JP3200947B2 - Elevator door control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control apparatus for an elevator door, and more particularly to a control apparatus for quickly stopping or reversing an elevator door when a human body is pinched or clogged with dust during opening / closing operation of the elevator door. The present invention relates to a control device for an elevator door.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing a conventional elevator door control device. In the figure, reference numeral 1 denotes a door motor which is a driving source for opening / closing an elevator door, 2 denotes a power supply for driving the elevator door, and 3 denotes a door motor 1.
The driving power circuit 4 is a pulse encoder for detecting the speed of the door motor 1. The pulse encoder 4 is directly connected to the rotation shaft of the door motor 1 and generates a pulse signal according to the rotation of the door motor 1. Reference numeral 5 denotes a control circuit which incorporates a microcomputer and controls the entire driving operation of the elevator door. Reference numeral 5a denotes a pulse counting unit which counts the number of pulses based on a signal from the pulse encoder 4. Reference numeral 5b denotes a program for program-controlling the control circuit 5. A ROM 5c storing various data and the like, an input / output port 5c for transmitting and receiving signals to and from the outside, a CPU 5d serving as a central processing unit, a RAM 5e to which data is written by the CPU 5d, and a RAM The actual measured value of the characteristic and a predetermined constant are stored. 5f is a PWM (pulse width modulation) unit, which is a pulse width modulation signal generation circuit for generating a motor drive signal. Reference numeral 6 denotes a door safety device that detects that a passenger is approaching the elevator door, 7 denotes a gate signal generation circuit that generates a drive gate signal for driving a power transistor or the like of the power circuit 3 by a PWM signal, and 8 denotes an elevator. It is an elevator control panel that controls various operations.

FIGS. 4A and 4B are waveform diagrams showing waveforms in a normal state at the time of a door closing operation by a conventional elevator door control device. FIG. 4A shows a speed command pattern of a door motor, and FIG. 4B shows an actual speed pattern of a door motor. , (C) respectively show the relationship between the torque command of the door motor and the torque limit value.

In FIG. 1, reference numeral 10 denotes a motor speed command which is a speed of a door motor according to a door position, and reference numeral 20 denotes a control circuit 5.
The actual motor speed 30 which is the actual speed of the door motor 1 measured by the above is a motor torque command 30 issued from the control circuit 5 to make the motor actual speed 20 follow the speed command.
0 is a motor torque limit value, and the magnitude of the motor torque command 30 is regulated so as not to exceed the motor torque limit value 40.

Next, a door drive control operation of the elevator door control device having the above configuration will be described with reference to FIGS. 3 and 4. FIG. Here, a door closing operation will be described as an example.

When a door closing command is generated from the elevator control panel 8, it is read into the input / output port 5c, and the speed pattern shown in FIG.
Read into PU5d. In this speed pattern, the output pulses from the pulse encoder 4 attached to the door motor 1 are counted by the pulse count unit 5a, and the count value is sent to the CPU 5d.
Is read from the ROM 5b by calculating the door position point from the pulse count value. Similarly, the motor torque limit value shown in FIG. 4 (c) is read out together, and the torque is limited so as not to generate a motor torque command more than necessary. The output from the pulse encoder 4 is used not only for determining the position of the door but also for calculating the rotation speed of the door motor 1 based on the count value. The position points of the elevator door, the rotation speed of the door motor 1, and the like are stored in the RAM 5e. The CPU 5d issues a torque command to follow the speed pattern from the read speed pattern and the rotation speed of the door motor 1 to the PWM unit 5f.
Send to Then, the PWM signal is converted into a PWM signal by the PWM unit 5f, and the gate signal is generated by the gate signal generation circuit 7 based on the output, and the power circuit 3 is driven to rotate the door motor 1. Thus, the opening / closing control of the elevator door is performed.

Here, if a force that hinders the opening / closing operation of the elevator door acts, the actual motor rotation cannot follow the speed command. Therefore, the torque command is gradually increased until it is limited to the torque limit value. The opening / closing operation is performed with a larger torque than in the normal opening / closing operation.

The door safety device 6 is provided at the upper part of the car at the entrance of the elevator, detects the user in a non-contact manner, and prevents the user from touching the door to be closed so as not to be injured. Is inverted. That is, the operation signal of the door safety device 6 is sent to the elevator control panel 8 through the input / output port 5c, and the elevator control panel 8 switches the opening / closing command from the door closing to the door opening, so that the elevator door performs the door reversing operation. .

In opening and closing an elevator door, if the door running rail is clogged with dust or a passenger's hand or the like is drawn into a gap between the wall and the door, a normal opening and closing operation may not be performed. In such a case, there is no danger to the passengers, and when the garbage is clogged, the door is locked and the elevator cannot be used. For this reason, Japanese Patent Application Laid-Open No.
No. 96, JP-A-3-238286, door control for detecting an overload and performing a door reversing operation is performed based on a torque command and a state of a current supplied to a door motor. Further, Japanese Patent Application Laid-Open No. 2-163 relates to a conventional elevator door control device of this type.
282 publication.

[0010]

However, in the conventional elevator door control device as described above, when an overload due to a passenger's hand or the like being drawn into a gap between the wall and the door is detected, the passenger is not detected. Therefore, it is necessary to lower the detection level and increase the sensitivity of the overload detection because of the need to emphasize the safety of the device.
On the other hand, when the overload due to dust clogging is detected, if the sensitivity of the overload detection is too high, the overload is detected even by a small amount of dust and the door is turned over, so that the frequency of starting the elevator is reduced and the operation of the elevator is reduced. The efficiency was getting worse.
For this reason, it has been necessary to increase the detection level to lower the sensitivity of overload detection.

Further, in the case of detection of an overload due to being retracted, almost all people are retracted. Usually, a force to pull out from the retracted state acts. The same overload abnormality was not repeated. On the other hand, in the case of overload detection due to garbage clogging, if the garbage is small, the garbage gradually moves by repeating the door reversing operation several times, so that the overload is not detected. Unless the detection level is changed, the same overload is detected many times at that location, and the door reversing operation is repeated, so that the elevator cannot be used.

Accordingly, an object of the present invention is to provide an elevator door control device capable of appropriately adjusting the sensitivity of overload detection to secure passenger safety and improving elevator operating efficiency. It is.

[0013]

According to a first aspect of the present invention, there is provided a control apparatus for an elevator door, wherein a speed command of a door motor for driving the opening and closing of the elevator door includes an actual rotation speed of the motor.
There torque command generating means for generating a torque command so as to follow, the abnormal load detection means for detecting an abnormal overload during door by comparing the torque command to a predetermined torque limit value, depending on the abnormality detection Door control means for reversing or stopping the elevator door, a door safety means for detecting that a passenger is approaching the elevator door, and detecting an overload abnormality when the door safety means is operating. And a torque limit value changing means for setting the torque limit value to be smaller than a predetermined value.

The control device for an elevator door according to the invention of claim 2, the torque command generating means for the rotational speed of the actual motor speed command of the door motor for opening and closing the elevator door to generate a torque command so as to follow, Load abnormality detection means for detecting an overload abnormality during opening and closing of the door by comparing the torque command with a predetermined torque limit value; door control means for inverting or stopping the elevator door in response to the abnormality detection; A door safety means for detecting that a passenger is approaching the door, and a load abnormality detection time changing means for shortening an overload abnormality detection time by the load abnormality detection means when the door safety means is operating. It is provided.

The control device for an elevator door according to the invention of claim 3, the torque command generating means for the rotational speed of the actual motor speed command of the door motor for opening and closing the elevator door to generate a torque command so as to follow, Load abnormality detection means for detecting an overload abnormality during door opening and closing by comparing the torque command with a predetermined torque limit value, door control means for inverting the elevator door in response to the abnormality detection, and When the door reversing operation is repeated by continuously detecting an overload abnormality, the apparatus is provided with torque limit value changing means for gradually increasing the torque limit value each time the door reversing operation is repeated.

The control device for an elevator door according to the invention of claim 4 includes a torque command generating means for the rotational speed of the actual motor speed command of the door motor for opening and closing the elevator door to generate a torque command so as to follow, Load abnormality detection means for detecting an overload abnormality during door opening and closing by comparing the torque command with a predetermined torque limit value, door control means for inverting the elevator door in response to the abnormality detection, and When the door reversing operation is repeated by continuously detecting the overload abnormality, the apparatus is provided with a load abnormality detection time changing means for gradually extending the overload abnormality detection time every time the door reversing operation is repeated.

[0017]

The control device for elevator doors of the effects] of claim 1 invention generates the torque command, such as the rotational speed of the actual motor speed command of door motor to follow, compares the torque command to a predetermined torque limit value The elevator door is reversed or stopped by detecting an overload abnormality during opening and closing of the door, and when a passenger is approaching the elevator door, the torque limit value is made smaller than a predetermined value. If there is a high possibility that a passenger will be pulled in, the sensitivity of overload detection can be increased by lowering the torque limit value and lowering the detection level.

[0018] The control device for an elevator door of the invention of claim 2, generates a torque command, such as the rotational speed of the actual motor speed command of door motor to follow, compares the torque command to a predetermined torque limit value The elevator door is turned over or stopped by detecting an overload abnormality while the door is being opened and closed, and when passengers are approaching the elevator door, the overload abnormality detection time is shortened. If there is a high possibility that the door will be turned on, an overload is detected early and a door reversing operation or the like is performed.

[0019] In the control device for an elevator door of the invention of claim 3, generates a torque command, such as the rotational speed of the actual motor speed command of door motor to follow, compares the torque command to a predetermined torque limit value The elevator door is reversed by detecting an overload abnormality during opening and closing of the door, and when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the torque is limited each time the door reversing operation is repeated. Since the value is gradually increased, it is possible to prevent the same overload from being detected many times due to dust clogging and to repeat the door reversing operation.

[0020] In the control device for an elevator door of the invention of claim 4 generates the torque command, such as the rotational speed of the actual motor speed command of door motor to follow, compares the torque command to a predetermined torque limit value The elevator door is reversed by detecting an overload abnormality during door opening and closing, and when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the overload is repeated every time the door reversing operation is repeated. Since the abnormality detection time is gradually extended, it is possible to prevent the same overload from being detected many times due to dust clogging and to repeat the door reversing operation.

[0021]

Embodiments of the present invention will be described below. <First Embodiment> FIG. 1 is a waveform diagram showing waveforms in an abnormal load state during a door closing operation by an elevator door control device according to an embodiment of the present invention, and FIG. 2 is an embodiment of the present invention. It is a waveform diagram which shows each waveform of the load abnormal state at the time of another door closing operation | movement by the control apparatus of an elevator door, (a) is a speed command pattern of a door motor, (b) is an actual speed pattern of a door motor, (c) is The relationship between the torque command of the door motor and the torque limit value is shown. FIG. 3 is a block diagram showing a hardware configuration of an elevator door control device according to an embodiment of the present invention.
FIG. 3 is common to the conventional example. In the figure, the same reference numerals and symbols as those of the above-mentioned conventional example indicate the same or corresponding components as those of the above-mentioned conventional example.

In the figure, 11a to 11d and 12a to 1
2d is a motor speed command which is a speed of the door motor according to the door position, 21a to 21d and 22a to 22d are actual motor speeds which are actual speeds of the door motor 1 measured by the control circuit 5, and 31a to 31d and 32a to 32d. Is a motor torque command issued from the control circuit 5 to cause the motor actual speeds 21a to 21d and 22a to 22d to follow the speed command, and 41a to 41d and 42 are motor torque limit values, and these motor torque limit values 41a to 41d. , 42 so that the motor torque commands 31a to 31d, 32a
The size of ~ 32d is regulated.

Here, the door closing operation by the elevator door control device will be described with reference to the above-described drawings. First, an operation from detecting an overload to performing a door reversing operation will be described assuming an overload while the door is closed. This operation is the same as the conventional example. When a door closing command is generated from the elevator control panel 8, it is read into the input / output port 5c, and a predetermined motor torque limit value 41 is set so that the motor speed command 10 corresponding to the door position point and the door opening / closing force are not generated more than necessary.
a is read from the ROM 5b. The output pulses from the pulse encoder 4 mounted on the door motor 1 are counted by the pulse counting unit 5a, and the rotation speed based on the count value is also sent to the CPU 5d. And
Based on these results, the motor torque command 30 is output from the CPU 5d to the PWM unit 5f. The gate signal generation circuit 7 generates a gate signal according to the PWM signal output from the PWM unit 5f, and drives the power circuit 3 so that the door motor 1 rotates at the motor actual speed 20 and an elevator door (not shown). Starts door closing.

If the passenger's hand or the like is pulled in while the door is being closed, or a load that prevents opening and closing of the elevator door is generated due to dust clogging, the actual motor speed 20 is generated regardless of the speed command. Begins to slow down. For this reason, the followability of the actual speed to the speed command is deteriorated, so that the torque command gradually increases to improve the followability to the speed command, and becomes like a motor torque command 31a (see FIG. 1).

When the overload state continues, the motor torque command 31a reaches the motor torque limit value 41a (see FIG. 1), the torque command is output more than necessary, and it is determined that an overload exists. The data is input from the CPU 5d to the elevator control panel 8 through the input / output port 5c. As a result, the door closing command is switched to the door opening command, the motor speed command 11a is reversed, and the door motor 1
As shown in a, the door rotates in the door opening direction, and the elevator door starts opening.

However, in this embodiment, before detecting the overload state, the operation state of the door safety device 6 is confirmed. The door safety device 6 is mounted near the doorway of the elevator, and operates to output a predetermined output when detecting that a passenger is approaching the elevator door. Door safety device 6
If there is no output from, the same overload detection as in the prior art is performed as described above. On the other hand, when there is an output from the door safety device 6, it means that there is a passenger around the elevator door,
Since it can be sufficiently assumed that the door is pulled into or caught by the elevator door during the door opening / closing operation, opening and closing the elevator door with a large torque is extremely dangerous for passengers. Therefore, in order to increase the sensitivity of the overload detection, the normal motor torque limit value 41a is changed to the motor torque limit value 41b in which the torque is further limited (see FIG. 1), and the door closing operation is performed.

That is, when a passenger is drawn in during the door closing operation and an overload is detected, the motor torque command 30 is compared with the motor torque limit value 41b. Is detected. Therefore, the motor speed command 1
1b, the actual motor speed 21a also changes to the actual motor speed 21b, and the elevator door performs the reversing operation quickly, so that injuries and the like due to passengers being pulled in can be prevented, and safety is improved.

[0028] Thus, the control device for an elevator door of the present embodiment, as the motor actual speed 20 is the actual rotational speed of the door motor 1 to the motor speed command 10 of the door motor 1 for opening and closing the elevator door to follow Torque command generating means for generating a motor torque command 30; load abnormality detecting means for comparing the motor torque command 30 with a predetermined motor torque limit value 40 to detect an overload abnormality during door opening / closing; Control circuit 5 and elevator control panel 8 for inverting or stopping the elevator door in response
A door control device comprising: a door control device comprising: a door control device for detecting that a passenger is approaching the elevator door; There is provided a torque limit value changing means for making the motor torque limit value 40 for detecting a load abnormality smaller than a predetermined value.

[0029] That is, the control device for an elevator door of the present embodiment generates a motor torque command 30 as the motor actual speed 20 to the motor speed command 10 to follow, the motor torque command 30 of a predetermined motor torque limit value 40, the elevator door is turned over or stopped by detecting an overload abnormality during opening and closing of the door, and when a passenger is approaching the elevator door, the motor torque limit value 4 is set.
0 is made smaller than a predetermined value.

Therefore, when there is a high possibility that a passenger will be drawn in, the motor torque limit value 40 is lowered and the detection level is lowered, so that the sensitivity of overload detection can be increased.
Injuries and the like caused by passengers being pulled in can be prevented, and safety is improved.

In this way, in order to emphasize the safety of the passenger, the motor torque limit value 40 is lowered, and even if the passenger is pulled in during the door closing operation, the motor torque command 30 is weakened.
Methods have been conceived to reduce the burden at that time and to prevent injury. However, conversely, since the motor torque command 30 is reduced, even a small amount of dust clogging is determined as an overload, and there is also a problem that malfunctions increase. Therefore, the motor torque command 30 and the motor torque limit value 4
It has also been considered to increase the detection time t1 by comparison with No. 2 in this case. However, in this case, there is a possibility that the time during which the passenger is pulled into the elevator door may be long, and the detection sensitivity is not necessarily good. Not really.

Therefore, in this embodiment, as described above, the operation state of the door safety device 6 is confirmed before detecting the overload state. When there is an output from the door safety device 6, it is a case where a passenger is present around the elevator door.
Since it can be sufficiently assumed that the door is pulled into or caught by the elevator door during the door opening / closing operation, the overload detection time is set to a shorter detection time t2 from the normal detection time t1 (see FIG. 2), and the door closing operation is performed. To do.

As a result, when an overload due to a passenger being drawn in during the door closing operation is detected, the detection time of the overload is changed from the conventional detection time t1 to the detection time t2, and the motor torque command 32a is also changed. Since the motor torque command is 32b, the overload can be detected quickly (see FIG. 2). For this reason,
From the conventional motor speed command 12a to the motor speed command 12b
The motor actual speed 21a also changes to the motor actual speed 21b, and the elevator door performs the reversing operation quickly, so that injuries and the like due to passengers being pulled in can be prevented, and safety can be improved.

Thus, the above-described torque command generating means, load abnormality detecting means, door control means, and door safety means are provided, and when the door safety means is operating, the load abnormality detecting means if Sonaere load abnormality detecting time changing means to reduce the overload abnormality detection time, and generates a motor torque command 30, such as actual motor actual speed 20 to the motor speed command 10 to follow, given the motor torque command 30 The inverter door is reversed or stopped by detecting an overload abnormality during opening and closing of the door in comparison with the motor torque limit value 40, and the overload abnormality detection time is shortened when a passenger is approaching the elevator door. be able to. Therefore, when there is a high possibility that the passenger will be pulled in, the door reversing operation is performed by detecting the overload quickly, so that injury or the like due to the passenger being pulled in can be prevented, and the safety is improved.

<Second Embodiment> Next, a second embodiment of the present invention will be described with reference to FIGS. 1 and 2, similarly to the first embodiment. In this embodiment, the door safety device 6 is not necessarily required.

When dust is clogged or a passenger is drawn in during the door closing operation, as described in the conventional example and the first embodiment, the overload is detected and the door is reversed. In particular, when a passenger is pulled in, the power to pull out from the pull-in works,
Once the door reversing operation is performed, the retracted state can be released, and the original purpose can be achieved.

However, in the case of dust clogging, the door reversing operation is repeated. In other words, if the dust is small, the dust gradually moves by repeating the door reversing operation several times. However, in the case of the large dust, the dust cannot be closed at a certain position (dust as a load) or more. The door reversing operation is repeated many times at the place. By inputting the elevator door position information and the door opening / closing command to the CPU 5d, it can be determined that the door reversing operation is repeated due to overload due to dust. Therefore, in the case of such dust clogging, it is necessary to remove the dust and promote the door closing operation so that normal opening and closing can be performed. Remove.

However, even if the door closing operation is performed with a large motor torque command, it is not known how much dust is clogged, and it is not possible to determine in advance how much torque is required. Further, even if the door opening / closing operation is repeated due to overload, there is a possibility that the door opening / closing operation is performed due to mischief of a passenger, and it cannot be concluded that the operation is necessarily due to dust clogging.

Therefore, when an overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the motor torque limit value 41c which is larger than the normal motor torque limit value 41a.
The limit value is increased to, and overload is detected with a torque larger than usual (see FIG. 1). As a result, the normal motor torque command 31a is changed to the large motor torque command 31c and the overload is detected. Therefore, the motor speed command 11a is switched with a slight delay to the motor speed command 11c, and the motor speed which is the actual rotation speed of the door motor 1 is changed. The actual speed 21a is changed to the actual motor speed 21c.

When the overload is still detected despite the motor torque command 31c being slightly increased, the motor torque limit value 41c at the time of the next door closing operation is set to a larger motor torque limit value 41d. Then, an overload is detected with a larger torque (see FIG. 1). As a result, the motor torque command 31c is changed to the larger motor torque command 31d, and the motor speed command 11c is also switched to the motor speed command 11d. Actual speed 21d
become. In this way, the motor torque limit value 40 is gradually increased every time the overload detection is repeated.

By repeating the door opening / closing operation, dust can be eventually removed regardless of the size of the dust, and the door opening / closing operation is not repeated on the same floor, and the use frequency of the elevator is increased. . Also, by gradually increasing the motor torque limit value 40, it is possible to take measures while taking into account the safety in the case where door reversal is repeated due to mischief of a passenger or the like.

[0042] Thus, the control device for an elevator door of the present embodiment, as the motor actual speed 20 is the actual rotational speed of the door motor 1 to the motor speed command 10 of the door motor 1 for opening and closing the elevator door to follow Torque command generating means for generating a motor torque command 30; load abnormality detecting means for comparing the motor torque command 30 with a predetermined motor torque limit value 40 to detect an overload abnormality during door opening / closing; Control circuit 5 and elevator control panel 8 for inverting or stopping the elevator door in response
A door control means comprising: and a torque limit value changing means for gradually increasing the motor torque limit value 40 each time the door reversing operation is repeated when the door reversing operation is repeated by detecting an overload abnormality continuously on the same floor. It has.

[0043] That is, the control device for an elevator door of the present embodiment generates a motor torque command 30 as the motor actual speed 20 to the motor speed command 10 to follow, the motor torque command 30 of a predetermined motor torque limit value In addition to reversing the elevator door by detecting an overload abnormality during opening and closing of the door as compared with 40, when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the door reversing operation is repeated. Then, the motor torque limit value 40 is gradually increased.

Therefore, regardless of the size of the dust, the dust can be removed in due course, and the same overload can be prevented from being detected many times due to the dust clogging, and the door reversing operation can be prevented from being repeated. In addition, the frequency of use of the elevator is increased, and the operation efficiency is improved. In addition, by gradually increasing the motor torque limit value 40, it is possible to consider safety in the case where door reversal is repeatedly performed due to mischief of a passenger or the like.

Further, as described in the first embodiment, in order to emphasize the safety of the passenger, the motor torque limit value is lowered, and even if the passenger is pulled in during the door closing operation, the motor torque command is weakened. A method has been conceived to reduce the burden at that time and prevent injuries. However, conversely, since the motor torque command is reduced, there is also a problem that erroneous operations increase. For this reason, the detection time t1 by comparing the motor torque command with the motor torque limit value is lengthened, but in the case of dust clogging, the same overload is detected many times unless the motor torque limit value is changed. Then, the door reversing operation is repeated.

Therefore, in this embodiment, when an overload abnormality is continuously detected on the same floor and the door reversing operation is repeated as described above, it is an overload due to dust clogging, and the detection time of the overload is reduced. Longer detection time t from normal detection time t1
3, torque the load for a slightly longer time than usual,
Overload is detected (see FIG. 2). In this case, when the detection time of the motor torque command 32a becomes longer than the motor torque command 32c, the overload is detected and the motor speed command 1
2a is switched to the motor speed command 12c with a slight delay, and the actual motor speed 22a also becomes the actual motor speed 22c.

In this way, when the overload is still detected despite the fact that the torque is applied to the load for a relatively long time, the detection time t3 for the next door closing operation is set to a longer detection time t4,
A torque is applied to the load for a longer time to detect an overload (see FIG. 2). As a result, similarly to the above, the motor torque command 32c is changed to a larger motor torque command 32d, and the motor speed command 12c is also switched to the motor speed command 12d. Therefore, the actual rotation speed of the door motor 1 is also reduced from the motor actual speed 22c to the motor actual speed. The speed becomes 22d. Thus,
Each time the overload detection is repeated, the comparison time with the motor torque limit value 42 during the door closing operation is gradually increased.

By repeating the door opening / closing operation, dust can be eventually removed regardless of the size of the dust, and the door opening / closing operation is not repeated on the same floor, so that the use frequency of the elevator is increased. . Further, by gradually increasing the comparison time with the motor torque limit value 42, it is possible to secure the safety in the case where the door reversal is repeatedly performed due to mischief of a passenger or the like.

[0049]

As described above, the elevator door control device according to the first aspect of the present invention includes a torque command generating means,
A load abnormality detecting means comprises a door control unit, a door safety means, and a torque limit value changing means, to generate a torque command, such as the rotational speed of the actual motor speed command of door motor to follow, the torque command The elevator door is reversed or stopped by detecting an overload abnormality during opening and closing of the door by comparing the torque limit value with a predetermined torque limit value, and when a passenger is approaching the elevator door, the torque limit value is set to a predetermined value. If there is a high possibility that passengers will be pulled in, the torque limit value will be lowered and the detection level will be lowered to increase the sensitivity of overload detection, thereby preventing injuries caused by passengers being pulled in. Safety is improved.

A control device for an elevator door according to a second aspect of the present invention comprises a torque command generating means, a load abnormality detecting means, a door control means, a door safety means, and a load abnormality detecting time changing means. generating a torque command, such as the rotational speed of the actual motor speed command to follow, inverted or elevator door by detecting the abnormal overload during door by comparing the torque command to a predetermined torque limit value Stopping and shortening the overload abnormality detection time when the passenger is close to the elevator door, and if the possibility of the passenger being pulled in is high, the overload is detected early and the door reversing operation is performed. Therefore, injuries and the like due to passengers being pulled in can be prevented, and safety is improved.

The control device for an elevator door of the invention of claim 3, and the torque command generation means, an abnormal load detecting means comprises a door control unit, and a torque limit value changing means, the actual speed command of the door motor motor rotational speed generates a torque command so as to follow the, with reversing the elevator door by detecting the abnormal overload during door by comparing the torque command to a predetermined torque limit value, in the same floor bed When the door reversing operation is repeated after detecting the overload abnormality continuously, the torque limit value is gradually increased each time the door reversing operation is repeated, so that the same overload is detected many times due to dust clogging and the door reversing operation is performed. Since repetition can be prevented, the elevator does not become unusable, the use frequency of the elevator increases, and the operation efficiency improves. In addition, safety can be ensured when door reversal is repeatedly performed due to mischief of a passenger or the like.

[0052] Control device for an elevator door of the invention of claim 4 includes a torque command generation means, an abnormal load detecting means, a door control unit, and a load abnormality detecting time changing means, the actual speed command of the door motor rotational speed of the motor generates a torque command as follows, with reversing the elevator door by detecting the abnormal overload during door by comparing the torque command to a predetermined torque limit value,
When overload abnormality is continuously detected on the same floor and door reversing operation is repeated, the overload abnormality detection time is gradually extended each time the door reversing operation is repeated, so that the same overload is detected many times due to dust clogging As a result, it is possible to prevent the door from being repeatedly turned over, so that the elevator does not become unusable, the frequency of use of the elevator is increased, and the operating efficiency is improved. In addition, safety can be ensured when the door reversing operation is repeatedly performed due to bad behavior of the passenger.

[Brief description of the drawings]

FIG. 1 is a waveform diagram showing waveforms in an abnormal load state during a door closing operation by an elevator door control device according to an embodiment of the present invention.

FIG. 2 is a waveform diagram showing waveforms in an abnormal load state during another door closing operation by the elevator door control device according to one embodiment of the present invention.

FIG. 3 is a block diagram showing an elevator door control device according to a related art and an embodiment of the present invention.

FIG. 4 is a waveform chart showing waveforms in a normal state at the time of a door closing operation by the elevator door control device according to the related art and one embodiment of the present invention.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 door motor 2 power supply 3 power circuit 4 pulse encoder 5 control circuit 6 door safety device 7 gate signal generation circuit 8 elevator control panel 10, 11a to 11d, 12a to 12d motor speed command 20, 21a to 21d, 22a to 22d actual motor speed 30, 31a to 31d, 32a to 32d Motor torque command 40, 41a to 41d, 42 Motor torque limit value

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-1-98588 (JP, A) JP-A-3-238286 (JP, A) JP-A-62-201784 (JP, A) (58) Field (Int. Cl. ⁷ , DB name) B66B 13/00-13/30

Claims (4)

(57) [Claims] 1. A comparison with the torque command generating means for generating a torque command so that the rotational speed of the door motor actual motor speed command for opening and closing the elevator door to follow, the torque command to a predetermined torque limit value Load abnormality detection means for detecting an overload abnormality during opening and closing of the door, door control means for inverting or stopping the elevator door in response to the abnormality detection, and detecting that a passenger is approaching the elevator door An elevator, comprising: a door safety means; and a torque limit value changing means for making a torque limit value for detecting an overload abnormality smaller than a predetermined value when the door safety means is operating. Door control device. 2. A comparison between the torque command generating means for generating a torque command so that the rotational speed of the door motor actual motor speed command for opening and closing the elevator door to follow, the torque command to a predetermined torque limit value Load abnormality detection means for detecting an overload abnormality during opening and closing of the door, door control means for inverting or stopping the elevator door in response to the abnormality detection, and detecting that a passenger is approaching the elevator door An elevator door control device comprising: a door safety unit; and a load abnormality detection time changing unit that shortens an overload abnormality detection time by the load abnormality detection unit when the door safety unit is operating. . 3. A torque command generating means for the rotational speed of the actual motor speed command of door motor to generate a torque command so as to follow for opening and closing the elevator door, comparing the torque command to a predetermined torque limit value Load abnormality detecting means for detecting an overload abnormality during door opening and closing, door control means for reversing the elevator door in response to the abnormality detection, and door reversing operation for continuously detecting an overload abnormality on the same floor. And a torque limit changing means for gradually increasing the torque limit every time the door reversing operation is repeated. 4. A torque command generating means for the rotational speed of the actual motor speed command of door motor to generate a torque command so as to follow for opening and closing the elevator door, comparing the torque command to a predetermined torque limit value Load abnormality detecting means for detecting an overload abnormality during door opening and closing, door control means for reversing the elevator door in response to the abnormality detection, and door reversing operation for continuously detecting an overload abnormality on the same floor. And a load abnormality detection time changing means for gradually extending the overload abnormality detection time every time the door reversing operation is repeated.