JP4810191B2 - Elevator door control device and elevator string pinching detection method - Google Patents

Description

  The present invention relates to an elevator door control device and an elevator string pinching detection method for controlling opening and closing of an elevator door, and in particular, an elevator door control device for preventing a thin or thin foreign object such as a string or cloth from being caught in an elevator door. And an elevator string pinching detection method.

In a conventional elevator door control device, there is provided means for operating a door safety shoe by pulling a string when a passenger car of the elevator is raised or lowered in order to prevent foreign objects from being caught ( For example, see Patent Document 1).
Also, an elevator door device has been proposed that detects a foreign object pinching by pulling a string between an elastic body and a door safety shoe when the string is pinched (see, for example, Patent Document 2).

JP 7-33354 A JP 2004-323189 A

  However, in the door control using the prior art, it is not possible to detect that the string is caught unless the passenger basket starts to rise or descend, and when the string is caught in a slack state, it is caught Is difficult to detect.

  An object of the present invention is to provide an elevator door control device and an elevator string pinching detection method that prevent a thin foreign object such as a string or cloth from being caught in an elevator door before the elevator passenger basket moves up and down.

The elevator door control device according to the present invention is an elevator door control device that opens and closes a double door or a single door disposed at an entrance of an elevator by a motor, and each door end of the double door or the door end of the single door. comprising a galvanized steel member of comb-shaped for detecting scissors string into parts and jamb, the galvanized member, when the doorway is closed, the elevator doors comb teeth are configured to intermesh Migihitsuji It is a control device, the storage means for storing the intersection start position data of the door end member, the door position detection means for detecting that the door end member is in the intersection, and the motor load of the motor driving the door to open and close The motor load detecting means to detect and the abnormal motor negative being different from the motor load being normally closed in the motor load detecting means while the door is being closed and the door end member is intersecting. When but detected, Ru provided with a control means for switching the door from closing operation to the opening operation.

  The effect of the elevator door control device according to the present invention occurs when a comb-like door end member positioned so as to be engaged is provided at the door end portion of the door that closes the entrance of the elevator, and a string-like foreign object is sandwiched therebetween. Since it is determined that the string is pinched by detecting the traveling load, it is possible to detect thin foreign objects such as a string and cloth while the door is being closed before the passenger car starts to move up and down.

Embodiment 1 FIG.
1 is a configuration diagram of an elevator door control apparatus according to Embodiment 1 of the present invention. FIG. 2 is a front view of the door and the door opening / closing mechanism according to the first embodiment. FIG. 3 is a functional block diagram of the door drive mechanism according to the first embodiment.
As shown in FIG. 1, the elevator door control device 1 according to Embodiment 1 of the present invention is a door end member 6 provided at each door end portion 5 of the double door 4 that opens and closes the entrance 3 of the passenger basket 2. A door opening / closing mechanism 7 for opening and closing the door 4 and a door driving mechanism 8 for driving the door opening / closing mechanism 7 are provided.
The double door 4 moves in the horizontal direction, and the door end member 6 meshes when the double door 4 is closed.

As shown in FIG. 2, the door opening / closing mechanism 7 includes a suspension member 11 fixed to the upper portion of the door 4, a hanger roller 12 disposed on the upper portion of the suspension member 11, and a door 4. Rail 13, two pulleys 14 disposed horizontally above the rail 13 by a predetermined distance, a belt 15 disposed so as to circulate between the pulleys 14, and one end of the belt 15. The connecting member 16 is fixed at a predetermined position and the other end is fixed to the suspension member 11.
When the belt 15 is reciprocated left and right by the door drive mechanism 8, the door opening / closing mechanism 7 is guided by the hanger roller 12 that runs on the rail 13, and the door 4 reciprocates in the opposite direction to move the doorway 3. Open and close.

  As shown in FIG. 3, the door drive mechanism 8 generates a motor 18 whose rotary shaft 180 a is linked to one pulley 14, a power circuit 19 that controls the rotation of the motor 18, and a signal that turns on and off the gate of the power circuit 19. Corresponds to the position of the door 4 obtained by calculating the gate signal generation circuit 20, the pulse encoder 21 that outputs a pulse each time the rotating shaft 18a of the motor 18 rotates by a predetermined angle, and the pulse output from the pulse encoder 21. A control unit 22 that outputs a PWM signal for controlling the gate signal generation circuit 20 based on a speed command value, a speed command value, and a torque command value obtained from an actual speed, and a power source 23 that supplies power to the power circuit 19 are provided.

The control unit 22 includes an input / output port 26 that transmits / receives information to / from the elevator control device 25, a pulse count unit 27 that counts pulses input from the pulse encoder 21 to obtain an angular position of the rotary shaft 18a, and the door 4 A ROM 28 is provided as storage means for storing position data including an intersection start position and a fully closed position, and speed data determined in advance corresponding to the position data.
Further, the control unit 22 detects the position of the door 4 from the angular position obtained by the pulse count unit 27, a door position detecting unit 29 as a door position detecting means, and the speed data stored in the ROM 28 based on the position of the door 4. A motor load detecting unit 30 as a motor load detecting unit that reads out the command value, obtains the actual speed of the door 4 from the time change of the pulse count value, and calculates the torque command value from the speed deviation between the speed command value and the actual speed; When the door 4 is driven to open and close based on a command from the elevator control device 25 and the door 4 is being closed, the motor load detection unit 30 is different from the motor load that is normally closed during the intersection of the door end member 6. When an abnormal motor load is detected, PWM is based on the door drive control unit 31 serving as a control means for switching the door 4 to open drive, the speed command value and the torque command value. PWM unit 32 to generate a No. comprises RAM33 for storing data temporarily in the operation of the control unit 22.

FIG. 4 is a horizontal sectional view of the door end member 6 according to the present invention.
As shown in FIG. 4, the door end member 6 is provided in a comb shape so that the comb teeth 35 extend in the vertical direction. When the door 4 is closed, the comb teeth 35 are engaged with each other. . The depth of the comb teeth 35 is 5 cm, the thickness of the comb teeth 35 is 1 mm, the pitch of the comb teeth 35 is 2.8 mm, and the material is hard aluminum.

Next, the operation of the door end member 6 for detecting string pinching will be described.
In the closing operation of the doors 4, the movement starts in a direction in which both doors 4 approach each other, and then moves at a predetermined constant speed, so that the tips of the comb teeth 35 of the door end members 6 of both doors 4 are aligned. Deceleration is started from the position AA (shown in FIG. 4A, hereinafter referred to as the intersection start position). When no foreign matter is sandwiched between the door end members 6, the doors 6 are further approached so that the opposing comb teeth 35 of the door end member 6 are engaged with each other, and the tips of the comb teeth 35 of one door end member 6 are in contact with each other. The closing drive of the door 4 is completed at a position BB (shown in FIG. 4 (b), hereinafter referred to as a fully closed position) in contact with or close to the root of the comb teeth 35 of the door end member 6.

  As shown in FIG. 5, the speed pattern at this time is such that the speed of the door 4 increases at a constant acceleration from the start of the closing operation of the door 4, then changes at a constant speed, and decelerates at a constant acceleration from the intersection start position. Thus, the speed becomes zero at the fully closed position. Then, as shown in FIG. 6, the torque command value obtained from the speed command value and the actual speed increases to the positive side to correspond to the inertia of the door 4 with the start of the closing operation of the door 4, and then reaches a constant speed. When moving at, it becomes zero and increases from the intersection start position to the negative side so as to cancel the inertia of the door 4.

On the other hand, when the door 4 starts crossing from the crossing start position, when the tips of the comb teeth 35 of both door end members 6 sandwich the string 36, the string as the comb teeth 35 are engaged as shown in FIG. 36 is sandwiched between the comb teeth 35, the string 36 is pulled by the comb teeth 35, and becomes a mechanical load that works to delay the traveling of the door 4, and becomes a motor load of the motor 18.
For example, when a soft string 36 having a diameter of 0.5 mm is sandwiched, the string 36 is sandwiched between the comb teeth 35 at the crossing start position, and the soft string 36 is slightly crushed by the door closing force. Can be pushed in. At that time, friction between the tip and side surfaces of the comb teeth 35 and the string 36 causes a frictional force to act on the door 4 to cause a load that prevents the door 4 from traveling.

Even when the pinned string 36 is slackened by increasing the depth of the comb teeth 35, when the door 4 is closed, it is pushed along the surface of the comb teeth 35 and the string 36 is no longer loosened. A large traveling load acts on the door 4.
Further, if there is a slack longer than the depth of the comb teeth 35, it means that the string 36 pushed into the gap of the comb teeth 35 is long, so that the tip of the comb teeth 35 of one door end member 6 and the other door end member The string 36 is pushed in between the roots of the six comb teeth 35 and the tip of the comb teeth 35 of the door end member 6 cannot reach the fully closed position. Arise.

  Further, in the case of a foreign substance having a width that is hard or cannot enter between the teeth of the comb teeth 35, as shown in FIG. 8, it is sandwiched between the tips of the comb teeth 35 of the door end members 6 of both doors 4 and the door 4 travels. Therefore, by detecting this load, it is possible to detect that a foreign object has been caught.

Next, a method for detecting a load that hinders the running of the door 4 will be described.
When a load is applied to the door 4, the traveling of the door 4 becomes slow. The actual speed of the door 4 (dotted line in FIG. 9) is obtained from the pulses sent from the pulse encoder 21. From the point of time when tension is applied to the string 36 by the comb teeth 35, as shown in FIG. 9, the actual speed becomes significantly smaller than the speed command value (solid line in FIG. 9). The torque command value calculated from the actual speed and the speed command value is a positive value that advances the door 4 in the door closing direction, as shown in FIG.
Therefore, the torque command value is normally closed during the period from when the tip of the comb tooth 35 of the door end member 6 passes the intersection start position until the tip of the comb tooth 35 of the door end member 6 reaches the fully closed position. By confirming that the torque value is different from the inside torque value, it can be determined that a load that impedes the traveling of the door 4 is acting on the door 4. Normally, since the torque command value is a negative value between the intersection start position and the fully closed position, a positive torque limiter is determined in advance and it is determined whether the torque command value is greater than the torque limiter. , Judge that there is a pinch.
Then, when it is determined that the cord has been pinched, the door 4 is switched to the open drive.

Next, the procedure of the string pinching detection operation according to the first embodiment will be described with reference to FIG. FIG. 11 is a flowchart illustrating a procedure of a method for detecting string pinching in the first embodiment.
In S101, it is determined whether or not the door 4 is closing. When it is determined that the door 4 is closing, the process proceeds to S102. When it is determined that the door 4 is not closing, S101 is repeated.
In S102, it is determined whether or not the tip of the comb tooth 35 of the door end member 6 has passed the intersection start position. When it is determined that the tip has passed, the process proceeds to S103, and when it is determined that it has not yet passed, the process proceeds to S101. Return.
In S103, it is determined whether or not the calculated torque command value is larger than the torque limiter. If larger, the process proceeds to S105, and if smaller, the process proceeds to S104.
In S104, it is determined whether or not the tip of the comb teeth 35 of the door end member 6 has reached the fully closed position. If not, the process returns to S103, and if it has reached the fully closed position, the process returns to S101. .
In S105, the speed command value for opening the door 4 is read from the ROM 28, and the door 4 is opened accordingly.

  Such an elevator door control device 1 is provided with a comb-like door end member 6 that can engage with the comb teeth 35 at the door end portion 5 of the door 4 that closes the entrance 3 of the passenger basket 2. Since it is determined that the string is pinched by detecting the traveling load generated when the string-like foreign object is sandwiched therebetween, the passenger basket 2 moves up and down a thin foreign object such as a string or cloth while the door 4 is closed. It is possible to detect pinching before performing.

In the first embodiment, the door end members 6 are provided on the door end portions 5 of the double doors 4 respectively. However, in the case of a single door, the three-side frame in which the door end portion of the door contacts the door end portion. Even if the door end member is provided, similarly to the first embodiment, it is possible to detect that a foreign object such as a string is caught during the door closing drive before the passenger basket starts to move up and down.
Moreover, in Embodiment 1, although the door end member 6 is provided in the door 4 arrange | positioned at the passenger basket 2 side, even if it provides a door end member in the door arrange | positioned at the landing side, it is implementation. As in the first mode, it is possible to detect that a foreign object such as a string is caught during the door closing drive before the passenger basket starts to move up and down.

Embodiment 2. FIG.
FIG. 12 is a functional block diagram of a control unit according to Embodiment 2 of the present invention.
The elevator door control device according to the second embodiment of the present invention is different from the elevator door control device 1 according to the first embodiment and the control unit 22B, and the other parts are the same. Additional description will be omitted.
The control unit 22B according to the second embodiment is different from the control unit 22 according to the first embodiment in the ROM 28B and the door drive control unit 31B, and the other parts are the same. Description is omitted.
In the ROM 28B according to the second embodiment, as shown by a solid line in FIG. 13, the door 4 after the door 4 is disengaged from the speed of the door 4 where the door 6 is intersecting in the door opening drive. Speed patterns with different speeds are stored. In FIG. 13, the speed pattern in the first embodiment is indicated by a dotted line.
The door drive control unit 31B according to the second embodiment detects that the tip of the comb tooth 35 of the door end member 6 has passed through the intersection start position when the door 4 is being driven to be closed. Then, it is confirmed that the door end member 6 is in the intersection, and when it is detected that the torque command value is larger than the torque limiter until reaching the fully closed position, it is determined that the string pinching has occurred, The door 4 is switched to open driving. Based on the position of the door 4, the speed command value stored in the ROM 28 </ b> B is read out and input to the PWM unit 32. By doing in this way, the door 4 begins to open. When the tip of the comb tooth 35 of the door end member 6 exceeds the intersection start position, the speed command value becomes larger than the previous value, and thereafter the door 4 quickly reaches the fully open position.

Next, the procedure of the string pinching detection operation according to the second embodiment will be described with reference to FIG. FIG. 14 is a flowchart illustrating a procedure of a method for detecting string pinching in the second embodiment.
Of the procedures according to the second embodiment, steps S201 to S204 are the same as steps S101 to S104 of the procedure according to the first embodiment, and different steps S205 to S207 will be described.
In S205, the speed command value corresponding to the current position is read from the speed pattern stored in the ROM 28B and input to the PWM unit 32. At this time, since the door end member 6 is crossing, the speed of the door 4 is low.
In S206, it is determined whether or not the tip of the comb tooth 35 of the door end member 6 has passed the intersection start position. If it has passed, the process proceeds to S207, and if it has not yet passed, the process returns to S205.
In S207, the speed command value corresponding to the current position is read from the speed pattern stored in the ROM 28B and input to the PWM unit 32. At this time, since the intersection of the door end members 6 is disengaged, the speed of the door 4 is high.

  In such an elevator door control device, when the door 4 is reversed to open drive while the door end member 6 is intersecting, the speed of the door 4 is low, the pinched string is released, and the load is lightened suddenly. Even if it suddenly accelerates, the reversing operation can be performed within a safe speed range.

Embodiment 3 FIG.
FIG. 15 is a functional block diagram of a control unit according to Embodiment 3 of the present invention.
The elevator door control device according to the third embodiment of the present invention is different from the elevator door control device 1 according to the first embodiment and the control unit 22C, and the other parts are the same. Additional description will be omitted.
The control unit 22C according to the third embodiment is the same as the control unit 22 according to the first embodiment except that the timer 37 is added and the door drive control unit 31C is different, and the other parts are the same. Reference numerals are added and description is omitted.
The door drive control unit 31C according to the third embodiment starts the timer 37 by starting the timer 37 when the tip of the comb tooth 35 of the door end member 6 obtained by the door position detection unit 29 passes the intersection start position. When the elapsed time counted exceeds a predetermined threshold value, it is determined that string pinching has occurred, and the closing drive of the door 4 is switched to the opening drive.
Thus, even if the time elapsed after the tip of the comb teeth 35 of the door end member 6 passes the crossing start position exceeds the threshold, it does not reach the fully closed position due to the pinching condition of the string, and the torque command value Becomes smaller than the torque limiter. In order to cope with such a case, the time measured from the time when the tip of the comb tooth 35 of the door end member 6 passes the crossing start position, and a time slightly exceeding the time to reach the fully closed position if the string is not pinched Is used as a threshold value.

Next, the procedure of the string pinching detection operation according to the third embodiment will be described with reference to FIG. FIG. 16 is a flowchart showing a procedure of a method for detecting string pinching in the third embodiment.
Of the procedures according to the third embodiment, S301 and S302 are the same as S101 and S102 and S308 of the procedure according to the first embodiment, and description of similar procedures is omitted, and only different procedures are described.
In S303, the timer 37 is reset.
In S304, the timer 37 counts time.
In S305, it is determined whether or not the elapsed time counted by the timer 37 has exceeded the threshold value. If not, the process proceeds to S306, and if it has exceeded, the process proceeds to S308.
In S306, it is determined whether or not the torque command value is equal to or greater than the torque limiter. If the torque command value is less than the torque limiter, the process proceeds to S307.
In S307, it is determined whether or not the tip of the comb teeth 35 of the door end member 6 has reached the fully closed position. If it has not reached the fully closed position, the process returns to S304, and if it has reached the fully closed position, S301. Return to.

  Thus, even when the traveling load that hinders the traveling of the door 4 due to the string 36 being sandwiched between the comb teeth 35 of the door end member 6 is small, the time required for the movement of the door 4 becomes longer when the string 36 is sandwiched. Therefore, it is determined that the string 36 or the like has been caught, and the door 4 can be switched from the closed drive to the open drive.

It is a block diagram of the door control apparatus of the elevator concerning Embodiment 1 of this invention. It is a front view of the door concerning Embodiment 1, and a door opening and closing mechanism. 3 is a functional block diagram of a door drive mechanism according to Embodiment 1. FIG. It is sectional drawing of the horizontal direction of the door end member concerning this invention. It is the graph which represented the speed with respect to the position of the door when closing a door as a speed pattern. It is a graph showing the torque specification value detected when the foreign material is not pinched | interposed into a door end member. It is a figure which shows a mode that the string was pinched | interposed between the comb teeth of a door end member. It is a figure which shows a mode that the hard board was pinched | interposed between the door end members. It is a graph showing the actual speed detected when a string is pinched | interposed between the comb teeth of a door end member. It is a graph showing the torque command value detected when a string is pinched | interposed between the comb teeth of a door end member. 3 is a flowchart illustrating a procedure of a method for detecting string pinching in the first embodiment. It is a functional block diagram of the control unit concerning Embodiment 2 of this invention. It is a graph showing the speed pattern which opens a door, when string pinching is detected in Embodiment 1,2. 10 is a flowchart illustrating a procedure of a method for detecting string pinching in the second embodiment. It is a functional block diagram of the control unit concerning Embodiment 3 of this invention. 10 is a flowchart illustrating a procedure of a method for detecting string pinching in Embodiment 3.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Elevator door control apparatus, 2 passenger baskets, 3 doors, 4 doors, 5 door ends, 6 door end members, 7 door opening / closing mechanisms, 8 door drive mechanisms, 11 suspension members, 12 hanger rollers, 13 rails, 14 pulleys, 15 Belt, 16 Connecting member, 18 Motor, 19 Power circuit, 20 Gate signal generation circuit, 21 Pulse encoder, 22, 22B, 22C Control unit, 23 Power supply, 25 Elevator control device, 26 Input / output port, 27 Pulse count unit, 28 ROM, 29 door position detector, 30 motor load detector, 31, 31B, 31C door drive controller, 32 PWM unit, 33 RAM, 35 comb teeth, 36 strings, 37 timer.

Claims (5)

In an elevator door control device that opens and closes a double door or a single door disposed at the entrance of an elevator by a motor,
Each door end portion of the double door, or the door end portion of the single door and the three-sided frame includes a comb-shaped door end member for detecting string pinching,
The galvanized member, when the doorway is closed, a elevator door control device comb teeth are configured to intermesh Migihitsuji,
Storage means for storing the intersection start position data of the door end member;
Door position detecting means for detecting that the door end member is in an intersection;
Motor load detecting means for detecting a motor load of the motor that is driving to open and close the door;
When the door is being closed and the motor load detecting means detects an abnormal motor load different from the motor load being normally closed during the intersection of the door end members, the door is opened from the closed drive. elevator door control device according to claim Rukoto a control means for switching the drive. When the motor load detecting means detects an abnormal motor load, the control means opens the door at a lower speed when the door end member is intersecting than when the door end member is not intersecting. The elevator door control device according to claim 1 . The storage means stores the fully closed position data of the door end member,
The control means is configured to switch the door to an open drive when the door is being closed and the door end member does not reach the fully closed position even after a predetermined time has elapsed since the start of the intersection. The elevator door control device according to claim 1 or 2 , characterized by the above-mentioned. In an elevator string pinching detection method for detecting pinching of a string by a double door or a single door that is disposed at an entrance of an elevator and is driven to open and close by a motor.
When the door is being driven to close, a procedure for determining whether or not the comb-shaped door end member provided at the door end of the door is intersecting,
A procedure for determining whether an abnormal motor load different from a motor load that is normally driven to be closed is applied to the motor that drives the door to be closed when the door end member is crossing;
A procedure for switching the door from a closed drive to an open drive when an abnormal motor load is applied to the motor;
The elevator string pinching detection method characterized by having. A procedure for measuring the elapsed time from the time when the tip of the comb tooth of the door end member passes the intersection start position;
When the elapsed time exceeds a predetermined time, if the tip has not reached the fully closed position, a procedure for switching the door from a closed drive to an open drive;
The elevator string pinching detection method according to claim 4 , wherein:

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