WO2019096756A1

WO2019096756A1 - Elevator with simplified unlocking mechanism for unlocking shaft doors

Info

Publication number: WO2019096756A1
Application number: PCT/EP2018/080995
Authority: WO
Inventors: Jules Christen
Original assignee: Inventio Ag
Priority date: 2017-11-17
Filing date: 2018-11-13
Publication date: 2019-05-23

Abstract

The invention relates to an elevator (1) which comprises an elevator shaft (5), a elevator car (3) which can be vertically displaced in the elevator shaft (5) and a plurality of shaft doors (7) arranged at different heights in the elevator shaft, each having a stationary door frame (8) and at least one horizontally displaceable door leaf (6). Each shaft door (7) has an unlocking mechanism (13) by means of which the shaft door (7) can be locked and unlocked against opening when an actuating element (19) of the unlocking mechanism (13) is actuated. The unlocking mechanism (13) has a first and a second locking element (15, 17), wherein the first locking element (15) is arranged, for example, on the door leaf (6) of the shaft door (7), and wherein the second locking element (17) can be mounted, for example, on the door frame (8) of the shaft door (7) or another door leaf. The first and the second locking elements (15, 17) can be displaced relative to one another between a first position and a second position by displacing the actuating element (19) in an unlocking direction (35) transversely to the horizontal. The first and the second locking elements (15, 17) engage into one another in a positive fit in the first position in such a way that a horizontal displacement of the door leaf (6) relative to the door frame (8) is blocked. In the second position, the first and the second locking elements (15, 17) are released from the positive fit. The proposed unlocking mechanism (13) can be constructed in a structurally simple manner and by means of the possibility of actuating it with a robot-like actuating mechanism (11), a complex precise adjustment of components of a shaft door opener mechanism (2) can be dispensed with.

Description

Elevator with simplified unlocking mechanism for unlocking

shaft doors

description

The present invention relates to an elevator. In particular, the invention relates to an elevator with a simplified unlocking mechanism for unlocking and locking shaft doors and in particular with an actuating mechanism by means of which the elevator shaft doors can be locked and unlocked and possibly also opened and closed.

Elevators are generally used to move people or goods between floors within a building or structure. As a rule, a cabin can be vertically displaced within an elevator shaft. Access to the cabin can be enabled or disabled by means of a cabin door provided inside the cabin by opening and closing the car door. Furthermore, shaft doors are typically provided in the hoistway at the level of each floor, which can also be opened and closed to clear access between the car and the respective floor.

Conventionally, the cab usually has an actively driven

Mechanism by means of which, by means of an actuator provided in the mechanism, the car door can be unlocked and then opened or closed and subsequently locked. For example, a belt may be attached to the cab door and the belt may be actively shifted by means of a belt drive. In contrast, the shaft doors usually do not have their own actuators, ie the shaft doors can not actively open and close themselves. Also, a Verrieglung of doors in a closed state and their unlocking before the door leaves are to be opened, can not be made active in the case of landing doors normally. Instead, a landing door is typically mechanically locked to the car door as soon as the elevator car stops in the relevant floor a shaft door opener mechanism coupled and then unlocked by a movement of the car door suitably and opened or closed and locked.

WO 2009/156256 A2 shows a conventional elevator door system with a car door locking mechanism. EP 0 498 247 A1 shows a device for actuating and unlocking the shaft doors of a lift. WO 2006/082461 A1 describes a security lock for a shaft door. WO 2009/078837 A1 describes

Locking system for an elevator door.

In order for the car door to be suitably mechanically coupled to one of the shaft doors in order to be unlocked or locked and displaced together with it, conventionally the car door and the respective shaft door must be positioned precisely relative to one another. Only when the car door and the respective hoistway door are within acceptable tolerances, can generally components of the hoistway door opener mechanism provided on the car door suitably cooperate with components of the hoistway door opener mechanism provided on the hoistway door.

Accordingly, in conventional elevators, it is generally necessary to precisely guide the elevator car within the hoistway, the hoistway doors or at least their components of the hoist door opener mechanism within the hoistway

Precisely position elevator shaft and ensure that the

Lift cabin is positioned with its components of the shaft door opener mechanism sufficiently precise when holding on a floor to a coupling of their

To allow components with the corresponding components of the shaft door opener mechanism on the shaft door.

This has traditionally meant that when mounting or servicing the elevator a considerable effort had to be made to precisely position and adjust all the components that were to interact in later operation. That is, the shaft doors and their components of the hoist door opener mechanism generally each had to be precisely mounted individually within the hoistway. Furthermore, for example, guide rails, with the aid of which the cabin is guided inside the elevator shaft, had to be positioned very precisely. It Problems could occur in the operation of the elevator, as far as it came to incorrect positioning of the components of the shaft door opener mechanism to be coupled together.

Further, conventionally, a relatively complicated mechanism has been required on each of the hoistway doors to unlock and open the hoistway door after being passively coupled to corresponding components on the car door, and vice versa.

There may therefore be a need for an elevator which is easy to assemble and maintain and / or which is reliable in operation. In particular, there may be a need for an elevator in which shaft doors are technically easy to access

implementing means reliably locked and unlocked.

Such a need can be met by the elevator according to the independent claim. Advantageous embodiments are in the dependent

Claims and the following description defined.

According to one aspect of the invention, an elevator is proposed which has a

Elevator shaft, one in the elevator shaft vertically displaceable cabin and a plurality of arranged at different heights in the hoistway shaft doors each having a stationary door frame and at least one horizontally displaceable door leaf. Each shaft door in this case has an unlocking mechanism, by means of which the shaft door is to be locked and unlocked upon opening an actuating element of the unlocking mechanism against opening. The unlocking mechanism has a first and a second locking element. The first locking element can be mounted, for example, on the door leaf of the shaft door and the second locking element can be attached, for example, to the door frame of the shaft door or another door leaf of the shaft door. The unlocking mechanism is configured such that by displacing the actuating element in a

Unlocking direction transverse to the horizontal, the first and the second locking element relative to each other between a first position and a second position is displaced. The first and the second locking element engage in the first position in such a form fit into one another that a horizontal displacement of the door leaf relative is blocked to the door frame. In the second position, the first and the second locking element are released from the positive connection.

The substantial displacement of the actuating element for unlocking is thus preferably substantially parallel to a direction of travel of the car, ie transversely to the horizontal. Accordingly, in an elevator with a vertically movable cab, the direction of displacement of the actuating element for unlocking also substantially perpendicular. Preferably, the actuating element is thus arranged or designed such that the said displacement of the actuating element takes place translationally.

Possible features and advantages of embodiments of the invention may be considered, inter alia, and without limiting the invention, as being based on the ideas and findings described below.

As previously noted, in conventional elevators, landing doors are generally only passively opened and closed, i. a shaft door is mechanically coupled to the car door of the shaft door holding the shaft door and then moved by the active with an actuator to moving car door with.

Conventionally, the respective components of a shaft door opener mechanism on the car door and the shaft door are usually designed such that the mechanical coupling takes place automatically and passively as soon as the elevator car approaches the shaft door. For example, a mechanism with two vertically arranged rails can be provided on the cabin, which, when the car door is opened, are displaced horizontally away from one another. At the landing door, two actuating elements to be actuated by the mechanism arranged on the cabin are provided, in particular rollers, which are spaced apart horizontally by a gap. The two rails can be inserted into the gap between the two rollers so that they can move the rollers substantially horizontally away from each other when the two rails are moved away from each other.

As a result, the rollers can actuate a mechanism by means of which ultimately the shaft door is locked or unlocked. However, so that the rails on the car door can be moved between the rollers on the shaft door, the landing door and the car door must be precisely positioned relative to each other so that their respective components of a

Schachttüröffhermechanismus for example when retracting the cabin in the

Automatically couple stop position with each other. Precise positioning or

Aligning and adjusting is labor-intensive and error-prone.

In addition, the components of previous shaft door opener mechanisms can be complex and have a variety of components. Therefore, they can be sensitive and / or require considerable effort to install and maintain.

In order to reduce the work involved in mounting or maintaining the elevator and to minimize the risk of error, it is therefore proposed to equip the elevator with a simplified unlocking mechanism on the shaft doors. This unlocking mechanism can be mechanically very simple or constructed with relatively few components. Accordingly, the unlocking

robust and / or easy to install or maintain. In particular, the unlocking mechanism may comprise a simple trained first locking element and also a simple trained second locking element. One or both locking elements can thereby be configured as rigid, possibly one-piece components, which may be displaceable relative to other components of the elevator, but in themselves need not be movable. In particular, the unlocking mechanism need not have a plurality of components as part of a complex mechanism in which the components can be displaced, pivoted and / or rotated relative to one another. Instead, the

Unlocking mechanism substantially only with said two

Bar elements and the actuating element to be formed, wherein the

Actuator is directly actuated by a arranged on the cabin mechanism. The actuating element and the first locking element may be integrally formed, that is, integrally. The first locking element may be attached to the at least one door leaf of the shaft door, whereas the second locking element may be attached to the door frame of the shaft door. Alternatively, in the event that the hoistway door has two door leaves to be moved horizontally in opposite directions, the second locking element may be attached to the second door leaf. An attachment of the first locking element is preferably configured such that it is held firmly on the door leaf, ie, can not be moved relative thereto, at least in a horizontal direction. In a direction transverse to this horizontal, in particular in a vertical direction, the first Lock element, however, be displaced relative to the door leaf. In this case, the first locking element need not be attached directly to the door leaf, but it may be sufficient that it is indirectly connected via other components with the door leaf mechanically.

The last paragraph also essentially applies to the second locking element with respect to the door frame or the second door leaf to which it is attached.

The first and the second locking element are structurally configured and arranged on the door leaf on the one hand and on the door frame or the second door leaf on the other hand and held by using suitably directed forces in a direction transverse to the horizontal relative to each other between a first position and a second position can be moved. For example, the first locking element can be moved transversely to the horizontal, in particular vertically. As a result, the first locking element from the first position, in which it cooperates positively with the second locking element and thereby prevents a relative displacement between the two locking elements, are shifted towards the second position, in which it is released from such a positive connection. While the two locking elements are in the first position, the positive engagement effected thereby prevents the door leaf connected to the first locking element from becoming horizontal relative to the door frame connected to the second locking element or relative to the second one

Bar element connected second door leaf is moved. Accordingly, the door is locked against horizontal movement of its door panel. If the locking elements are displaced relative to each other in the second position, such a lock is released. Accordingly, the door leaf can then be displaced horizontally relative to the door frame and the shaft door thereby opened. After the shaft door closed again has been, the locking elements can be moved back to its first position and thereby lock the door leaf relative to the door frame in the closed state.

According to one embodiment, either the first or the second locking element has a structure with a laterally projecting hook, the free end of which is directed downwards. The other locking element has in this case an upwardly open recess into which the hook can engage on.

In other words, one of the two locking elements has, for example, an elongated, rod-like structure, from which, for example, at one end laterally projects a partial structure forming the hook. The partial structure is designed such that the free end of the hook is directed downwards. The other locking element has a

Recess in the form of an upwardly open opening or is formed by such. Thus, when the first and second latch members are in the first position, the hook of one latch member may enter the recess of the other

Lock element engage positively and thereby couple the two locking elements locking each other. A contour or a cross-section of the hook can be substantially complementary to a contour or a cross-section of the recesses, so that the hook can be accommodated in the recess in a form-fitting manner without play. The two locking elements can be displaced relative to one another into the second position Such a positive coupling are then released and the two locking elements are thus unlocked.

According to a specific embodiment of the embodiment described above, the first locking element on the structure with the laterally projecting hook and the second locking element has the upwardly open recess. In other words, the first latch member attached to the door panel is provided with the laterally projecting hook and the second one attached to the door frame

Lock element forms the recess, in which the hook is to engage in the locking state.

According to one embodiment, the first locking element is movable and guided on the door leaf exclusively in the direction transverse to the horizontal. In other words, the first locking element is attached to the door leaf in such a way that on the one hand relative to the door leaf in the direction transverse to the door leaf can be moved and on the other hand is guided in this direction transverse to the horizontal. The implementation of the guide in the direction transverse to the horizontal implies that the first locking element is not displaceable in the direction parallel to the horizontal relative to the door leaf. That is, the first latch member may be slid up or down relative to the door panel to reciprocate between the first and second positions. However, if it is subjected to force parallel to the horizontal, the first locking element can not change its position relative to the door leaf, but at best be moved horizontally together with the door leaf.

According to one embodiment, the second locking element is formed stationary on the door frame. In other words, the second locking element should preferably be attached to the door frame in such a way that it can not be displaced in any direction relative to the door frame.

In particular, according to one embodiment, the second locking element is stationary formed on a transverse spar of the door frame. Here is the cross member as

Guide rail for guiding the door leaf during a horizontal movement formed. The cross member thus assumes both the function of a guide rail for the movable door leaf and the function as a counterpart for the first

Locking element.

According to one embodiment, the elevator further comprises an actuation mechanism to be actively controlled with a sensor system, an actuator system and a controller. The sensor is configured to recognize a position of the actuating element on the unlocking mechanism. The controller and the actuator are adapted to suitably control the actuator, taking into account the detected by the sensor position of the actuator to actuate by means of the actuator, the actuator positionally correct.

In other words, in order to be able to operate the simplified unlocking mechanism, the elevator can also be provided with the special, actively controlled actuating mechanism. This actuating mechanism can by means of its sensors and its Actuator to be able to recognize the actuator of the unlocking mechanism and then to operate properly, thereby locking the lock door or unlocked can. The actuating mechanism and the unlocking mechanism need not be positioned very accurately relative to each other, since the actuation mechanism can detect variations in the relative position between the two components with its sensors and compensate with its actuator if necessary.

The actuating mechanism may preferably be mounted on the cabin, for example on its roof or under the floor, so that it forms a cabin-side part of a shaft door opener mechanism. The actuating mechanism can thus be moved together with the car through the hoistway and therefore be easily brought to a position in the vicinity of a shaft door opposite the car.

The unlocking mechanism can be a bay door side part of

Shaft door opener mechanism form, i. the unlocking mechanism may be attached to the hoistway door or to a hoistway door-mounted structure disposed within the hoistway. The unlocking mechanism may comprise the actuating element, via which the unlocking mechanism can be actuated.

In contrast to conventional elevators, in which the cabin-side part of the hoistway door opening mechanism and the shaft door-side part of the hoistway door opening mechanism have been passively combined and then coupled to each other while being precisely aligned with each other, it is now proposed to form the actuation mechanism as an actively-controlled mechanism. Under active to be controlled here can be understood that an operation of the actuating mechanism can be actively influenced and taking into account control variables. In particular, for example, displacement movements and / or

Gripping movements of the actuating mechanism positionally and / or

be controlled according to the situation.

The active to be controlled actuating mechanism can thus automatically and automatically provided a current position of the shaft door Detect release mechanism and then actuate based on this information the release mechanism in the correct position. Accordingly, the actuating mechanism, on the one hand, and the unlocking mechanism, on the other hand, no longer necessarily have to be precisely aligned relative to one another in advance, but rather

Actuator mechanism can independently adapt to the current relative arrangement between itself and the unlocking mechanism in order to then actuate the latter.

In a specific embodiment of the aforementioned embodiment, the actuator system has at least one arm which can be actively displaced in a plurality of mutually transverse directions. By virtue of the fact that the arm can be displaced in several directions, the actuating element of the unlocking mechanism can also be suitably actuated by means of the actuator, even if the latter is located slightly away from a desired position relative to the actuating mechanism. Preferably, the arm of the actuator should be displaceable with at least two degrees of freedom, preferably three, four, five or even six degrees of freedom. In a specific embodiment of the aforementioned embodiment, the actuator has a gripper to be opened and closed controlled. The gripper should in this case be designed such that with its help, the actuating element of the

Unlocking mechanism can be gripped positively and / or non-positively, in order to then operate this. In a specific embodiment of the aforementioned embodiment, the

Actuating mechanism is formed by means of a robot arm. Under a

Robotic arm can in this context be understood as an arm of a robot, in particular of an industrial robot. Industrial robots are generally universally applicable automatic machines with multiple axes, whose movements are free and automated in terms of sequence of movements and paths or angles, ie. H. without

mechanical or human intervention, programmable and optionally sensor-guided. They can be equipped with grippers and / or tools. Industrial robots, for example, are already used in the manufacture of industrial machines, cars, etc., and can have adapted structural and functional properties for a wide variety of applications. The robot arm can do this be moved in different directions by means of actuators and controlled by a controller. For the present application, it may be sufficient to use a biaxial robot arm, which in two mutually transverse

Shift directions can be moved. To increase the degree of freedom of movement, thereby increasing the range of application and flexibility of the

However, it can be advantageous to use a three-axis robotic arm, which can be displaced in three independent spatial directions by means of a plurality of actuators provided therein. The robot arm can furthermore be designed to be able to perform not only translational movements but also rotational movements about one, two or preferably three axes.

It should be noted that the applicant of the present application has filed in parallel and at the same time to the present application, a further application, which also relates to a lift and in particular a locking of landing doors. In this further application, in particular, many details are presented on embodiments of an actuating mechanism to be actively controlled and in particular of a robot arm which can be used for this purpose. Details of embodiments of the present invention may be combined with or substituted for details of embodiments of the invention described in the further application. The further application is titled "Elevator with actively controlling mechanism for unlocking shaft doors" (Applicant's Record: 1P2468) and its contents are intended to be exhaustive by reference to the present application

Patent application.

It is further noted that some of the possible features and advantages of the elevator according to the invention are described herein with reference to different embodiments. One skilled in the art will recognize that the features may be suitably combined, adapted, or interchanged to others

To arrive embodiments of the invention.

Hereinafter, embodiments of the invention will be described with reference to the accompanying drawings, wherein neither the drawings nor the

Description are to be construed as limiting the invention. Fig. 1 shows a side view of an elevator according to the invention.

Fig. 2 shows a perspective view of an unlocking mechanism of a lift according to the invention.

Fig. 3 shows an enlarged partial view of an unlocking mechanism of a lift according to the invention.

The figures are only schematic and not to scale. Like reference numerals designate like or equivalent features throughout the several figures

1 shows a side view of an embodiment of an elevator 1 according to the invention. FIGS. 2 and 3 show views of an unlocking mechanism 13 of the elevator 1.

The elevator 1 has a cabin 3, which can be displaced vertically within a hoistway 5. On the cabin 3, a car door 9 is provided. Door leaves 10 of the car door 9 can be moved actively by a drive (not shown), in particular a belt drive driven by an electric motor, in the horizontal direction.

In elevator shaft 5, shaft doors 7 are provided at respective heights corresponding to different floors. Each shaft door 7 comprises one or more door leaves 6 which, relative to a stationary door frame 8 (shown in phantom), move horizontally and can thus be opened and closed. The shaft doors 7 generally do not have an active drive, but can only be opened passively. In the normal case, each shaft door 7 is locked by means of an associated unlocking mechanism 13 to prevent opening of the shaft door 7. The

Unlocking mechanism 13 in this case comprises a first locking element 15 and a second locking element 17 which can engage in one another in a first position, thereby locking the shaft door 7, and which relative to each other from the first Position can be moved towards a second position to release the lock, ie to unlock.

The shaft door 7 is to be unlocked exclusively when the

Elevator car 3 stops opposite her. When the elevator car 3 is driven to a certain floor and stopped there against the shaft door 7 there, the hoist door opener mechanism 2 serves to temporarily unlock the hoistway door 7 and then open to allow passengers to enter or leave the elevator car 3.

For this purpose, the shaft door opener mechanism 2 has an actuating mechanism 11 to be actively controlled, which in the illustrated example is designed as a robot arm 25 with a plurality of relatively displaceable arms 27, as used in a similar manner in industrial robots.

In this case, the actuating mechanism 11 has a sensor 21, by means of which it can recognize an actuator 19 of the unlocking mechanism 13 and localize with respect to its position lm in the example shown, the actuating element 19 is a lever 23, which slightly protrudes into the elevator shaft 5 with its one end is coupled at its other end with the first locking element 15 and is an integral part of the first locking element 15.

In order to be able to recognize and locate the actuating element 19, the sensor system 21 in the example shown has an optical sensor 22 in the form of a camera, which is equipped with image processing logic. The image processing logic can analyze images captured by the camera and include therein e.g. recognize the actuator 19 and / or a marker attached thereto. Based on information from the sensor 21 about the current position of the actuator 19 in the

Elevator shaft 5 relative to the actuating mechanism 11 on the elevator car 3, a controller 24 of the actuating mechanism 11 determine how the robot arm 25 must be moved currently in order to grip with a arranged at its end gripper 31, the actuator 19 can. The controller 24 may then

Electric motors 29 an actuator 33 of the actuating mechanism 11 suitable to drive the gripper 31 towards the actuator 19 to the

Move unlocking mechanism 13.

Subsequently, the controller 21 can drive parts of the actuator 33 in the gripper 31 to drive the gripper 31 together in order to be able to effect a frictional and / or positive coupling between the gripper 31 and one end of the lever 23 of the actuating element 19.

Once the robot arm 25 is coupled via its gripper 31 to the actuating element 19, the actuating mechanism 11 can move the actuating element 19 vertically in the unlatching direction 35. This can do that

Actuator 19 actuate the unlocking mechanism 13, that is, the first locking element 15 to move from a first locking position to a second unlocked position and unlock the shaft door 7 in this way.

After the shaft door 7 has been unlocked, coupled to the actuator 19 actuating mechanism 11, the actuator 19 in a

Move door movement direction. The door movement direction is generally transverse to the unlocking direction 35, in particular horizontally, and substantially corresponds to a direction in which the shaft door 7 can be opened. Since the actuating element 19 is mechanically coupled to the shaft door 7, the unlocked shaft door 7 can be opened in this way. FIGS. 2 and 3 show details of the unlocking mechanism 13 in a perspective view and a plan view, respectively.

The first locking element 15 is mechanically connected via a connecting plate 49 with the door leaf 6 of the shaft door 7 (not shown). The first locking element 15 is mounted by means of a guide member 47 on the connecting plate 49, that it can be displaced in the unlocking 35, ie in a direction transverse to the horizontal, guided by the guide member 47 relative to the door leaf 6, but in a horizontal Direction is firmly attached to the door panel 6 and thus at best, together with the door leaf 6 can be moved horizontally. The first locking element 15 has an elongated structure, from the upper end of a hook 16 projects laterally in the horizontal direction. The hook 16 has with its free end 20 down.

The second locking element 17 is formed in this case as an upwardly open recess 18. The recess 18 is provided in a sheet metal, which is part of a transverse spar 39 (sometimes also referred to as "transom") or is attached to such a cross member 39. The cross member 39 houses a guide rail 45, along which the door leaf 6 guided by a guide roller 43 in horizontal

Door movement direction 37 can be moved. The cross member 39 is fixed to a supporting structure of the hoistway door frame 8.

The recess 18 of the second locking element 17 is dimensioned and designed such that the downwardly directed free end 20 of the hook 16 of the first locking element 15 can engage positively in this recess 18, as long as the first and the second locking element 15, 17 in a first position are positioned relative to each other (see enlarged section in plan view in Fig. 2). In this state, the unlocking mechanism 13 locks the door leaf 6 of the landing door 7 in its closed state.

When the hoistway door 7 is to be opened, the first locking element 15 can be lifted vertically by means of the actuating mechanism 11 in the unlocking direction 35 by the operating mechanism 11 moves its gripper 31 to the actuator 19, this engages and then the gripper 31 by suitable method of the actuator 33 lifts in a second position. In this second position, the free end 20 of the hook 16 of the first locking element 15 is moved out of the recess 18 of the second locking element and thus solved the positive connection between them. The shaft door 7 unlocked in this way can then be moved in the direction of door movement 37.

By means of the approach presented herein, the actuating mechanism 11, which is preferably provided on the elevator car 3, can independently recognize by means of its sensor system 21 where the actuating element 19 of an adjacent shaft door 7 is currently located, and can then use this with the aid of its controllable actuators Press 33 in the correct position. The actuating member 19 is in this case the actuated part of a simple design release mechanism 13. The actuating mechanism 11 may in this case within relatively large tolerance ranges, which may be dependent on the dimensions of the actuating mechanism 11 and the

Displacement possibilities of his arms 27, be positioned variably relative to the actuator 19. Therefore, the actuating mechanism 11 as a cabin-side part of the Schachttüröffhermechanismus 2 on the one hand and the unlocking mechanism 13 and its actuator 19 as part of the bay door-side part of the need

On the other hand, shaft door opener mechanism 2 may not be positioned with high accuracy relative to each other. This can be an assembly effort or a

Maintenance costs are significantly reduced and the release mechanism 13 can be structurally very simple.

Finally, it should be noted that the illustrated in the figures

Embodiment of the actuating mechanism 11 is shown as a robot arm 25 only roughly schematically. Movement options that can be implemented by the actuating mechanism 11 may be different depending on the nature of the elevator and its components installed therein. Accordingly, the actuator 33 as well as the controller 21 may be adapted. For example, different or differently arranged actuators can be used to move arms 27 of the robot arm 25 in different spatial directions and / or to be able to pivot in different spatial orientations.

Finally, it should be noted that terms such as "comprising,""comprising," etc., do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a variety. It should also be appreciated that features or steps described with reference to any of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference signs in the claims are not to be considered as limiting. Reference list

1 elevator

2 shaft door opener mechanism

3 elevator cab

5 elevator shaft

6 door leaf of the landing door

7 shaft door

8 door frames

9 cabin door

10 door leaves of the cabin door

11 actuating mechanism

13 unlocking mechanism

15 first locking element

16 hooks

17 second locking element

18 recess

19 actuator

20 free end

21 sensors

22 optical sensor

23 levers

24 control

25 robot arm

27 arm

29 electric motor

31 grippers

33 Actuatorics

35 unlocking direction

37 door movement direction

39 transverse beam (Transom)

43 Leadership

45 guide rail

47 guide element

49 connection plate

Claims

claims

1st elevator (1), comprising:

- a hoistway (5);

- A in the elevator shaft (5) vertically displaceable cabin (3);

- Several arranged at different heights in the hoistway shaft doors (7) each having a stationary door frame (8) and at least one horizontally displaceable door leaf (6);

wherein each shaft door (7) has an unlocking mechanism (13) by means of which the shaft door (7) upon actuation of an actuating element (19) of the unlocking mechanism (13) to lock against opening and unlock;

wherein the unlocking mechanism (13) comprises a first and a second locking element (15, 17), wherein by displacing the actuating element (19) in one

Unlocking direction (35) transversely to the horizontal, the first and the second locking element (15, 17) relative to each other between a first position and a second position are displaceable, wherein the first and the second locking element (15, 17) in the first position in such a Interlocking fit into each other that a horizontal displacement of the door panel (6) is blocked relative to the door frame (8), and wherein the first and the second locking element (15, 17) in the second position of the

Form closure are solved, further comprising:

- An actively controlled to the cab (3) mounted actuating mechanism (11) with a sensor (21), an actuator (33) and a controller (24);

wherein the sensor (21) is adapted to detect a position of the operating member (19) on the unlocking mechanism (13), and wherein the controller (24) and the actuator (33) are adapted to operate the actuator (33) the position of the actuating element (19) detected by the sensor system (21) to be suitably controlled in order to actuate the actuating element (19) in a positionally correct manner by means of the actuator system (33).

2. Elevator according to claim 1, wherein the actuating element (19) is designed such that the relative displacement of the first and the second locking element (15, 17) causing displacement of the actuating element (19) is translational.

Elevator according to one of the preceding claims, wherein either the first or the second locking element (15, 17) has a structure with a laterally projecting hook (16), whose free end (20) is directed downwards, and wherein the other

Bar element (17, 15) has an upwardly open recess (18) into which the hook (16) can engage.

4. Elevator according to claim 3, wherein the first locking element (15) has the structure with the laterally projecting hook (16) and the second locking element (17) has the upwardly open recess (18).

5. Elevator according to one of the preceding claims, wherein the first locking element (15) only in the unlocking (35) is mounted transversely to the horizontal movable and guided on the door leaf (6).

An elevator according to any one of the preceding claims, wherein the first latch member (15) is attached to the door panel (6) of the hoistway door (7) and wherein the second latch member (17) is mounted to the door frame (8) of the hoistway door (7) ,

7. Elevator according to one of the preceding claims, wherein the second locking element (17) is formed stationary on the door frame (8).

8. Elevator according to one of the preceding claims, wherein the second locking element (17) is stationarily formed on a transverse spar (39) of the door frame (8), wherein the transverse spar (39) as a guide rail (45) for guiding the door leaf (6) during a movement in a horizontal door movement direction (37) is formed.

9. Elevator according to one of claims 1 to 5, wherein the shaft doors each have two in opposite directions horizontally displaceable door leaves (6), wherein the first locking element (15) on one of the door leaves (6) of the shaft door (7) is mounted and wherein the second locking element (17) is attached to another of the door leaves (6) of the shaft door (7).

10. Elevator according to one of the preceding claims, wherein the actuator (33) has at least one in several transverse directions extending to each other actively displaceable arm (27).

11. Elevator according to one of the preceding claims, wherein the actuator (33) has a controlled to open and close the gripper (31).

12. Elevator according to one of the preceding claims, wherein the

Actuating mechanism (11) by means of a robot arm (25) is formed.