JP2008222353A - Safety device for elevator door - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a safety device for an elevator door capable of accurately and surely detecting load abnormality during the opening/closing operation of the door even when a required torque command becomes gradually large due to the repetition of opening/closing operation of the door or the required torque command differs on a predetermined floor. <P>SOLUTION: The safety device for the elevator door comprises a position detecting part 4 computing position information from a motor 3 for the elevator door; a speed converting part 5 computing the actual speed of a motor 3 based on the position information; a speed command part 8 outputting a speed command to the motor 3; and a control part 6 outputting the torque command to the motor 3 so that the actual speed of the motor 3 follows the speed command. The change rate of the torque command output from the control part 6 is computed to determine the load abnormality of the motor 3 in the opening/closing operation of the door 1 based on the computed change rate. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an elevator door safety device.

  An elevator door (hereinafter also simply referred to as a “door”) including a car door and a landing door is generally opened and closed by a motor of a door driving device provided in the car. The door opening and closing speed at this time is controlled by outputting a torque command so that the actual speed of the motor follows the speed command to the motor.

  In addition, as a conventional elevator door safety device having the above-described configuration, an overload during a door opening / closing operation, that is, a load abnormality is detected by comparing the magnitude of a torque command value for a motor with a predetermined torque limit value. When a load abnormality is detected, a device that performs necessary operations such as deceleration, stop, and reversal of a door has been proposed (see, for example, Patent Document 1). With such a safety device, it is possible to quickly detect a load abnormality particularly when a user is pinched or pulled in during a door opening / closing operation or a dust clogging occurs.

  Japanese Patent Application Laid-Open No. H10-228561 proposes a configuration in which the torque limit value for determining that there is a load abnormality is changed under a predetermined condition. For example, when a load abnormality is detected continuously by opening and closing a door on the same floor, the torque limit value is made larger than the previous value and the difference between the torque command value and the torque limit value is It is configured to ensure the appropriate degree at all times. As a result, even if the dust gradually accumulates in the groove of the sill and the running resistance of the door increases, the tolerance can be changed according to the running resistance of the door. It is possible to prevent erroneous detection such that a load abnormality is detected even though a user is not caught or pulled in.

Japanese Patent Application Laid-Open No. 5-286664

  In the case of the one described in Patent Document 1, for example, when dust accumulates in the groove of the sill and the running resistance of the door increases, at least if the load abnormality is not continuously detected on the floor, an appropriate torque limit value is set. It was not possible to change the value to a value (a value that is not erroneously detected and that allows a certain degree of tolerance, which is the difference between the torque command value and the torque limit value). For this reason, while the load abnormality is detected, the elevator remains stopped, and as a result, the transportation efficiency of the elevator is greatly reduced.

  In addition, as the door is repeatedly opened and closed, the dust collected in the sill groove may suddenly come off from the sill groove. In such a case, the torque limit value remains changed to a large value even though the door running resistance decreases and the torque command value becomes small. There was a problem that it decreased significantly.

  In addition, as a case where the torque command increases while repeating the opening / closing operation of the door, in addition to the case where the running resistance of the door increases due to the accumulation of dust in the groove of the sill as described above, for example, a smoke shielding function is provided. It is also conceivable that the landing door has a smoke shielding member that comes into contact with the landing door and is deteriorated by wear to increase the running resistance of the door.

  Also, the same problem as described above can occur when the torque command required to open and close the door varies greatly between floors. The case where the torque command is different for each floor is, for example, the following case. The landing door having the above-described smoke shielding function is not necessarily installed on all floors of the elevator. For this reason, the running resistance of the door varies greatly from floor to floor depending on the presence or absence of the smoke shielding function of the landing door. As a result, the torque command also varies from floor to floor. Further, even when the door mass is different in each floor, the torque command is different for each floor. In such a case, at a floor where a large torque command is required, if a load abnormality is not detected continuously at least at that floor, the tolerance cannot be secured above a certain level. It was supposed to reduce the efficiency.

  The present invention has been made in order to solve the above-described problems. The object of the present invention is to increase the required torque command gradually by repeating the opening and closing operation of the door, or to increase the required torque command to a predetermined level. It is an object to provide a safety device for an elevator door that can accurately and reliably detect a load abnormality during a door opening / closing operation even when the floor is different.

  An elevator door safety device according to the present invention includes: a motor that opens and closes an elevator door; a position detector that calculates position information of the motor; and a motor position information calculated by the position detector. The speed conversion unit that calculates the actual speed, the speed command unit that outputs the speed command to the motor, and the actual speed of the motor that is calculated by the speed conversion unit follows the speed command to the motor that is output from the speed command unit. A control unit that outputs a torque command to the motor, and a load abnormality determination unit that determines a load abnormality of the motor when the door is opened and closed based on a rate of change of the torque command output from the control unit And.

  According to the present invention, even when the required torque command is gradually increased by repeating the opening and closing operation of the door, or when the required torque command is different at a predetermined floor, the load abnormality during the door opening and closing operation is detected. It can be detected accurately and reliably.

  In order to explain the present invention in more detail, it will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the part which is the same or it corresponds, The duplication description is simplified or abbreviate | omitted suitably.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a safety device for an elevator door according to Embodiment 1 of the present invention. In FIG. 1, reference numeral 1 denotes a door composed of an elevator car door and a landing door, 2 a door mechanism for opening and closing the door 1, and 3 a motor for driving the door 1 to open and close. That is, the door 1 is opened or closed according to the rotation direction of the motor 3 by transmitting the rotational force of the motor 3 through the door mechanism portion 2.

  Reference numeral 4 denotes a position detector for calculating the position information of the motor 3, that is, position information of the door 1, from the rotation speed and rotation angle of the output shaft of the motor 3, and 5 denotes position information of the motor 3 calculated by the position detector 4. The speed conversion unit 6 calculates the actual speed of the motor 3 based on the motor 3 so that the actual speed of the motor 3 calculated by the speed conversion unit 5 follows the speed command to the motor 3. A control unit 7 that outputs a torque command, 7 is an overload state of the motor 3 when the door 1 opens and closes based on the rate of change of the torque command output from the control unit 6, that is, whether there is a load abnormality of the motor 3 Reference numeral 8 denotes a load abnormality determination unit, and 8 is a speed command switching unit (speed command unit) that outputs a speed command to the motor 3 to the control unit 6 based on the determination result of the load abnormality determination unit 7. The speed command switching unit 8 always outputs a normal speed command as a speed command to the motor 3 when the load abnormality determining unit 7 determines that there is no load abnormality, and the load abnormality determining unit 7 indicates that there is a load abnormality. When an abnormality is determined, for example, an abnormal speed command that decelerates, stops, or reverses the motor 3 is used as a speed command to the motor 3 in order to quickly perform an avoiding operation against a user being caught or pulled in. Output.

  Here, the load abnormality determination unit 7 is a characteristic part in the safety device for an elevator door having the above-described configuration, and includes, for example, a change rate calculation unit 9, a storage unit 10, and a comparison unit 11. The change rate calculation unit 9 sequentially calculates the change rate of the torque command during the opening / closing operation of the door 1 based on the torque command for the motor 3 output from the control unit 6, and compares the calculated change rate with the comparison unit 11. Output for. Here, the rate of change has the same meaning as the differential coefficient, and can be indicated by the slope of the time waveform. However, an approximate value may be substituted for the value of the change rate in numerical calculation.

  In addition, the storage unit 10 stores in advance a change rate reference value of a torque command for determining the presence or absence of a load abnormality of the motor 3 corresponding to each position of the motor 3, that is, position information of the motor 3. ing. The change rate reference value is obtained from, for example, a theoretical value of the change rate calculated on the condition that there is no abnormality, or a value obtained by adding a predetermined tolerance to the measured value of the change rate. It is done. Details of the change rate reference value will be described later. Then, the comparison unit 11 compares the change rate value of the torque command calculated by the change rate calculation unit 9 with the change rate reference value read from the storage unit 10 according to the current position information of the motor 3. When the calculated change rate is equal to or greater than the read change rate reference value, it is determined that there is a load abnormality in the motor 3 and a load abnormality determination signal is output to the speed command switching unit 8.

  Next, the configuration of the door 1 and the door mechanism unit 2 will be briefly described before the specific operation of the load abnormality determination unit 7 is described. FIG. 2 is a diagram for explaining the configuration and operation of the elevator door device, and FIG. 3 is a diagram for explaining a speed command and a torque command to the motor.

  In FIG. 2, a door 1 is for opening and closing an elevator doorway, and is composed of one or a plurality of door panels. Reference numeral 12 denotes a hanger provided at the upper end portion of the door 1, and 13 denotes a hanger roller provided rotatably at the top of the hanger 12. The door 1 is suspended by a hanger roller 13 and a hanger 12 on a door rail 14 provided above the entrance, and the hanger roller 13 rolls on the door rail 14 to guide its opening and closing direction.

  Reference numeral 15 denotes an endless belt wound around the output shaft of the motor 3 and the reduction pulley 16, and reference numeral 17 denotes a pulley 18 provided on the shaft of the reduction pulley 16 and a pulley 20 provided on the beam 19. The endless belt 21 is connected to one end of the belt 17 and the other end is connected to the hanger 12 to link the door 1 to the movement of the belt 17. In the elevator door device having the above-described configuration, when the motor 3 operates, the rotation of the output shaft of the motor 3 is transmitted to the belt 17 via the belt 15, the reduction pulley 16, and the pulley 18, and the connecting tool 21. Is converted into an opening / closing operation of the door 1. In addition, although the above is description regarding a car door, about a landing door, it is comprised so that it may interlock | cooperate with a car door by a well-known engagement apparatus.

  And the opening / closing movement of the door 1 in the said elevator door apparatus is implement | achieved by using the speed command and torque command to the motor 3 as shown in FIG. 3, for example. Here, FIG. 3 shows the relationship between the speed and time of the motor 3 and the relationship between the torque of the motor 3 and time in the door closing operation section and the door opening operation section. Note that the torque command shown in FIG. 3 is a waveform when the door 1 is opened and closed as usual. That is, the torque command (normal torque command) when the user is not pinched or pulled in the door 1 during the opening / closing operation of the door 1, in other words, when no load abnormality has occurred. Yes.

  In FIG. 3, the door closing operation section includes four sections (I) to (IV). Here, section (I) is called an acceleration section, section (II) is a constant speed section, section (III) is a deceleration section, and section (IV) is a constant speed section. The door opening operation section is composed of four sections (V) to (VIII). The section (V) is a constant speed section, the section (VI) is an acceleration section, the section (VII) is a constant speed section, a section ( VIII) is called the deceleration zone. With the configuration of these eight sections, a speed command for the motor 3 for opening and closing the door 1 is realized.

  Next, a specific operation of the load abnormality determination unit 7 will be described.

《Load abnormality judgment method》
As described above, the load abnormality determination unit 7 determines the presence or absence of a load abnormality using the rate of change of the torque command to the motor 3. FIG. 4 is a diagram for explaining a method for determining a load abnormality in the elevator door safety device shown in FIG. 1, and FIG. 4 (a) is a diagram for explaining the basic principle for determining the presence or absence of a load abnormality. FIG.

  In FIG. 4A, 22a is a normal torque command (torque command when no load abnormality occurs), 22b is an abnormal torque command (torque command when load abnormality occurs at point A), and 23a. Is the rate of change of the normal torque command 22a at the time point A (normal rate of change), 23b is the rate of change of the abnormal torque command 22b when the load abnormality occurs at the time point A (abnormal rate of change), 24 Indicates a change rate reference value at time point A.

  Here, the change rate 23b when the load abnormality occurs at the time point A and the change rate 23a when the load abnormality does not occur are compared with the change rate reference value 24, respectively. It can be seen that the normal change rate 23 a is larger than the change rate reference value 24 and smaller than the change rate reference value 24. Accordingly, the rate of change of the torque command is sequentially calculated during the opening / closing operation of the door 1, and the load abnormality is determined by comparing the calculated rate of change value with the rate of change reference value corresponding to the current position information of the motor 3. It is possible to accurately and reliably determine whether or not there is any. That is, if the calculated change rate value is equal to or greater than the corresponding change rate reference value, it can be determined that there is a load abnormality. A method for determining the optimum change rate reference value will be described later.

  Next, a load abnormality determination method when the necessary torque command is gradually increased by repeating the opening / closing operation of the door 1 or when the necessary torque command is different at a predetermined floor will be described. FIG. 4B is a diagram for explaining a method for determining a load abnormality when the torque command varies.

  In FIG. 4B, 22c is a normal torque command (torque command when no load abnormality has occurred) in consideration of fluctuations in each floor, and 22d is when the normal torque command 22c is output. Torque command (abnormal torque command) when load abnormality occurs at time point A, 23c indicates the rate of change (abnormal change rate) of abnormal torque command 22d when load abnormality occurs at time point A Yes.

  As can be seen from FIG. 4B, the fluctuation in which the torque command increases while the door 1 repeats the opening / closing operation causes the user to be caught or drawn into the door 1 during the opening / closing operation of the door 1. Unlike the sudden fluctuation of the torque command, the fluctuation is relatively gentle. For this reason, even if the torque command is increased due to wear deterioration of the smoke shielding member, etc., there is no significant difference in the rate of change before and after the increase of the torque command. By setting the rate reference value 24, accurate and reliable determination of load abnormality can be realized.

  Further, when the mass of the door 1 varies greatly depending on each floor, the torque command varies (increases / decreases) for each floor. Here, assuming that the speed command to the motor 3 is constant for each floor, the torque command at each floor increases or decreases in proportion to the mass ratio of the door 1 with respect to the torque command at a predetermined reference floor. It will be. For this reason, the rate of change of the torque command at each floor similarly increases or decreases in proportion to the mass ratio of the door 1 with respect to the rate of change of the torque command at the reference floor. Therefore, if information on the mass ratio of the door 1 (ratio of the mass of the door 1 on the reference floor to the mass of the door 1 on a predetermined floor) is known, the information is proportional to the mass ratio of the door 1 on the floor. By comparing the increased / decreased change rate reference value with the calculated change rate of the torque command, accurate and reliable determination of load abnormality can be realized.

  Even if information on the mass ratio of the door 1 on the floor is unknown, the maximum mass ratio of the door 1 (ratio of the mass of the door 1 on the reference floor to the mass of the door 1 having the largest mass). If the information of) is known, using this maximum mass ratio information, if the change rate reference value increased or decreased in proportion to the maximum mass ratio is compared with the calculated change rate of the torque command, it is appropriate Can be determined.

  In the above description, the case where the speed command to the motor 3 is the same on each floor has been described. However, when the speed command to the motor 3 differs on a predetermined floor, for example, the acceleration in the acceleration section when the door 1 is opened or closed If the deceleration in the deceleration zone is different, if the change in the rate of change of the torque command due to these accelerations and decelerations is slow, it is ensured by setting the rate of change reference value with an appropriate judgment margin Can be determined.

  As described above, when the mass of the door 1 on each floor is greatly different, the torque command varies in the same way as when the torque command varies due to the repeated opening / closing operation of the door 1. Unlike sudden fluctuations caused by being caught or pulled in, it is a relatively gentle fluctuation. Therefore, by setting the change rate reference value 24 having a determination margin, it is possible to realize a reliable load abnormality determination.

<Determination method of change rate reference value>
Next, a method for determining the change rate reference value will be described. FIG. 5 is a diagram for explaining a method of determining the change rate reference value, and shows a normal torque command during the opening / closing operation of the door 1 and its change rate per predetermined time.

  The change rate reference value is based on the torque command when a load abnormality occurs due to the user being caught or pulled in (torque command at abnormal time) and the torque command when no load abnormality occurs (normal torque command). ), And basically, it is determined that something other than the normal torque command is the abnormal torque command. However, as described above, the magnitude of the normal torque command varies when the torque command increases due to repeated opening and closing operations of the door 1, or when the mass of the door 1 varies from floor to floor. It is necessary to consider that.

  As is clear from FIG. 5, the torque command in the door-closing operation section and the door-opening operation section is calculated by calculating the rate of change at the timing of an arbitrary time. Furthermore, it turns out that the magnitude | size also changes a lot.

  For example, when the door 1 is opened and closed continuously from the door closing operation section to the door opening operation section, the sign of the rate of change of the torque command is (+), (−), ( 0), (−), and (+) are sequentially changed, and subsequently (−), (+), (0), (+), and (−) are sequentially changed in the door opening operation section. The size also increases or decreases.

  It should be noted that the calculation of the change rate has no essential difference whether it is performed at an arbitrary time timing as shown in FIG. 5, or at an arbitrary motor position timing or an arbitrary door position timing. For this reason, the rate of change may be calculated based on the motor position (door position) timing.

  As described above, in order to determine the change rate reference value, a normal torque command is required, and it should be noted that the magnitude of the normal torque command fluctuates due to repeated opening / closing operations of the door 1 or the like. is necessary. In addition, since the change rate reference value has a choice between storing data at time timing or storing data at motor position timing or door position timing, it is necessary to select and determine at which timing data is stored. There is.

  Next, a procedure for determining the change rate reference value stored in the storage unit 10 and a specific example of the storage format of the change rate reference value in the storage unit 10 will be described.

  FIG. 6 is a flowchart showing a procedure for determining the change rate reference value stored in the storage unit. First, the procedure for determining the change rate reference value will be described with reference to FIG. In FIG. 6, after starting the door closing operation (step S101), in obtaining the change rate of the torque command used for determining the change rate reference value, the torque command data is captured at a fixed sampling time (step S102). . As described above, the fixed sampling time may be any time timing, motor position timing, or door position timing.

  Next, a difference calculation is performed using the torque command between the previous sample and the current sample, and the slope of the torque command in the current sample is calculated (step S103). Then, the change rate reference value is obtained by adding a predetermined margin to the change rate of the torque command calculated in step S103, and the obtained change rate reference value is obtained only when the load abnormality determination signal is not output. It memorize | stores in the suitable memory address of the memory | storage part 10 (step S104, S105). In steps S106 and S107, the operations from step S102 to step S105 are sequentially performed by the sampling synchronization interrupt until the door 1 is fully closed.

  FIG. 7 is a diagram for explaining the storage format of the storage unit, and shows a state in which the change rate reference value is stored at an appropriate memory address of the storage unit 10 by the procedure shown in FIG. Note that when determining whether or not there is a load abnormality in the motor 3, the timing for reading data from the storage unit 10 may be any of a time timing, a motor position timing, and a door position timing. The relationship between the time and the position is related by the actual speed of the motor 3 and is determined by the control unit 6 that outputs a torque command so that the actual speed of the motor 3 follows the speed command to the motor 3. It is what is done. That is, the relationship between time and position is related in a one-to-one correspondence.

  The table shown in FIG. 7 is an LUT (Look Up Table) indicating that the corresponding change rate reference value is read from the storage unit 10 based on the current time or the current motor position information. For example, if the current time is T0 or more and less than T1, the change rate reference value indicates that the value of C1 is read. Similarly, if the door position is not less than L0 and less than L1, or if the motor position is not less than θ0 and less than θ, the change rate reference value indicates that the value of C1 is read.

  Next, based on FIG. 8, the determination procedure of the load abnormality at the time of door closing operation is demonstrated. FIG. 8 is a flowchart showing the operation of the elevator door safety device according to Embodiment 1 of the present invention.

  In FIG. 8, when the door closing operation is started (step S201), the comparison unit 11 first reads the change rate reference value C corresponding to the current position information from the storage unit 10 (step S202). Further, the change rate calculation unit 9 calculates the change rate B of the torque command from the input torque command (step S203).

  Then, the comparison unit 11 compares the change rate reference value C read from the storage unit 10 with the calculated change rate B (step S204), and when the value of the change rate B is equal to or greater than the change rate reference value C. Then, a load abnormality determination signal is output to the speed command switching unit 8 (step S205). The speed command switching unit 8 outputs an abnormal speed command to the control unit 6 by inputting a load abnormality determination signal, and decelerates, stops, or reverses the speed of the door 1. With such an operation, it is possible to accurately and reliably detect a load abnormality when the user is pinched or pulled in by the door 1, and can quickly shift to an avoidance operation. As a result, a safety device for an elevator door with a high safety level can be obtained.

  On the other hand, if the value of the change rate B is smaller than the change rate reference value C in step S104, the operation from step S202 to step S204 is repeated until the door is fully closed while continuing the door closing operation (steps S206 and S207). ). In addition, since the determination procedure of load abnormality at the time of door opening is the same as the above, detailed description is abbreviate | omitted.

  According to the first embodiment of the present invention, even when the required torque command is gradually increased by repeating the opening and closing operation of the door 1 or when the required torque command is different on a predetermined floor, the door 1 It is possible to accurately and reliably detect a load abnormality during the opening / closing operation. For this reason, the safety device of the elevator door which can implement | achieve the reliable load abnormality determination which does not change the load abnormality determination value which leads to the stop of an elevator or the low sensitivity of load abnormality determination can be obtained.

  Further, only when the change rate value is sequentially held in the storage unit 10 during the opening / closing operation of the door 1 and the comparison unit 11 does not determine that the load abnormality of the motor 3 is present, the change rate in which the data is held. Since the change rate reference value is calculated and automatically determined based on the value of the change rate, the change rate reference value can be easily obtained. Therefore, even when the required torque command is gradually increased by repeating the opening / closing operation of the door 1 or when the required torque command is different at a predetermined floor, the load abnormality is detected using the rate of change of the torque command. It becomes possible to determine accurately and reliably. As a result, it is possible to easily obtain a safety device for an elevator door that can realize a reliable load abnormality determination without changing the load abnormality determination value that leads to a stop of the elevator or a reduction in load abnormality determination.

It is a block block diagram which shows the safety device of the elevator door in Embodiment 1 of this invention. It is a figure for demonstrating the structure and operation | movement of an elevator door apparatus. It is a figure for demonstrating the speed command and torque command to a motor. It is a figure for demonstrating the determination method of the load abnormality in the safety device of the elevator door shown in FIG. It is a figure for demonstrating the determination method of a change rate reference value. It is a flowchart which shows the determination procedure of the change rate reference value memorize | stored in a memory | storage part. It is a figure for demonstrating the memory | storage format of a memory | storage part. It is a flowchart which shows operation | movement of the safety device of the elevator door in Embodiment 1 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Door 2 Door mechanism part 3 Motor 4 Position detection part 5 Speed conversion part 6 Control part 7 Load abnormality determination part 8 Speed command switching part (speed command part)
9 Change rate calculation unit 10 Storage unit 11 Comparison unit 12 Hanger 13 Hanger roller 14 Door rail 15, 17 Belt 16 Deceleration pulley 18, 20 Pulley 19 Digit 21 Connector 22a, 22c Normal torque command 22b, 22d Abnormal torque command 23a Normal Change rate 23b, 23c Abnormal change rate 24 Change rate reference value

Claims (4)

A motor that opens and closes an elevator door;
A position detector for calculating position information of the motor;
Based on the position information of the motor calculated by the position detector, a speed converter that calculates the actual speed of the motor;
A speed command unit that outputs a speed command to the motor;
A control unit that outputs a torque command to the motor so that the actual speed of the motor calculated by the speed conversion unit follows the speed command to the motor output from the speed command unit;
A load abnormality determining unit that determines a load abnormality of the motor when the door is opened and closed based on a rate of change of the torque command output from the control unit;
An elevator door safety device characterized by comprising: The load abnormality determination unit
A change rate calculation unit that calculates a change rate of the torque command output from the control unit;
A storage unit in which a change rate reference value of the torque command is stored in advance corresponding to the position information of the motor;
The change rate value of the torque command calculated by the change rate calculation unit and the change rate reference value read from the storage unit in accordance with the position information of the motor are compared, and the calculated change rate When the value is equal to or greater than the read change rate reference value, a comparison unit that determines whether there is a load abnormality of the motor;
The safety device for an elevator door according to claim 1, comprising:   The storage unit sequentially holds the change rate values calculated by the change rate calculation unit, and only when the comparison unit determines that there is a motor load abnormality during the door opening / closing operation, The elevator door safety device according to claim 2, wherein a change rate reference value calculated based on the value is stored in accordance with position information of the motor.   The elevator door according to any one of claims 1 to 3, wherein the speed command unit outputs a speed command for decelerating the motor when the comparison unit determines that there is a load abnormality of the motor. Safety equipment.

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