JP2010173849A - Elevator door device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an elevator door device capable of detecting abnormality such as displacement and breakage of a belt transmitting driving force from a motor for driving an elevator door to the elevator door. <P>SOLUTION: This elevator door device includes: elevator doors 2 and 3; a door motor 9 for driving the elevator doors 2 and 3; a belt 11 for transmitting a driving force from the door motor 9 to the elevator doors 2 and 3; and a pulley 10 arranged opposite to the door motor 9 to support the belt 11 with the door motor 9. An encoder for detecting the rotation angle of the door motor 9 is provided in the pulley 10. The abnormality of the belt 11 is detected based on the speed detected by the encoder provided in the pulley 10 and the speed estimated using information about a current and voltage driving the elevator doors 2, 3. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an elevator door device, and more particularly to an elevator door device capable of detecting an abnormality of a belt that transmits a driving force from a motor for driving the door to the door.

  Conventionally, an elevator door device includes, for example, a pair of left and right doors, a hanger case disposed on the door, a driving pulley and a driven pulley disposed in the hanger case, and a belt spanned between both pulleys. It is prepared for. A door rail extending in the horizontal direction is attached to the lower end of the hanger case, and the left and right doors are connected to the belt and supported by the door rail. When the drive pulley is driven by the door motor arranged at the top of the hanger case, the belt stretched between the drive pulley and the driven pulley rotates, and the right door and the left door move in opposite directions. The door is opened and closed. In addition, there is a mechanism that uses a mechanical link mechanism instead of the belt. In an elevator door device that uses this mechanical link mechanism, the elevator door is opened and closed by a metal arm.

  In an elevator door device, the rotation angle of the door motor is detected to adjust the opening and closing timing of the left and right doors, and the drive of the door motor is controlled based on the detected angle. A rotation angle detection means built-in type door motor in which the rotation angle detection means is installed on the motor shaft is used.

  If the door motor is arranged on the upper part of the hanger case as in the conventional door device for an elevator, the door device is enlarged in the vertical direction. Further, since the door motor incorporating the rotation angle detection means has a large axial dimension, the dimension of the door device in the front-rear direction is increased accordingly.

  Recently, an elevator system without a machine room has been adopted to save space in the hoistway, and a door motor is arranged inside the hanger case that constitutes the door device of the elevator. A door device driven by a linear belt that does not use is used, and space saving is achieved.

  For door motors, do not use a built-in rotation angle detection means with a rotation angle detection means such as a rotation angle sensor on the motor shaft, and place a pulse generator on the side of the door motor rotor. There has been proposed a technique in which a roller attached to a rotation shaft of a pulse generator is brought into contact with an outer peripheral surface of a door motor rotor and rotated together with the door motor rotor (see, for example, Patent Document 1).

  In addition, a technique for reducing the space in the front-rear direction of an elevator door device by estimating the rotation speed of a motor without using a rotation angle detection unit such as a rotation angle sensor has been proposed (for example, Patent Documents). 2).

JP 2007-308240 A (summary column, FIG. 1) JP 2007-84189 A (summary column, FIG. 2)

  A conventional elevator door device is configured as described above. In a door device in which a belt spanned between a driving pulley and a driven pulley rotates to open and close the door, the belt drives the door motor from the door motor. The driving force is transmitted to the door, and there is a problem that abnormalities such as belt detachment or belt breakage due to wear or deterioration of the belt occur.

  Further, in the door device using the mechanical link mechanism, the elevator door is opened and closed by the metal arm, so that the driving force from the door motor is rarely transmitted to the elevator door. However, for the purpose of saving space in the hoistway, the door device of the elevator is configured to drive a linear belt, and as described above, the driving force from the door motor is transmitted to the door by the belt. There is a problem that abnormalities such as belt detachment and belt breakage due to belt wear and deterioration.

  Further, when using a door motor with built-in rotation angle detection means in which a rotation angle detection means such as a rotation angle sensor is installed on the motor shaft, or as proposed in Patent Document 1, the rotor of the door motor is used. When the pulse generator is arranged on the side of the roller and the roller attached to the rotating shaft of the pulse generator is brought into contact with the outer peripheral surface of the door motor rotor and rotated together with the door motor rotor, in either case However, there is a problem that it is impossible to detect abnormalities such as belt detachment and belt breakage that convey the driving force of the door motor that drives the elevator door.

  Further, as proposed in Patent Document 2, the same applies to the case where the rotation speed of the motor is estimated without using the rotation angle detection means such as the rotation angle sensor. Therefore, although the determination is made using information on the rotation angle sensor and information on a position switch that detects a location such as a fully open point or a fully closed point of an elevator door, there is a problem that cannot be detected reliably.

  The present invention has been made to solve the above-described problems, and provides an elevator door device that detects an abnormality such as belt detachment or belt breakage and at the same time saves space in the door device. .

  An elevator door device according to the present invention is disposed opposite to an elevator door, a door motor that drives the elevator door, a belt that transmits driving force from the door motor to the elevator door, and the door motor. In an elevator door device comprising a pulley that supports the belt together with the door motor, a rotation angle detecting means for detecting a rotation angle of the door motor is installed on the pulley.

  According to the elevator door device according to the present invention, it is possible to detect an abnormality such as belt detachment or belt breakage that transmits driving force from the motor that drives the elevator door to the door, and the installation space of the elevator door device is reduced. Can be made.

It is a front view which shows the door apparatus of the elevator which concerns on Embodiment 1 of this invention. It is a functional block diagram which shows the control apparatus of the motor which opens and closes the door in the door apparatus of the elevator which concerns on Embodiment 1 of this invention. It is a functional block diagram which shows the control apparatus of the motor which opens and closes the door in the door apparatus of the elevator which concerns on Embodiment 2 of this invention. It is a state transition diagram which shows the control operation of the door in the door apparatus of the elevator which concerns on Embodiment 2 of this invention.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of an elevator door device according to the invention will be described with reference to the accompanying drawings. Note that the present invention is not limited to these embodiments.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing an elevator door device according to Embodiment 1 of the present invention. In FIG. 1, an elevator door device 1 (hereinafter also simply referred to as “door device”) includes elevator doors 2 and 3 (hereinafter also simply referred to as “door”) and a drive unit 4 for the doors 2 and 3. Has been. FIG. 1 shows a state in which the doors 2 and 3 are being opened by the drive unit 4 in the direction of the white arrow.

  Guide rollers 6 are provided at the upper ends of the doors 2 and 3 so as to be rotatable and movable along guide rails 5 extending in the horizontal direction. Thus, the doors 2 and 3 are configured to be openable and closable along the guide rail 5.

  Further, one ends of the coupling tools 7 and 8 are fixed to the upper ends of the doors 2 and 3, and the other end of the coupling tools 7 and 8 is a door motor 9 (hereinafter also simply referred to as “motor”). , And is fixed to a protruding belt 11 wound around a pulley 10. The pulley 10 is disposed so as to face the motor 9, and the pulley 10 incorporates an encoder that is a rotation angle detecting means or another rotation angle sensor (hereinafter simply referred to as "encoder"). . The rotation angle detection means composed of the encoder may be externally attached.

  The other end of the connector 7 fixed to the upper end portion of the door 2 is fixed to a portion of the protruding belt 11 positioned between the upper end portion of the pulley 10 and the motor 9, and is fixed to the upper end portion of the door 3. The other end of the connecting tool 8 is fixed to a portion of the protruding belt 11 located between the lower end of the pulley 10 and the motor 9.

  With the configuration described above, the rotational torque of the motor 9 is transmitted to the doors 2 and 3 via the pulley 10, the protruding belt 11, and the couplers 7 and 8, respectively, and drives the doors 2 and 3 to open and close. The motor 9 is controlled and driven by a control device 12 (details will be described later).

  The guide rail 5, the guide roller 6, the couplers 7 and 8, the motor 9, the pulley 10, and the protruding belt 11 are arranged in the hanger case 13. In FIG. 1, an elevator door device is representatively shown, but a landing door (not shown) of the elevator hall is also driven to open and close in conjunction with the car door.

The door device for an elevator according to Embodiment 1 is configured as described above. Next, a control device for a motor that opens and closes the door will be described.
FIG. 2 is a functional block diagram showing a door motor control device for opening and closing the elevator door. In FIG. 2, the control device 12 for the doors 1 and 2 includes a control microcomputer 20 including door opening / closing control means described later, and a control board 30 that drives the motor 9 under the control of the control microcomputer 20.

  The control microcomputer 20 includes a speed command generator 21 that generates a speed command V * during normal operation, a speed amplifier 22 that generates a torque command Tr * based on the speed command V *, and a current that amplifies the torque command Tr *. The amplifier 23 includes a PWM unit 24 that generates a PWM signal based on the speed command V * and the torque command Tr *, and an input / output port 25 that inputs / outputs a signal to / from the outside.

  The control microcomputer 20 takes in external signals (car call signals, etc.) of the doors 2 and 3 and output pulses from the pulley 10 through the input / output port 25, manages the operation status of the doors 2 and 3, and controls the control board. The motor 9 is controlled via 30 and the doors 2 and 3 are controlled to open and close.

  The control board 30 includes a gate signal generator 31, a converter 32 constituting a DC power supply, an inverter 33 driven by a gate signal from the gate signal generator 31, a smoothing capacitor 34 for stabilizing the DC power supply, U Current sensors 35 and 36 for detecting phase and V phase currents, and the three-phase (U, V, W) motor 9 for driving the door is driven by the output voltage of the inverter 33.

  The converter 32 and the inverter 33 constitute a power circuit for driving the motor 9 based on the gate signal. The U-phase and V-phase current signals detected by the current sensors 35 and 36 are input to the current amplifier 23 in the control microcomputer 20 via the input / output port 25. A rotation signal synchronized with the motor 9 detected by the pulley 10 is input to the speed amplifier 22 in the control microcomputer 20 via the input / output port 25. The input / output port 25 also captures external sensor information (not shown).

  The speed command generator 21, the speed amplifier 22, the current amplifier 23, and the PWM unit 24 constitute a door opening / closing control means, and this door opening / closing control means controls the opening / closing speed V during the operation of the doors 2 and 3. The PWM unit 24 sends a PWM signal to the gate signal generator 31 in the control board 30, and PWM drives the inverter 33 via the gate signal generator 31.

  As described above, according to the elevator door device according to the first embodiment, by using the pulley 10 with the built-in or externally attached encoder synchronized with the rotational speed of the motor 9, the doors 2 and 3 can be provided as in the conventional case. Control can be performed.

  Further, since no encoder is attached to the motor 9, the space in the front-rear direction caused by attaching the encoder can be eliminated, and the layout performance can be improved. In addition, since no encoder is attached to the motor 9, it is not necessary to consider the temperature performance of the encoder due to the temperature rise of the motor 9, and an inexpensive encoder can be built in or externally attached to the pulley 10.

Embodiment 2. FIG.
Next, an elevator door device according to Embodiment 2 will be described. FIG. 3 is a functional block diagram showing a door motor control device that opens and closes the door, and the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

In the first embodiment, the control microcomputer 20 directly uses the output pulse from the pulley 10 with or without the encoder for controlling the doors 2 and 3, but it may be configured as shown in FIG. . That is, based on the U-phase current value i _u and V-phase current value i _v input via the input / output port 25 and the v _u ^* , v _v ^* , v _w ^* output from the current amplifier 23, the door speed is determined. The calculation unit 26 may perform a speed sensorless operation for calculating the door speed V ′, or may use the pulley 10 with or without an encoder as an auxiliary device for the operation of the door device. At this time, an inexpensive encoder having a low rotational angle accuracy performance can be used as a built-in or external encoder.

  Hereinafter, the control operation at the time of opening and closing the door in the door device of the elevator according to the second embodiment will be described with reference to the flowchart of FIG. 4 together with FIGS.

  In FIG. 3, the control microcomputer 20 adds the door speed calculation unit 26 for calculating the door speed V ′ to the control microcomputer 20 described in the first embodiment, and calculates the door 2 from the calculated door speed V ′ and the actual value V. And a door abnormality determination unit 27 for determining whether the operation of No. 3 is abnormal. In this case, the door abnormality determination unit 27 uses the calculated value V ′ of the door speed obtained by the door speed calculation unit 26 and the output pulse V from the pulley 10 obtained through the input / output port 25. 9, whether there is any abnormality between the pulley 10 and the protruding belt 11. The abnormality signal output from the door abnormality determination unit 27 is input to the speed command generation unit 21 and is switched to a door operation in an abnormal state, for example, to stop the opening / closing operation.

  Next, operation | movement of the door abnormality determination part 27 is demonstrated using FIG. FIG. 4 is a state transition diagram showing the control operation of the doors 2 and 3.

  In FIG. 4, the initial state is the normal state of state S11. In state S11, the calculated value V ′ of the door speed obtained by the door speed calculator 26 is compared with the output pulse V from the pulley 10 via the input / output port 25, and the difference is less than a certain value (for example, 10 % Or less), the normal state S11 is continued. In the state S11, when the difference is greater than or equal to a certain value, the state transitions to the abnormal state S12. In state S12, the door operation in the abnormal state is performed. In the state S12, when the state is not abnormal, the state transits to the state S11.

  As described above, according to the elevator apparatus according to the second embodiment, the rotation angle information of the motor 9 that drives the doors 2 and 3 and the rotation angle information of the pulley 10 with or without an encoder are obtained separately. Thus, it is possible to detect that an abnormality (for example, a failure state such as belt detachment or belt breakage) has occurred in the protruding belt 11 wound around the two.

  Further, since no encoder is attached to the motor 9, the space in the front-rear direction caused by attaching the encoder can be eliminated, and the layout performance can be improved. In addition, since no encoder is attached to the motor 9, it is not necessary to consider the temperature performance of the encoder due to the temperature rise of the motor 9, and the accuracy performance of the rotation angle may be low. An encoder that is even cheaper than the first embodiment can be built in or externally attached.

DESCRIPTION OF SYMBOLS 1 Elevator door apparatus 2, 3 Elevator door 4 Drive part 5 Guide rail 6 Guide roller 7, 8 Connector 9 Door motor 10 Pulley 11 Protruding belt 12 Control apparatus 13 Hanger case 20 Control microcomputer 21 Speed command generation part 22 Speed amplifier 23 Current amplifier 24 PWM unit 25 Input / output port 26 Door speed calculation unit 27 Door abnormality determination unit 30 Control board 31 Gate signal generator 32 Converter 33 Inverter 34 Smoothing capacitors 35, 36 Current sensor

Claims (2)

An elevator door,
A door motor for driving the elevator door;
A belt for transmitting driving force from the door motor to the elevator door;
In an elevator door device provided with a pulley arranged to face the door motor and supporting the belt together with the door motor,
An elevator door device characterized in that a rotation angle detecting means for detecting a rotation angle of the door motor is installed in the pulley.   2. The belt abnormality is detected based on a speed detected by a rotation angle detection means installed on the pulley and a speed estimated using voltage / current information for driving the elevator door. The elevator door device described in 1.

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