WO2006120721A1

WO2006120721A1 - Door device of elevator

Info

Publication number: WO2006120721A1
Application number: PCT/JP2005/008290
Authority: WO
Inventors: Masahiko Kouketsu
Original assignee: Mitsubishi Denki Kabushiki Kaisha
Priority date: 2005-05-02
Filing date: 2005-05-02
Publication date: 2006-11-16

Abstract

A door device of an elevator, comprising an elevator door opening and closing an elevator doorway, a first door drive device having a first rotating shaft, a second door drive device having a second rotating shaft, a power transmission mechanism displacing the elevator door by receiving the rotations of the first and second rotating shafts, and a door controller controlling the first and second door drive devices. The door controller comprises a storage part. Also, the door controller controls the first and second door drive devices based on shared set information stored in the storage part so that the first and second rotating shafts can be rotated in their respective prescribed speed patterns.

Description

Specification

Elevator door equipment

Technical field

[0001] The present invention relates to an elevator door device for opening and closing an elevator doorway.

Background art

Conventionally, for downsizing, an elevator door device has been proposed in which a water rotor type electric motor is arranged inside one pulley of a pair of pulleys. A belt is wound between the pair of pulleys. The belt is connected to a door for opening and closing the entrance. When one pulley is rotated by the driving force of the electric motor, the belt is rotated and the other pulley is also rotated. As a result, the door is displaced and the doorway is opened and closed (see Patent Document 1).

Patent Document 1: Japanese Patent Laid-Open No. 2001-226058

Disclosure of the invention

Problems to be solved by the invention

[0004] However, in a conventional elevator door device, the door is displaced by the driving force of one electric motor! /, So the electric motor itself becomes large.

Also, even if each pulley is rotated independently by the driving force of two motors, depending on the operation of each motor, the rotation of one pulley may be hindered by the other pulley, and the door There is also a risk that it will not be displaced smoothly.

[0005] The present invention has been made to solve the above-described problems, and can be miniaturized and an elevator door that can smoothly open and close the elevator doorway. The object is to obtain a device.

Means for solving the problem

[0006] An elevator door device according to the present invention includes an elevator door that opens and closes an elevator door by reciprocating displacement, a first drive device body, and a first drive device that is rotated by the drive force of the first drive device body. A first door driving device, a second driving device main body, and A second door driving device having a second rotating shaft rotated by the driving force of the second driving device main body, the elevator door receiving the respective rotations of the first rotating shaft and the second rotating shaft. The first rotation shaft and the second rotation shaft are rotated in a predetermined speed pattern based on the common setting information stored in the storage unit. Thus, a door control device for controlling the first door drive device and the second door drive device is provided.

Brief Description of Drawings

FIG. 1 is a front view showing an elevator door device according to Embodiment 1 of the present invention.

2 is a block diagram showing a configuration of the door control device of FIG.

3 is a functional block diagram showing the door control device of FIG. 2.

4 is a flowchart showing a control operation of the door control device of FIG.

FIG. 5 is a functional block diagram showing a door control device in an elevator door device according to Embodiment 2 of the present invention.

FIG. 6 is a functional block diagram showing a door control device in an elevator door device according to Embodiment 3 of the present invention.

FIG. 7 is a functional block diagram showing a door control device in an elevator door device according to Embodiment 4 of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

Embodiment 1.

FIG. 1 is a front view showing an elevator door device according to Embodiment 1 of the present invention. In the figure, a car (not shown) is provided with a car doorway (elevator doorway) 1. In addition, a hanger case 2 provided at the top of the car doorway 1 is fixed to the car.

[0009] A hanger rail (support rail) 3 is fixed to the hanger case 2 so as to extend toward the front of the car doorway 1. On the hanger rail 3, a pair of car doors (elevator doors) 4 are suspended. Each car door 4 has a door panel 5 that opens and closes the car doorway 1 and a roller hanger 6 that is provided on the top of the door panel 5 and that can be displaced along the hanger rail 3. Yes.

[0010] Each roller hanger 6 includes a hanger plate 7 fixed to the upper portion of the door panel 5, and a plurality of rollers 8 provided on the hanger plate 7 and rolled on the hanger rail 3 in accordance with the displacement of the car door 4. And have.

[0011] The hanger case 2 is provided with a first door driving device 9 and a second door driving device 10 that are spaced apart from each other in the frontage direction of the car doorway 1. In this example, the first door driving device 9 is provided at one end of the hanger case 2, and the second door driving device 10 is provided at the other end of the hanger case 2.

The first door drive device 9 includes a first drive device body 11 that includes a motor and generates a drive force that displaces each force door 4, and the drive force of the first drive device body 11. And a first rotating shaft 12 to be rotated. The second door driving device 10 includes a second driving device body 13 that includes a motor and generates a driving force that displaces each car door 4, and a second driving device that is rotated by the driving force of the second driving device body 13. And a rotating shaft 14. For example, a PM motor, an induction motor, or the like is used as the motor of the first and second drive device bodies 11 and 13.

A first pulley 15 is fixed to the first rotating shaft 12, and a second pulley 16 is fixed to the second rotating shaft 14. An endless timing belt (toothed belt) 17 is wound between the first and second pulleys 15 and 16. The timing belt 17 is rotated by the rotation of the first and second pulleys 15 and 16.

Each car door 4 is connected to the timing belt 17 via connecting members 18 and 19 so as to be displaced in opposite directions by the circumferential movement of the timing belt 17. That is, one car door 4 is connected to the forward side portion of the timing belt 17 via a connecting member 18, and the other car door 4 is connected to the return side portion of the timing belt 17 via a connecting member 19. Has been.

The first door driving device 9 is provided with a first encoder (rotation detecting device) 20 that generates a signal (pulse signal) corresponding to the rotation of the first rotating shaft 12. The second door driving device 10 is provided with a second encoder (rotation detecting device) 21 that generates a signal (pulse signal) corresponding to the rotation of the second rotating shaft 14. [0016] A door control device 22 for controlling the first and second door drive devices 9, 10 is mounted on the car. The door control device 22 drives the first and second door drive devices 9, 10 in response to the input of an opening / closing command from an operation control device (not shown) installed in the hoistway, and the elevator doorway 1 is opened. It opens and closes. The power transmission mechanism includes a first pulley 15, a second pulley 16, and a timing belt 17. That is, the power transmission mechanism receives the rotation of each of the first and second rotating shafts 12 and 14 to displace the car doors 4.

FIG. 2 is a block diagram showing a configuration of the door control device 22 of FIG. In the figure, the door control device 22 includes the control circuit 23, the power circuit 25 for supplying power from the power source 24 to the first and second door drive devices 9, 10, and the information from the control circuit 23. Based on this, the power circuit 25 has a gate signal generation circuit 26 that performs PWM control.

[0018] The control circuit 23 includes a ROM 27 and a RAM 28 for storing (storing) programs and data for controlling the first and second door drive devices 9, 10, and the first and second encoders 20, 21. The first and second door drive devices 9 perform calculation processing based on information from each of the pulse count unit 29 for counting the power pulse signal (number of pulses), ROM 27, RAM 28 and pulse count unit 29, respectively. , 10 for outputting a command for controlling 10 and a PWM unit 31 for sending a PWM signal to the gate signal generating circuit 26 according to the command from the CPU 30.

The gate signal generation circuit 26 generates a gate signal based on the PWM signal from the PWM unit 31. The power circuit 25 is PWM controlled based on the gate signal from the gate signal generation circuit 26. That is, the door control device 22 controls the operation of the first and second door drive devices 9 and 10 by controlling the power supply from the power supply 24 to the first and second door drive devices 9 and 10 by PWM control. It comes to control.

FIG. 3 is a functional block diagram showing the door control device 22 of FIG. In the figure, the door control device 22 includes a storage unit 32 in which setting data (setting information) for rotating the first and second rotary shafts 12 and 14 in a predetermined speed pattern is stored (stored) in advance. 1 of the rotating shaft 1 2 of the first rotating device 14 for controlling the first door driving device 9 (PWM control) so that the rotating speed of 2 follows the speed pattern of the setting data, and the second rotating shaft 14 Rotation speed is set And a second drive device control unit 34 for controlling (PWM control) the second door drive device 10 so as to follow the data speed pattern.

[0021] That is, the first and second drive device controllers 33 and 34 are arranged on the basis of the common setting data stored in the storage unit 32, respectively of the first and second door drive devices 9 and 10. Is controlled.

The first drive device control unit 33 includes a first speed calculation unit 35 and a first speed controller 36. Based on the pulse signal from the first encoder 20, the first speed calculator 35 obtains the rotational speed of the first rotating shaft 12 as first speed information. The first speed controller 36 reads the deviation between the first speed information obtained by the first speed calculation unit 35 and the set speed information based on the setting data stored in the storage unit 32. The first door driving device 9 is controlled so as to be a force ^.

The second drive device control unit 34 includes a second speed calculation unit 37 and a second speed controller 38. Based on the pulse signal from the second encoder 21, the second speed calculator 37 obtains the rotational speed of the second rotary shaft 14 as second speed information. The second speed controller 38 reads the deviation between the second speed information obtained by the second speed calculation unit 37 and the set speed information based on the setting data stored in the storage unit 32. The second door driving device 10 is controlled so as to become a force ^.

Next, the operation will be described. When the opening / closing command from the operation control device is input to the door control device 22, the first and second door drive devices 9, 10 are driven by the control of the door control device 22. Thereby, the 1st and 2nd rotating shafts 12 and 14 are rotated. At this time, the rotational speeds of the first and second rotary shafts 12 and 14 are controlled by the door control device 22 so as to follow the speed pattern of the setting data stored in the storage unit 32.

[0025] When each of the first and second rotating shafts 12 and 14 is rotated, the timing belt 17 is rotated. As a result, the door 4 of each car is displaced toward the front of the elevator door 1 and the elevator door 1 is opened and closed.

Next, a method for controlling the rotational speed of the first rotary shaft 12 will be described. When the first rotary shaft 12 is rotated, a noise signal corresponding to the rotational speed of the first rotary shaft 12 is generated in the first encoder 20. After this, the noise signal generated by the first encoder 20 is the first speed. The first speed calculation unit 35 calculates the rotation speed of the first rotating shaft 12 as first speed information.

Thereafter, a deviation between the set speed information from the storage unit 32 and the first speed information calculated by the first speed calculation unit 35 is read by the first speed controller 36. Thereafter, the first speed controller 36 controls the driving of the first door driving device 9 so that the read deviation becomes zero. In this way, the rotational speed of the first rotary shaft 12 is controlled so as to follow the speed pattern of the setting data.

Next, a method for controlling the rotational speed of the second rotating shaft 14 will be described. When the second rotary shaft 14 is rotated, a Nors signal corresponding to the rotational speed of the second rotary shaft 14 is generated in the second encoder 21. Thereafter, the norse signal generated by the second encoder 21 is input to the second speed calculation unit 37, where the rotation speed of the second rotary shaft 14 is used as the second speed information. Calculated.

Thereafter, the second speed controller 38 reads a deviation between the set speed information from the storage unit 32 and the second speed information calculated by the second speed calculation unit 37. Thereafter, the second speed controller 38 controls the driving of the second door driving device 10 so that the read deviation becomes zero. In this way, the rotational speed of the second rotary shaft 14 is controlled so as to follow the speed pattern of the setting data.

[0030] Next, the control operation of the door control device 22 for the presence or absence of an abnormality (failure) in each of the first and second door drive devices 9, 10 will be described. FIG. 4 is a flowchart showing a control operation of the door control device 22 of FIG. As shown in the figure, first, the door control device 22 determines whether or not the first door driving device 9 is abnormal (S1). When the first door driving device 9 is abnormal, it is determined whether or not the second door driving device 10 is abnormal (S2). Even when the first door driving device 9 is not abnormal, it is determined whether or not the second door driving device 10 is abnormal (S3).

[0031] If neither of the first and second door driving devices 9 and 10 is abnormal, the door control device 22 controls the first and second door driving devices 9 and 10 to perform normal operation ( S4).

If only the second door driving device 10 is abnormal, the door control device 22 cuts off the power supply to the second door driving device 10 and the driving force of the second door driving device 10 The occurrence of (S5). Thereafter, the door control device 22 generates a driving force only in the first door drive device 9 to open and close the elevator door 1. At this time, the door control device 22 controls the first door drive device 9 so that the speed of the door 4 of each car is lower than usual (S6).

[0033] Furthermore, when only the first door driving device 9 is abnormal, the door control device 22 cuts off the power supply to the first door driving device 9, and the driving force of the first door driving device 9 Is stopped (S7). Thereafter, the door control device 22 generates a driving force only in the second door driving device 10 and opens and closes the elevator door 1. At this time, the door control device 22 controls the second door driving device 10 so that the speed of the door 4 of each car is lower than usual (S8).

[0034] When both the first and second door drive devices 9, 10 are abnormal, the door control device 22 cuts off the power supply to the first door drive device 9, and the first door drive device Generation of the driving force 9 is stopped (S9), power supply to the second door driving device 10 is interrupted, and generation of the driving force of the second door driving device 10 is stopped (S10).

[0035] In such an elevator door device, a plurality of the door drive devices 9 and 10 generate a driving force for displacing each car door 4, so that the elevator door 1 can be opened and closed. The necessary load (torque) can be shared by the plurality of door drive devices 9 and 10, and the small size of each of the door drive devices 9 and 10 can be achieved. Further, since the rotation speeds of the first rotary shaft 12 and the second rotary shaft 14 are controlled by the door control device 22 based on common setting data, each rotary shaft 12, 14 is controlled. It is possible to prevent the rotational speed of the shaft from shifting, and to improve the reliability of rotating the rotary shafts 12 and 14 in synchronization.

[0036] Further, the door control device 22 stops generating the driving force of one of the door drive devices when an abnormality occurs in one of the first and second door drive devices 9, 10. The door 4 of each car is displaced by the driving force of the other door driving device. Therefore, even if one of the door driving devices fails, the normal door driving device can be The opening / closing operation of the elevator door 1 can be performed by the driving force, and it is possible to prevent the passenger from being trapped in the car.

[0037] In addition, when the door control device 22 displaces each car door 4 by the driving force of the other normal door drive device, the other door drive device 22 makes the speed of the other car door 4 lower than usual. door Since the drive unit is controlled, the necessary torque for displacing each car door 4 can be reduced, and each car door 4 can be displaced more reliably.

[0038] In the above example, the number of door driving devices that generate driving force is two, ie, the first and second door driving devices 9, 10, and the number of door driving devices is three or more. It is good. In this case, the door driving devices are arranged at a distance from each other in the direction of the entrance of the elevator door 1 so that the pulley contacts the inside of the timing belt 17.

[0039] Further, in the above example, when the first and second door drive devices 9, 10 become abnormal, the power supply is cut off to generate the drive force of the abnormal door drive device. However, a disconnecting device is provided between the power transmission mechanism and the door drive device, and the door control device 22 controls the disconnect device when the door drive device becomes abnormal. The abnormal door driving device may be separated from the power transmission mechanism force. In this way, the elevator door 1 can be opened and closed without receiving a load from the abnormal door driving device, and the door 4 of each car can be displaced more reliably.

[0040] Embodiment 2.

FIG. 5 is a functional block diagram showing a door control device in an elevator door device according to Embodiment 2 of the present invention. In the figure, the door control device 41 is a memory in which setting data (setting information) for rotating the first and second rotating shafts 12 and 14 in a predetermined speed pattern is stored (stored) in advance. Unit 42, a first drive unit controller 43 that controls (PWM control) the first door drive unit 9 so that the rotation speed of the first rotary shaft 12 follows the speed pattern of the setting data, A second drive device controller 44 that controls (PWM control) the second door drive device 10 so that the rotation speed of the rotation shaft 14 follows the rotation speed of the first rotation shaft 12. Yes.

The first drive device control unit 43 includes a first speed calculation unit 45 and a first speed controller 46. Based on the pulse signal from the first encoder 20, the first speed calculator 45 obtains the rotational speed of the first rotating shaft 12 as first speed information. The first speed controller 46 reads the deviation between the first speed information obtained by the first speed calculation unit 45 and the set speed information based on the setting data stored in the storage unit 42. The first door driving device 9 is controlled so as to be a force ^. The second drive device control unit 44 includes a second speed calculation unit 47 and a second speed controller 48. Based on the pulse signal from the second encoder 21, the second speed calculator 47 obtains the rotational speed of the second rotating shaft 14 as second speed information. The second speed controller 48 reads the deviation between the second speed information obtained by the second speed calculation unit 47 and the first speed information obtained by the first speed calculation unit 45, and reads the deviation force The second door driving device 10 is controlled to become SO.

[0043] As a control method of the first and second speed controllers 46, 48, for example, PI control or the like is used. The other configuration is the same as that of the first embodiment, and the operation when the elevator door 1 is opened and closed is the same as that of the first embodiment.

Next, a method for controlling the rotational speed of the first rotary shaft 12 will be described. When the first rotating shaft 12 is rotated, a Nors signal corresponding to the rotation speed of the first rotating shaft 12 is generated in the first encoder 20. Thereafter, the norse signal generated by the first encoder 20 is input to the first speed calculation unit 45, where the rotation speed of the first rotary shaft 12 is used as the first speed information. Calculated.

Thereafter, a deviation between the set speed information from the storage unit 42 and the first speed information calculated by the first speed calculation unit 45 is read by the first speed controller 46. Thereafter, the first speed controller 46 controls the driving of the first door driving device 9 so that the read deviation becomes zero. In this way, the rotation speed of the first rotary shaft 12 is controlled to follow the speed pattern of the setting data stored in the storage unit 42.

[0046] Next, a method for controlling the rotational speed of the second rotating shaft 14 will be described. When the second rotary shaft 14 is rotated, a Nors signal corresponding to the rotational speed of the second rotary shaft 14 is generated in the second encoder 21. Thereafter, the norse signal generated by the second encoder 21 is input to the second speed calculation unit 47, where the rotation speed of the second rotating shaft 14 is used as the second speed information. Calculated.

Thereafter, the second speed controller 48 reads a deviation between the first speed information calculated by the first speed calculation unit 45 and the second speed information calculated by the second speed calculation unit 47. Be Thereafter, the second speed controller 48 controls the driving of the second door driving device 10 so that the read deviation becomes zero. In this way, the rotational speed of the second rotating shaft 14 is the first speed. It is controlled so as to follow the rotational speed of the rotary shaft 12.

In such an elevator door device, the second door driving device 10 is operated by the door control device 41 so that the rotation speed of the second rotation shaft 14 follows the rotation speed of the first rotation shaft 12. Since the actual rotation speed of the first rotating shaft 12 deviates from the speed pattern force of the setting data, for example, when a load is applied to the car door 4, for example. However, the rotational speed of the second rotating shaft 14 can be made to follow the first rotating shaft 12, and for example, the slack of the timing belt 17 can be prevented. Thereby, the opening / closing operation of the elevator door 1 can be further smoothed.

[0049] Embodiment 3.

FIG. 6 is a functional block diagram showing a door control device in an elevator door device according to Embodiment 3 of the present invention. In the figure, the door control device 51 is a memory in which setting data (setting information) for rotating the first and second rotating shafts 12 and 14 in a predetermined speed pattern is stored (stored) in advance. Unit 52, a first drive unit controller 53 that controls (PWM control) the first door drive unit 9 so that the rotation speed of the first rotary shaft 12 follows the speed pattern of the setting data, And a second drive device controller 54 for controlling (PWM control) the second door drive device 10 so that the rotation shaft 14 is rotated following the first rotation shaft 12.

The first drive device control unit 53 includes a first speed calculation unit 55 and a first speed controller 56. Based on the pulse signal from the first encoder 20, the first speed calculator 55 obtains the rotational speed of the first rotating shaft 12 as the first speed information. The first speed controller 56 reads the deviation between the first speed information obtained by the first speed calculation unit 55 and the set speed information based on the setting data stored in the storage unit 52, and reads the deviation force Control the first door drive 9 to be ^

[0051] The second drive unit control unit 54 includes a first position calculation unit 57, a second position calculation unit 58, a second speed calculation unit 59, a position controller 60, and a second speed controller 61. is doing. The first position calculation unit 57 obtains the rotation angle of the first rotary shaft 12 as first position information based on the pulse signal from the first encoder 20. Based on the pulse signal from the second encoder 21, the second position calculation unit 58 rotates the rotation angle of the second rotation shaft 14. As the second speed information. Based on the pulse signal from the second encoder 21, the second speed calculator 59 obtains the rotational speed of the second rotary shaft 14 as second speed information!

[0052] The position controller 60 reads the deviation between the first position information obtained by the first position calculation unit 57 and the second position information obtained by the second position calculation unit 58, and determines the read deviation. Appropriate speed information is calculated. The second speed controller 61 reads the deviation between the speed information calculated by the position controller 60 and the second speed information obtained by the second speed calculation unit 59, and the read deviation becomes zero. Thus, the second door driving device 10 is controlled.

That is, the second drive device controller 54 controls the second door drive device 10 so that the rotation angle of the second rotation shaft 14 follows the rotation angle of the first rotation shaft 12. It comes to be.

[0054] As a control method of the first and second speed controllers 56, 61 and the position controller 60, for example, PI control or the like is used. The other configuration is the same as that of the first embodiment, and the operation when the elevator door 1 is opened and closed is the same as that of the first embodiment.

Next, a method for controlling the rotational speed of the first rotary shaft 12 will be described. When the first rotating shaft 12 is rotated, a Nors signal corresponding to the rotation speed of the first rotating shaft 12 is generated in the first encoder 20. Thereafter, the norse signal generated by the first encoder 20 is input to the first speed calculation unit 55, and the first speed calculation unit 55 determines the rotation speed of the first rotating shaft 12 as the first speed information. Calculated.

Thereafter, a deviation between the set speed information from the storage unit 52 and the first speed information calculated by the first speed calculation unit 55 is read by the first speed controller 56. Thereafter, the first speed controller 56 controls the driving of the first door driving device 9 so that the read deviation becomes zero. In this way, the rotational speed of the first rotary shaft 12 is controlled so as to follow the speed pattern of the setting data.

[0057] Next, a control method for rotating the second rotating shaft 14 will be described. When the second rotating shaft 14 is rotated, a pulse signal corresponding to the rotation speed of the second rotating shaft 14 is generated in the second encoder 21. Thereafter, the pulse signal generated by the second encoder 21 is input to the second position calculation unit 58 and the second speed calculation unit 59, respectively. After this, the second place In the position calculation unit 58, the rotation angle of the second rotation shaft 14 is calculated as second position information, and in the second speed calculation unit 59, the rotation speed of the second rotation shaft 14 is calculated as second speed information. .

On the other hand, the pulse signal generated by the first encoder 20 is input not only to the first speed calculation unit 55 but also to the first position calculation unit 57. Thereafter, the first position calculation unit 57 calculates the rotation angle of the first rotating shaft 12 as the first position information based on the Norse signal generated by the first encoder 20.

Thereafter, a deviation between the first position information calculated by the first position calculator 57 and the second position information calculated by the second position calculator 58 is read by the position controller 60. Thereafter, the position controller 60 calculates speed information corresponding to the read deviation. Thereafter, a deviation between the speed information calculated by the position controller 60 and the second speed information calculated by the second speed calculator 59 is read by the second speed controller 61. Thereafter, the second speed controller 61 controls the driving of the second door driving device 10 so that the read deviation becomes zero. In this way, the second rotating shaft 14 is controlled to rotate following the first rotating shaft 12.

In such an elevator door device, the second door drive device 10 is moved by the door control device 51 so that the rotation angle of the second rotation shaft 14 follows the rotation angle of the first rotation shaft 12. Since the actual rotational speed of the first rotating shaft 12 deviates from the speed pattern force of the setting data, for example, when a load is applied to the car door 4, for example. In addition, the rotation angle of the second rotation shaft 14 can be made to follow the rotation angle of the first rotation shaft 12, and for example, sagging of the timing belt 17 can be prevented. Thereby, the opening / closing operation of the elevator door 1 can be further smoothed.

[0061] Embodiment 4.

FIG. 7 is a functional block diagram showing a door control device in an elevator door device according to Embodiment 4 of the present invention. In the figure, the door control device 71 stores the stored setting data (setting information) for rotating the first and second rotating shafts 12 and 14 in a predetermined speed pattern. Unit 72, a first drive device controller 73 that controls (PWM control) the first door drive device 9 so that the rotation speed of the first rotary shaft 12 follows the speed pattern of the setting data, So that the rotation axis 14 is rotated following the first rotation axis 12. And a second drive device control unit 74 for controlling the second door drive device 10 (PWM control).

The first drive device control unit 73 includes a first speed calculation unit 75 and a first speed controller 76. Based on the pulse signal from the first encoder 20, the first speed calculator 75 obtains the rotational speed of the first rotating shaft 12 as first speed information. The first speed controller 76 reads the deviation between the first speed information obtained by the first speed calculation unit 75 and the set speed information based on the setting data stored in the storage unit 72, and reads the read deviation. The first door driving device 9 is controlled so as to be a force ^.

The second drive device control unit 74 includes a second speed calculation unit 77, a speed correction command unit 78, and a second speed controller 79. The second speed calculation unit 77 is configured to obtain the rotation speed of the second rotating shaft 14 as the second speed information based on the pulse signal of the second encoder 21. The speed correction command section 78 reads the deviation between the first speed information obtained by the first speed calculation section 75 and the second speed information obtained by the second speed calculation section 77, and uses the read deviation as a speed. It is output as correction information. The second speed controller 79 adds the speed correction information from the speed correction command section 78 to the set speed information from the storage section 72 to obtain corrected speed information. A deviation between the second speed information obtained in 77 and the corrected speed information is read, and the second door driving device 10 is controlled so that the read deviation becomes zero.

[0064] Note that, as a control method of the first and second speed controllers 76, 79, for example, PI control or the like can be cited. The other configuration is the same as that of the first embodiment, and the operation when the elevator door 1 is opened and closed is the same as that of the first embodiment.

Next, a method for controlling the rotational speed of the first rotary shaft 12 will be described. When the first rotary shaft 12 is rotated, a noise signal corresponding to the rotational speed of the first rotary shaft 12 is generated in the first encoder 20. Thereafter, the noise signal generated by the first encoder 20 is input to the first speed calculation unit 75, and the first speed calculation unit 75 determines the rotation speed of the first rotating shaft 12 as the first speed information. Is calculated as

Thereafter, a deviation between the set speed information from the storage unit 72 and the first speed information calculated by the first speed calculation unit 75 is read by the first speed controller 76. After this, the first speed The degree controller 76 controls the driving of the first door driving device 9 so that the read deviation becomes zero. In this way, the rotation speed of the first rotary shaft 12 is controlled to follow the speed pattern of the setting data stored in the storage unit 72.

Next, a method for controlling the rotational speed of the second rotating shaft 14 will be described. When the second rotary shaft 14 is rotated, a Nors signal corresponding to the rotational speed of the second rotary shaft 14 is generated in the second encoder 21. Thereafter, a deviation between the second speed information calculated by the second speed calculation unit 77 and the first speed information calculated by the first speed calculation unit 75 is read by the speed correction command unit 78. Thereafter, the read deviation is output from the speed correction command section 78 as speed correction information.

Thereafter, the speed correction information from the speed correction command section 78 is added to the set speed information from the storage section 72, and the speed information after the addition is used as the corrected speed information. Thereafter, the second speed controller 79 reads the deviation between the second speed information calculated by the second speed calculator 77 and the corrected speed information. Thereafter, the second speed controller 79 controls the driving of the second door driving device 10 so that the read deviation force SO is obtained. In this way, the rotation speed of the second rotation shaft 14 is controlled so as to follow the rotation speed of the first rotation shaft 12.

In such an elevator door device, the door control device 71 sets the setting from the storage unit 72 based on the deviation between the rotation speed of the first rotation shaft 12 and the rotation speed of the second rotation shaft 14. Since the speed information is corrected and the second door drive device 10 is controlled based on the corrected speed information, the set speed information from the storage unit 72 is corrected to correct the second time. The rotational speed of the rotating shaft 14 can be made to follow the rotational speed of the first rotating shaft 12. Thus, the rotation of the first and second rotary shafts 12 and 14 can be controlled faithfully to the setting data stored in the storage unit 72, and the opening / closing operation of the elevator door 1 can be further smoothed. it can.

[0070] In Embodiments 2 to 4, the number of second door driving devices 10 is one. 1S The number of second door driving devices 10 may be two or more. That is, a plurality of second door drive devices 10 are provided, and each second door drive device 10 is a door control device such that each second rotation shaft 14 rotates following the first rotation shaft 12. It may be controlled by. In this case, each second door driving device 10 is provided with a second encoder 21.

Claims

The scope of the claims

[1] An elevator door that opens and closes an elevator door by being reciprocated,

A first door driving device having a first driving device main body and a first rotating shaft rotated by a driving force of the first driving device main body;

A second door driving device having a second driving device main body and a second rotating shaft rotated by the driving force of the second driving device main body;

A power transmission mechanism for displacing the elevator door in response to the rotation of each of the first rotating shaft and the second rotating shaft; and

The first rotating shaft and the second rotating shaft are rotated at a predetermined speed pattern based on common setting information stored in the storing unit. An elevator door device comprising: a door control device for controlling the second door drive device, and a door control device for controlling the second door drive device.

[2] an elevator door that opens and closes the elevator door by being reciprocated,

A power transmission mechanism for displacing the elevator door in response to the rotation of each of the first rotating shaft and the second rotating shaft;

A rotation detecting device for generating a signal corresponding to the rotation of the first rotating shaft; and a storage unit, wherein the first rotating shaft is a predetermined speed pattern based on setting information stored in the storing unit. The first door driving device is controlled so as to be rotated at the same time, and the rotational speed of the first rotating shaft is obtained based on a signal from the rotation detecting device, and the obtained first rotating shaft is obtained. Door control device for controlling the second door driving device so that the rotation speed of the second rotation shaft follows the rotation speed of the second rotation shaft

An elevator door device comprising:

[3] an elevator door that opens and closes the elevator door by being reciprocated,

The first drive device body and the first drive device rotated by the driving force of the first drive device body A first door drive device having a rotating shaft;

A rotation detecting device for generating a signal corresponding to the rotation of the first rotating shaft; and a storage unit, wherein the first rotating shaft is a predetermined speed pattern based on setting information stored in the storing unit. The first door driving device is controlled so that the first rotation shaft is rotated, and the rotation angle of the first rotation shaft is obtained based on the signal from the rotation detection device, and the obtained first rotation shaft A door control device that controls the second door driving device so that the rotation angle of the second rotation shaft follows the rotation angle.

An elevator door device comprising:

An elevator door that opens and closes an elevator door by reciprocating displacement, a first door drive device having a first drive device body, and a first rotating shaft that is rotated by the drive force of the first drive device body. ,

A first rotation detection device that generates a signal according to the rotation of the first rotation shaft; a second rotation detection device that generates a signal according to the rotation of the second rotation shaft; and a storage unit. Based on the setting information stored in the storage unit, the first door driving device is controlled so that the first rotating shaft is rotated at a predetermined speed pattern, and the first rotation detection is performed. Based on the respective force information of the device and the second rotation detection device, the deviation of the respective rotation speeds of the first rotation shaft and the second rotation shaft is obtained as speed correction information, and the speed correction information Based on the above, the setting information is corrected to obtain corrected speed information, and the door control device that controls the second door driving device based on the corrected speed information. An elevator door device comprising:

[5] When the door control device has an abnormality in one of the first door driving device and the second door driving device, the drive control power of the door driving device in which the abnormality has occurred is reduced. The elevator door device according to any one of claims 1 to 4, wherein generation of the elevator door is stopped and the elevator door is displaced only by the driving force of the other door driving device.

[6] When the door control device displaces the elevator door only by the driving force of the other door driving device, the other door driving device is configured so that the speed of the elevator door is lower than usual. The elevator door device according to claim 5, wherein the elevator door device is controlled.