engaged with the car door is closed. Alternatively, when a re-opening start command is received when the door cannot be fully closed, the car door position and the motor speed obtained from the rotation pulse of the motor are detected, and the detected car door position is stored in advance. When the car door position is below and the motor speed is below a predetermined set speed, a change instruction for changing the acceleration start position to the motor is sent to the speed control means as described above. The same effect as (2) can be produced.

  According to the present invention, the noise generated when the engagement vane contacts the engagement roller when the door is opened again by detecting the complete engagement state and accelerating the speed of the car door driving motor. It is possible to provide an elevator door device, a door control device, and a control method therefor that can prevent malfunction of overload detection and can perform a quick reopening operation when the door is reopened.

Embodiments of the present invention will be described below with reference to the drawings.
(Embodiment 1)
FIG. 1 is a block diagram showing an embodiment of an elevator door control apparatus according to the present invention. In the figure, the same parts as those in FIG. Since the door device shown in FIGS. 11 and 12 is used as the door control device for an elevator according to the present invention, each part of the door device will be described using the reference numerals attached to FIGS. 11 and 12.

  As the door device according to the present invention, the structure of the door device shown in FIGS. 11 and 12 is used, and after reaching the complete engagement position as described in the second embodiment described later, that is, the engagement confirmation roller. Since the torque command goes down after 15 reaches the break point of the guide member 16, if it is determined that the complete engagement position has been reached using this torque change and the speed command output means 24 is notified, the command output If the speed command Vref of a predetermined acceleration is output by the means 24, the engagement vanes 4a and 4b do not contact the engagement roller 5 at a high speed, and the contact noise can be greatly reduced.

  The elevator door control device according to the present invention is provided with an opening / closing command output means 23 and a speed command output means 24. The opening / closing command output means 23 outputs an opening / closing command based on an opening / closing control instruction from an elevator control device (not shown). The speed command output means 24 receives the opening / closing command from the opening / closing command output means 23, outputs a predetermined speed command Vref for the car door driving motor 21, and supplies it to the deviation calculation element 26.

  In addition, the elevator door control device includes a pulse encoder 22, a position for taking out the opening / closing positions of the car doors 1 and 1 and the actual speed of the car door driving motor 21 that are opened and closed by the rotational drive of the car door driving motor 21. Calculation means 25 and speed calculation means 27 are provided. The pulse encoder 22 is installed in the car door drive motor 21, outputs a number of pulses proportional to the rotational speed of the car door drive motor 21, and supplies the pulse to the position calculation means 25 and the speed calculation means 27. The position calculation means 25 calculates the current car door position Xd of the car doors 1 and 1 from the pulse output from the pulse encoder 22 and sends it to the speed command output means 24. The speed calculating means 27 calculates the motor speed Vm of the car door driving motor 21 from the number of pulses per predetermined time output from the pulse encoder 22 and sends it to the deviation calculating element 26.

  Accordingly, the speed command output means 24 outputs the speed command Vref while switching to a predetermined speed based on the car door position Xd from the position calculation means 25. On the other hand, the deviation calculating element 26 obtains a speed deviation signal between the speed command Vref and the motor speed Vm obtained by the speed calculating means 27 and supplies it to the speed controller 28. The speed controller 28 sends a torque command Tref for making the speed deviation signal from the deviation calculating element 26 zero to a current controller 29 as current control means. This torque command Tref becomes a current command Iref for the current controller 29. The current controller 29 and the power converter 30 control the torque of the car door driving motor 21 so as to follow the torque command Tref.

  Further, the elevator door control device is newly provided with a re-opening position detecting means 31, a re-opening speed detecting means 32, a complete engagement position storing means 33, and a re-opening speed command changing means 34.

  Since the re-opening position detecting means 31 receives the re-opening command from the opening / closing command output means 23, the car door position at the moment of re-opening is detected by taking in the current door position Xd from the position calculating means 25. . Similarly, the door opening speed detecting means 32 receives the door opening command from the opening / closing command output means 23. Therefore, by taking the output of the speed calculating means 27, the motor speed of the car door driving motor 21 at the moment when the door is opened again. Is detected. The complete engagement position storage means 33 stores in advance the car door position when the engagement vanes 4a and 4b and the engagement roller 5 are completely engaged. That is, as the car door position stored in the complete engagement position storage means 33, a standard value is set when the engagement vanes 4a, 4b and the engagement roller 5 are attached in a standard state.

  The re-opening speed command changing means 34 includes the position of the car doors 1 and 1 output from the re-opening position detecting means 31 and the engagement vanes 4a stored in the complete engagement position storage means 33. , 4b and the car door position at the time of complete engagement of the engagement roller 5, the car speed at which the car door position is equal to or less than the full engagement position and the re-opening speed detecting means 32 is detected in advance. When the speed is lower than the set speed, a speed command Vref change command is sent to the speed command output means 24. Here, as the preset set speed, a value corresponding to a minute speed such as 1/2 of a constant low speed is used. That is, the re-opening speed command changing means 34 is such that the motor speed becomes lower than the set speed when the re-opening is performed only when the landing doors 2 and 2 are not fully closed by the re-opening speed detecting means 32. The acceleration start position is changed. Accordingly, the acceleration start position is not changed during normal reopening.

  As the door opening speed command changing means 34, the car door position at the moment when the door is opened again outputted from the door opening position detecting means 31 and the fully engaged position storage means 33 are stored. The car door position may be compared, and when the car door position becomes equal to or lower than the fully engaged position, a speed change command for a predetermined low speed may be sent to the speed command output means 24.

  Next, the speed switching operation in the car door control apparatus and the elevator car door control method according to the present invention will be described with reference to FIGS. 2A and 2B are enlarged views showing a part of the operation waveform of FIG. 13 for explaining the conventional example. FIGS. 2A and 2B show the landing doors 2 and 2. FIG. FIG. 3 is an operation waveform diagram for comparison with FIGS. 2 (a) and 2 (b) when the door is opened again from a state where the gap between the engagement vane 4a and the engagement roller 5 is widened without being closed. It is an operation | movement waveform diagram in the door control apparatus which concerns.

  First, FIGS. 2A and 2B are operation waveform diagrams of a general speed command Vref for re-opening in a conventional normal state, and the engagement vanes are obtained when the speed command Vref is at a constant low speed. After reaching the engagement start position in FIG. 11 (b) where the engagement roller 5 as the engaged body is engaged with 4a, the acceleration is performed when a predetermined acceleration start position (predetermined car position Xd) is reached. To start.

  However, if the doors 2 and 2 are not fully closed and the door is opened again from the state shown in FIG. 14 in which the gap between the engagement vane 4a and the engagement roller 5 is widened, the engagement vane 4a is increased as the gap is widened. And the engagement start position of the engagement roller 5 (see FIG. 11B) and the complete engagement position of the engagement vanes 4a, 4b and the engagement roller 5 (see FIG. 11C) from the normal time. Also gets longer. At this time, since the acceleration start position is a fixed value as described above, the acceleration is started before reaching the engagement start position. As a result, when the engagement vane 4a and the engagement roller 5 are in contact with each other, the torque fluctuation is larger than that in the normal state as shown in FIGS. 2 (a ') and (b'). A large noise is generated by contact with the engaging roller 5.

  On the other hand, in the door control device of the present invention, the re-opening speed change command changing means 34 takes in the car door position at the time of the re-opening position detecting means 31 from the re-opening position detecting means 31, and the re-opening speed detecting means. The motor speed at the time of the re-opening command is taken in from 32.

  Therefore, the re-door opening speed change command changing means 34 does not reach the complete engagement position stored in the complete engagement position storage means 33 when the car door position at the time of the re-opening instruction is reached, and When the motor speed of the motor is equal to or lower than a predetermined set speed, a speed change command that becomes a constant low speed command lower than the speed command at the time of re-opening at normal time is sent to the speed command output means 24 until reaching the complete engagement position Send it out.

As a result, based on the speed change command from the re-opening speed command change means 34, the speed command output means 24 is a constant low speed command lower than normal until it reaches the fully engaged position as shown in FIG. Vref is output. Then, the speed command output means 24 starts acceleration after the car door position reaches the fully engaged position, outputs a speed command Vref similar to the normal door opening, and controls the torque of the car door driving motor 21. According to this embodiment, the re-opening speed command changing means 34 has the detected car door position equal to or less than the car door position at the time of full engagement stored in the storage means 33, and the re-opening speed. When the motor speed detected by the detection means 32 is equal to or lower than a predetermined set speed, the acceleration start position for the motor 21 is changed to the full engagement position or later, so that the engagement vanes 4a and 4b are engaged at a low speed. 5 makes contact noise significantly reduced. In addition, since the car door position is accelerated after reaching the fully engaged position when the door is opened again, the door opening operation can be realized quickly, so that the appearance of the door opening operation is not deteriorated and the operation time of the elevator system is hindered. You wo n’t be hurt.

(Embodiment 2)
FIG. 4 is a block diagram showing another embodiment of the elevator door control apparatus according to the present invention. In the figure, the same parts as those in FIG.

  The elevator door control device has substantially the same configuration as that shown in FIG. 1, and is particularly different from the full engagement position correction means 35 between the output side of the speed controller 28 and the full engagement position storage means 33 described above. It is in the point which provided. The reason for providing the complete engagement position correction means 35 is that the complete engagement position depends on the positional relationship between the engagement confirmation roller 15 attached to the frame member 14 connected to the engagement vane 4b and the guide member 16. Determined. However, the complete engagement position may deviate from the standard attachment state position due to an attachment error between the roller 15 and the guide member 16. Therefore, a complete engagement position correction means 35 is provided to correct an error corresponding to the shift position.

  In the first embodiment, the torque command Tref when the door is opened again rises sharply because the engagement vane 4a and the engagement roller 5 come into contact at the engagement start position. Then, after the roller 15 reaches the break point of the guide member 16, the load is reduced, and the torque command Tref is lowered accordingly.

  Therefore, the complete engagement position correcting means 35 detects the down edge (A) of the torque command Tref, and takes in the car door position Xd obtained by the position calculating means 25 based on the detection timing of this down edge, The combined position storage means 33 stores the complete engagement position.

  According to this embodiment, even when the attachment position of the roller 15 and the guide member 16 is deviated from the standard attachment state position or when the attachment position is deviated due to long-term use, the detection timing of the down edge of the torque command Tref is detected. Therefore, the car door position Xd is taken in and set as a complete engagement position, so that it can always be updated to an accurate complete engagement position and can be given to the re-opening speed command changing means 34. As a result, when the landing doors 2 and 2 are opened again without being closed, the engagement vanes 4a and 4b and the engagement roller 5 are brought into contact with each other at a constant low speed position until reaching an accurate complete engagement position. Therefore, even if an error or the like occurs in the attachment position between the roller 15 and the guide member 16, the contact noise can be reduced.

(Embodiment 3)
FIG. 5 is a block diagram showing still another embodiment of the elevator door control apparatus according to the present invention.

  The elevator door control device has the same configuration as that shown in FIG. 1, and is particularly different in that the full engagement confirmation means 36 for confirming the full engagement position mechanically or electrically and the complete engagement confirmation means A fully engaged position detecting means 37 for detecting the fully engaged position from the output state 36, taking in the car door position Xd obtained by the position calculating means 25 and storing it in the fully engaged position storing means 33 as a fully engaged position; Is provided.

  As the complete engagement confirmation means 36, as shown in FIG. 6, for example, a lower contact 5b constituting the engagement roller 5 or a roller 36a separately attached to a lower position of the engagement roller 5 is provided with a movable contact 36b. A complete engagement confirmation contact 36c is provided on the side of the combined vane 4b. When the engagement vanes 4a, 4b and the engagement roller 5 are completely in contact with each other, the movable contact 36b is turned on to the complete engagement confirmation contact 36c, and an on signal is output from the complete engagement confirmation contact 36c. The data is sent to the matching position detection means 37. When the ON signal is output from the complete engagement confirmation contact 36c, the complete engagement position detection means 37 determines that the position is the complete engagement position, takes in the car door position Xd obtained by the position calculation means 25, and completes the engagement position. It is stored in the storage means 33 as a complete engagement position.

  The complete engagement confirmation means 36 uses a mechanical contact configuration including a movable contact 36b and a complete engagement confirmation contact 36c. For example, an optical sensor is used, and the complete engagement position detection means 37 outputs the sensor output. When the level reaches a predetermined level, it may be determined as a complete engagement position.

  According to this embodiment, since the actual contact position between the actual engagement vanes 4a and 4b and the engagement roller 5 is confirmed by the complete engagement confirmation means 36, the complete engagement position can be detected with a simple configuration. The timing signal can be acquired, and the appropriate car door position Xd of the fully engaged position can be constantly updated.

(Embodiment 4)
FIG. 7 is a block diagram showing still another embodiment of the elevator door control apparatus according to the present invention.

  The elevator door control device has the same configuration as that shown in FIG. Therefore, the same parts as those in FIG. 1 and FIG.

  This elevator door control device has a configuration in which a complete engagement looseness detecting means 38 is newly connected to the output side of the speed controller 28 to detect the state of complete engagement looseness.

  Due to poor adjustment during installation of the engagement device 3 in the car door control device, aging, etc., a situation where the engagement vanes 4a, 4b and the engagement roller 5 are completely engaged with a gap may occur. In such a case, torque fluctuation when the roller 15 passes through the break point of the guide member 16 becomes minute, and it is difficult for the complete engagement position correcting means 35 to detect an accurate complete engagement position. In addition, if there is a gap between the engagement vanes 4a and 4b and the engagement roller 5, problems such as door vibration during normal door opening / closing, rattling during re-opening, and deterioration of overload detection performance based on torque are caused. There is.

  Therefore, the complete engagement looseness detection means 38 detects that there is a gap between the engagement vanes 4a, 4b and the engagement roller 5, and when it detects the presence of a gap, the complete engagement looseness detection means 38 issues to the door control device or the elevator control device. To encourage maintenance and inspection.

  An example in which the complete engagement slack detection means 38 detects the gap between the engagement vanes 4a and 4b and the engagement roller 5 will be described. When the engagement vanes 4a and 4b and the engagement roller 5 are opened and closed again when there is a gap between them, the engagement vanes 4a and 4b collide with the engagement roller 5 when reversed. As shown, torque fluctuations occur. Therefore, the complete engagement looseness detection means 38 monitors the torque fluctuation for a period of time Δta after the door is re-opened or closed, and when the predetermined torque reference value Ta is exceeded, the engaging device 3 It is determined that there is a gap between the engagement vanes 4a and 4b and the engagement roller 5, and a looseness abnormality signal of the engagement device 3 is issued to prompt maintenance and inspection.

  Therefore, according to this embodiment, it is possible to detect the looseness of the engagement device 3 by monitoring the torque at the time of reopening or closing the door. The fall of the overload detection performance based on rattling and torque can be suppressed.

(Embodiment 5)
FIG. 9 is a block diagram showing still another embodiment of the elevator door control apparatus according to the present invention. Since this elevator door control device has the same configuration as that shown in FIG. 5, the same parts as those shown in FIGS.

  In this elevator door control device, a particularly different point is that a complete engagement slack detection means 38 is newly connected to the output side of the complete engagement confirmation means 36, and the engagement vanes 4a, 4a, In this configuration, the looseness between 4b and the engagement roller 5 is detected.

  Generally, if there is a gap between the engagement vanes 4a and 4b and the engagement roller 5, the movable contact 36b and the complete engagement confirmation contact 36c cannot be turned on. In view of this, the complete engagement loosening detection means 38 has a gap between the engagement vanes 4a and 4b and the engagement roller 5 when the complete engagement confirmation contact 36c is not turned on when the door is normally opened and the engagement device 3 is loosened. It is judged that the looseness abnormality signal of the engaging device 3 is issued, and the maintenance inspection is promoted.

  Therefore, according to this embodiment, it is possible to detect the looseness of the engagement device 3 by monitoring the complete engagement position at the time of re-opening or re-closing with the contact or sensor, and the door vibration at the time of normal door opening / closing. It is possible to suppress rattling at the time of re-opening and a decrease in overload detection performance based on torque.

  In addition, this invention is not limited to the said embodiment, In the range which does not deviate from the summary, various deformation | transformation can be implemented. In the above embodiment, the change in the torque command output from the speed controller 28 is detected in FIGS. 4 and 7, but the complete engagement position is similarly detected from the change in the speed of the electric motor 21 following the torque command, for example. It is also possible to detect complete engagement looseness. Moreover, each embodiment can be implemented in combination, and in that case, the effect of the combination can be obtained.

The block diagram which shows Embodiment 1 of the door control apparatus of the elevator which concerns on this invention. The operation waveform diagram explaining the relationship between the acceleration start position and the full engagement position when the door is re-opened when the conventional normal door is opened and the landing door is not closed. FIG. 6 is an operation waveform diagram for explaining a relationship between an acceleration start position and a complete engagement position when the elevator door control device according to the present invention is used. The block diagram which shows Embodiment 2 of the door control apparatus of the elevator which concerns on this invention. The block diagram which shows Embodiment 3 of the door control apparatus of the elevator which concerns on this invention. The block diagram as an example of the complete engagement confirmation means shown in FIG. The block diagram which shows Embodiment 4 of the door control apparatus of the elevator which concerns on this invention. FIG. 8 is an operation waveform diagram for explaining an example in which the complete engagement looseness detection means shown in FIG. 7 detects the looseness of the engagement device from torque. The block diagram which shows Embodiment 5 of the door control apparatus of the elevator which concerns on this invention. The figure which looked at the engaging apparatus which engages the car door and landing door of the conventional elevator from the upper part. The figure explaining the movement of an engagement device at the time of the door opening of an elevator. The block diagram which shows the door control apparatus of the conventional elevator. The operation | movement waveform diagram of each part of the conventional door control apparatus. The figure explaining the relationship between the engagement vane and the engagement roller when the landing door constituting the conventional door device is not closed for some reason.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Car door, 2 ... Landing door, 3 ... Engagement device, 4a, 4b ... Engagement vane, 5 ... Engagement roller, 6 ... Arm, 15 ... Engagement confirmation arm, 16 ... Guide member, 21 ... Car Door drive motor, 22 ... Pulse encoder, 23 ... Open / close command output means, 24 ... Speed command output means, 25 ... Position calculation means, 26 ... Deviation calculation element, 27 ... Speed calculation means, 28 ... Speed controller, 29 ... Current controller 30 ... Power converter 31 ... Re-opening position detecting means 32 ... Re-opening speed detecting means 33 ... Complete engagement position storing means 34 ... Re-opening speed command changing means 35 ... Complete Engagement position correction means 36... Complete engagement confirmation means 37. Complete engagement position detection means 38 38 Complete engagement looseness detection means.

Claims (8)

A car door that opens and closes the entrance of the elevator car, a landing door that opens and closes the hall entrance of each floor, an electric motor for opening and closing the elevator car door, and the car door and the landing door A door device provided with an engagement device that opens and closes the landing door in conjunction with the opening and closing operation of the car door by the opening and closing drive of the electric motor at the time of landing on the landing of the car,
The engaging device is configured to be a parallel link mechanism that is spanned between both ends of a pair of link plates that are rotatably supported by the car door and arranged parallel to the vertical direction of the car door. A pair of engaging vanes that are engaged, a body to be pivotally supported at a position of the landing door corresponding to the center position of the pair of engaging vanes, and an end of one of the engaging vanes And a pair of engagement members as the car door opens, and rolls along a guide member having a break point that is installed at the top of the car door when the car door is opened. An engagement check roller disposed so as to reach the folding point when the combined vane is in a fully engaged position where the combined vane is completely engaged with the entire engaged body;
A door device characterized in that the speed of the electric motor is accelerated based on a torque change or a speed change generated after the engagement confirmation roller reaches a break point. In the door control apparatus of an elevator provided with the speed control means which performs speed control of the door apparatus of Claim 1, and the electric motor which drives the said car door,
Fully engaged position storage means for storing the car door position when the fully engaged position is obtained by the engaging device that engages the car door and the landing door, and the door of the landing door that is engaged with the car door When a re-opening start command is received when the door is closed or cannot be fully closed, a re-opening position detecting means for detecting a car door position obtained from the rotation pulse of the electric motor, and the re-opening position detecting means When the car door position and the car door position at the time of full engagement stored in the full engagement position storage means are compared, and the detected car door position is less than or equal to the car door position at the time of full engagement, An elevator door control device comprising: a door opening speed command changing means for sending a change instruction for changing an acceleration start position to the electric motor to the speed control means. In the door control apparatus of an elevator provided with the speed control means which performs speed control of the door apparatus of Claim 1, and the electric motor which drives the said car door,
Fully engaged position storage means for storing the car door position when the fully engaged position is obtained by the engaging device that engages the car door and the landing door, and the door of the landing door that is engaged with the car door When a door opening start command is received when the door is closed or when it cannot be fully closed, a door opening position detecting means for detecting a car door position obtained from the rotation pulse of the electric motor, and when the door opening start command is received A re-opening speed detecting means for detecting a motor speed from a rotation pulse of the electric motor; a car door position detected by the re-opening position detecting means; and a full engagement position stored in the full engagement position storage means The detected car door position is equal to or lower than the car door position when fully engaged, and the motor speed detected by the re-opening speed detecting means is equal to or lower than a predetermined set speed. If the motor Elevator door control device being characterized in that a SaitoHiraki speed command changing means for sending a change instruction for changing the acceleration starting position to said speed control means. In the elevator door control device according to claim 2 or 3,
Based on the torque change or speed change of the electric motor, it is determined that the pair of engagement vanes are completely engaged positions where they are completely engaged with all of the engaged bodies, and the car detected by the re-open position detecting means. An elevator door control device characterized in that complete engagement position correction means for taking in a position and storing the position as a car door position at the time of complete engagement is provided in the complete engagement position storage means. In the elevator door control device according to claim 2 or 3,
A complete engagement confirmation means such as a contact and a sensor for confirming that a pair of engagement vanes constituting the engagement device is completely engaged with the entire engaged body; and A complete engagement that takes in the car position detected by the re-open position detection means when the operation state is detected as complete engagement and stores it in the complete engagement position storage means as the car door position at the time of complete engagement. An elevator door control device characterized by comprising a joint position detecting means. The elevator door control device according to claim 4,
An elevator door control device comprising a complete engagement looseness detecting means for detecting and outputting looseness of the engagement state of the engagement device based on a change in torque or speed of the electric motor. In the elevator door control device according to claim 5,
An elevator door control device comprising: a complete engagement looseness detection means for detecting and outputting a looseness of the engagement state of the engagement device from an operation state of the complete engagement confirmation means. In the door control control method of the elevator provided with the speed control means which performs speed control of the door device of Claim 1, and the electric motor which drives the car door,
When a door opening start command is received when the landing door engaging with the car door is closed or cannot be fully closed, the car door position and the motor speed obtained from the rotation pulse of the motor are detected and detected. When the car door position is less than or equal to the car door position at the time of full engagement stored in advance and the motor speed is less than or equal to a predetermined set speed, a change instruction to change the acceleration start position to the motor is sent to the speed An elevator door control method, wherein the elevator door is sent to a control means.

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