CN107021409B - The control method of lift appliance and lift appliance - Google Patents

Abstract

The present invention provides an elevator apparatus for opening and closing a door at a stop floor, characterized by comprising: a door control unit (120) for performing a safety obstacle detection when the safety obstacle sensing unit (112) is activated when the door is closed. When opening the door, when the safety obstacle sensing part (124) is activated, the door closing action is performed when the safety obstacle is detected, and when the safety obstacle sensing part is activated during the door opening operation during the safety obstacle sensing, the door control part The door closing action during safety obstacle sensing is performed, and when the safety obstacle sensing unit is activated during door closing during the door closing action during safety obstacle sensing, the door control unit performs the door opening action during safety obstacle sensing.

Description

Elevator device and control method of elevator device

technical field

The present invention relates to an elevator apparatus and a control method of the elevator apparatus, and is suitable for use in, for example, an elevator apparatus installed in a building.

Background technique

Elevator devices are widely used as means to lift people and objects. Generally, the elevator apparatus opens and closes the door by moving the door leaf between the door closed position and the door cover on the side of the entrance and exit at the stop floor. Therefore, when opening the door, there is a danger that the passenger's hand will be pulled between the door leaf and the door cover, and when the door is closed, there is a risk that passengers and objects will be caught by the door leaf. Therefore, a door safety device is provided to prevent problems.

Patent Document 1 relates to a safety device that detects whether or not an object is pulled in when opening a door by detecting a load applied to a door leaf, and discloses that the torque of a door motor that operates the door leaf is suppressed, so that the occupants will not be disturbed. Apply a strong load. In addition, Patent Document 2 discloses that, during the door closing operation, a contact bar provided on the side end face of the door moves a predetermined distance in the door opening direction, and that a touch sensor provided on the side end face of the door detects detection by a touch sensor provided on the side end face of the door In the case of touch, the door during the door closing operation is reversed to the opening operation.

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 2008-114931

Patent Document 2: Japanese Patent Laid-Open No. 2006-248724

SUMMARY OF THE INVENTION

The problem to be solved by the invention

The door safety device when the door is closed as described above is activated when the door is closed to reverse the action of the door to open the door. However, if there is an object that may be pulled into the door cover at this time, there is a danger of the object being pulled into the door cover. In addition, the door safety device when opening the door is activated when the door is opened, and the door is reversed to close the door. However, if there is an object that may be caught by the door leaf at this time, there is a danger of being caught by the door leaf.

The present invention has been made in consideration of the above aspects, and an object of the present invention is to provide an object that may be pulled into the door cover even after the safety device at the time of door closing is activated, or after the safety device at the time of opening the door is activated The elevator apparatus and the control method of the elevator apparatus which can perform the operation|movement of the door leaf more safely even when the object which may be pinched by the door leaf exists.

Technical solutions for solving problems

In order to solve such a problem, the elevator apparatus of the present invention is an elevator apparatus that opens and closes a door at a stop floor, and is characterized by comprising: a door-closing safety obstacle sensing unit that senses an object caught by the door when the door is closed the presence of the door opening; a safety obstacle sensing part when the door is opened, which senses the presence of an object pulled into the door cover when the door is opened; and a door control part which performs a safety obstacle sensing when the door closing safety obstacle sensing part is activated The door opening action of the time measurement, the door closing action when the safety obstacle sensing part is activated when the door is opened, and the door control part is the safety obstacle when the door is opened during the door opening action when the safety obstacle is detected. When the sensing part is activated, the door closing action during the safety obstacle sensing is performed, and when the safety obstacle sensing part is activated when the door is closed during the door closing action during the safety obstacle sensing, the safety obstacle sensing part is executed. Open door action.

In addition, in order to solve such a problem, the control method of an elevator apparatus of the present invention is characterized in that, when an object caught by the door is detected when the door is closed, a door opening operation is performed when the safety obstacle is detected, and when the door is opened, the door is detected. When there is an object pulled into the door cover, the door closing action is performed when the safety obstacle is sensed. The door closing action when the safety obstacle is sensed, and when an object caught by the door is sensed during the door closing action during the safety obstacle sensing, the door opening action during the safety obstacle sensing is performed.

Invention effect

According to the present invention, even if there is an object that may be pulled into the door cover after the safety device at the time of closing the door is activated, or there is an object that may be caught by the door leaf after the safety device at the time of opening the door is activated, it is possible to Action for a safer door leaf.

Description of drawings

FIG. 1 is a diagram showing an elevator apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of the gate control according to the present embodiment.

FIG. 3 is a block diagram showing a configuration of gate control according to another embodiment.

FIG. 4 is a sequence diagram of an example of processing by the door control unit.

FIG. 5 is a sequence diagram of another example of processing by the door control unit.

Symbol Description

100 Elevator installations

110 door leaf

112 Safety Obstacle Sensing Unit when Door is Closed

120 Door Control Department

122 Safety Obstacle Sensing Counting Unit

124 Safety obstacle sensing part when door is opened

130 door motor

142 Elevator Control Department

144 Windlass

146 Counterweight

Detailed ways

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are attached to the same elements, and overlapping descriptions are omitted.

(1) Structure of the elevator apparatus according to the present embodiment

FIG. 1 is a diagram showing an elevator apparatus 100 according to an embodiment of the present invention. As shown in FIG. 1 , the elevator apparatus 100 includes: a car 104; a hoisting machine 144 for raising and lowering the car 104; a counterweight 146 connected to the other end of a cable connected to the car 104; The elevator control unit 142 that controls the hoisting machine 144 according to the command, etc.; the two door leaves 110 that open and close the entrance and exit of the car 104; the door motor 130 that drives the door leaves 110; The door-closing safety obstacle sensing portion 112 that senses the presence of an object caught by the door leaf 110; and the door motor 130 is instructed to open and close the door leaf 110, and the safety obstacle sensing portion 112 when the door is closed or the later-described door-opening time safety When the obstacle detection unit 124 is activated, the door control unit 120 receives that the safety obstacle detection unit 112 when the door is closed or the safety obstacle detection unit 124 when the door is opened is activated.

Here, when the door is closed, the safety obstacle sensing unit 112 may be configured to use, for example, a safety touch panel, which is protruded from the front edge of the door leaf 110 via a link mechanism, and is displaced upward while retreating by contacting an object. , and can also be composed of other sensors such as lasers, touch sensors, etc., which are arranged near the front edge of the door leaf 110 .

FIG. 2 is a block diagram showing the configuration of the gate control according to the present embodiment. The door control portion 120 has a door-opening safety obstacle sensing portion 124 that senses the presence of an object pulled into the door case when the door is opened. The safety obstacle sensing unit 124 can have an overload detection function when the door is opened, that is, when the door is opened, it can detect that a certain or more load is applied by the torque feedback signal from the door motor 130 . In this case, regarding the overload detection, the motor torque estimation value and the motor torque command may be compared, and if the difference is equal to or greater than a predetermined value, it may be determined that the overload state is present. In addition, the safety obstacle sensing unit 124 may not be overload detection when opening the door, and may also be constituted by other sensors such as a laser or a touch sensor provided at the entrance of the door cover, for example. In this case, as shown in FIG. 3 , the door opening safety obstacle sensing unit 124 can be configured as an external device of the door control unit 120 .

When the door closing safety obstacle sensing unit 112 is activated, the door control unit 120 receives a signal indicating that the door closing safety obstacle sensing unit 112 is activated, and controls the door motor 130 so that the door motor 130 is operated at a lower speed than normal. The door opening action is the door opening action when the safety obstacle is detected. In addition, when the safety obstacle sensing unit 124 is activated when the door is opened, the door control unit 120 also receives a signal indicating that the safety obstacle sensing unit 124 is activated when the door is opened, and controls the door motor 130 so that the performance is lower than normal. The door closing action at the speed is the door closing action when the safety obstacle is detected. Furthermore, when a signal indicating that the safety obstacle sensing unit 124 is activated during the door opening operation during safety obstacle sensing is received, the door motor 130 is controlled so that the door closing operation during safety obstacle sensing is performed in a safe manner. When the door closing safety obstacle sensing unit 112 is activated during the door closing operation during obstacle detection, the door motor 130 is controlled so that the door opening operation during safety obstacle sensing is performed.

In addition, the door control unit 120 has a safety obstacle sensing counting unit 122 that counts the number of times the safety obstacle sensing unit 112 or the safety obstacle sensing unit 124 operates when the door is closed, and the safety obstacle sensing unit 124 operates when the door is opened. The time point when the count value of the counting unit 122 reaches a predetermined threshold value is sensed, and door control such as completion of the door closing operation or door opening operation, or disabling the door opening and closing force (no torque) can be performed. When the opening and closing force of the door is disabled, the door leaf 110 can be opened and closed manually. At this time, it is also possible to set the emergency stop state and report the abnormality to the outside. Here, the safety obstacle detection counting unit 122 may not be provided, and the operation at the time of safety obstacle detection may be always performed according to the activation of the safety obstacle detection unit 112 when the door is closed or the safety obstacle detection unit 124 when the door is opened. The door safety device includes a door-closing safety obstacle sensing unit 112 , a door-opening safety obstacle sensing unit 124 , a door control unit 120 , and a door motor 130 controlled by the door control unit 120 .

(2) Control of the door leaf by the door control department

FIG. 4 is a sequence diagram of an example of processing by the door control unit 120 . This process is executed when the normal opening and closing operation of the stop floor and the opening and closing operation based on the passenger's instruction to open and close are performed. As shown in FIG. 4 , the door control unit 120 first confirms whether the door-closing safety obstacle sensing unit 112 and the door-opening safety obstacle sensing unit 124 are simultaneously activated (step S1 ). Here, in the case of simultaneous activation, the door control unit 120 makes the opening and closing force of the door in an invalid (torqueless) state by, for example, stopping power supply to the door motor 130 (step S21 ). By deactivating the opening and closing force of the door, the door leaf 110 can be manually opened and closed. On the other hand, if it is not activated at the same time, it goes to step S2, and it is checked whether it is in the process of opening the door, and if it is in the process of opening the door, it is checked whether the safety obstacle sensor 124 is activated when the door is opened (step S3). . When the safety obstacle detection unit 124 is not activated when opening the door, the door is opened (step S8 ), and when it is the operation during safety obstacle detection, it is switched to the normal speed, that is, the normal operation (step S9 ). On the other hand, when the safety obstacle sensing unit 124 is activated when the door is opened in step S3, the safety obstacle sensing counting unit 122 adds 1 to the safety obstacle sensing count value (step S4), and confirms the safety obstacle sensing count value Is it consistent with the threshold value (step S5). When the safety obstacle detection count value does not match the threshold value, the door control unit 120 controls the door motor 130 to reverse the movement direction of the door leaf 110 to perform safety obstacle sensing, which is a door closing operation at a lower speed than normal. the door closing action at the time of (step S6), and returns to step S2. When the safety obstacle sensing count value matches the threshold value in step S5, it is checked whether or not it is the torque invalid mode at the time of safety obstacle sensing (step S7). The torque invalid mode at the time of safety obstacle sensing is one of the preset door control modes, and is set whether or not to set the torque invalidation mode at the time of safety obstacle detection. Here, when it is not in the torque invalid mode during safety obstacle sensing, the door is opened (step S8 ), and when it is the operation during safety obstacle sensing, it is switched to the normal speed, that is, the operation during normal time (step S9 ). ). On the other hand, in the case of the torque invalidation mode at the time of safety obstacle sensing, the opening and closing force of the door is set to an invalid state (step S21 ).

Returning to step S2, when it is determined that the door opening operation is not in progress, the process proceeds to step S13, and it is checked whether the safety obstacle detection unit 112 is activated when the door is closed. If the safety obstacle detection unit 112 is not activated when the door is closed, the door is closed (step S18 ), and when it becomes the operation during safety obstacle detection, it is switched to the normal speed, that is, the normal operation (step S19 ). When the safety obstacle detection unit 112 is activated when the door is closed, the safety obstacle detection count unit 122 adds 1 to the safety obstacle detection count value (step S14 ), and checks whether the safety obstacle detection count value matches the threshold value (step S15 ). ). Here, when the safety obstacle detection count value does not match the threshold value, the door control unit 120 controls the door motor 130 to reverse the movement direction of the door leaf 110 and perform the door opening operation at a lower speed than the normal time, that is, the safety Door opening action at the time of obstacle detection (step S16), and the process returns to step S2. When the safety obstacle sensing count value and the threshold value are equal to each other in step S15, it is checked whether or not it is the torque invalid mode at the time of safety obstacle sensing (step S17). Here, when it is not in the torque invalid mode during safety obstacle sensing, the door is closed (step S18 ), and when it is the operation during safety obstacle sensing, it is switched to the normal speed, that is, the operation during normal time (step S19 ). ). On the other hand, in the case of the torque invalidation mode at the time of safety obstacle sensing, the opening and closing force of the door is set to an invalid state (step S21 ). After completing any one of the processes in step S8, step S18, and step S21, the safety obstacle sensing count value is reset (step S22), and the process ends.

Here, the threshold value can be appropriately set according to the environment in which the elevator apparatus 100 is installed. As a specific threshold value, for example, it can be set between 2 and 4, and especially, 2 can be set. When the opening and closing force of the door is invalidated, the door leaf 110 can be opened and closed manually, and depending on the setting, it can be set to an emergency stop state, and an abnormality can be reported to the outside.

(3) Effects of the present embodiment

As described above, in the present embodiment, when the door opening safety obstacle sensing unit 124 is activated during the door opening operation during safety obstacle sensing, the door control unit 120 performs the door closing operation during safety obstacle sensing. When the safety obstacle sensing portion 112 is activated during door closing, the door control portion 120 performs the door opening action during safety obstacle sensing, so even after the door closing safety device is activated, it may be pulled into the door cover Even in the presence of an object that may be caught by the door leaf after the safety device at the time of opening the door is activated, the door leaf can be operated more safely.

In addition, the present invention includes a safety obstacle sensing counting unit 122 that counts the number of times the safety obstacle sensing unit 124 is activated when the door is opened or the safety obstacle sensing unit 112 is activated when the door is closed, and when the count value is a threshold value When the door opening or closing operation is completed, even if the object caught by the door leaf 110 when the door is closed and the object pulled into the door cover when the door is opened cannot move, or the safety obstacle sensing unit has a malfunction, etc. Even in this case, the door opening operation and the door closing operation are not repeatedly repeated, and the elevator apparatus 100 can be appropriately returned to the normal state.

In addition, the present invention includes a safety obstacle sensing counting unit 122 that counts the number of times the safety obstacle sensing unit 124 is activated when the door is opened or the safety obstacle sensing unit 112 is activated when the door is closed, and when the count value is a threshold value In addition, in the case of the torque invalidation mode during safety obstacle sensing, the door opening and closing force that does not provide a torque for opening and closing the door can be invalidated. Both of the objects pulled into the door cover cannot move, and the door leaf 110 can be opened and closed manually. Therefore, objects that interfere with the opening and closing of the door can be removed more safely. In addition, even when the door opening safety obstacle sensing unit 124 and the door closing safety obstacle sensing unit 112 operate at the same time, the door opening and closing force can be invalidated, and in this case, even if the door is caught by the door leaf 110 when the door is closed Both the objects that are in the door and the objects that are pulled into the door cover when the door is opened cannot move, and objects can be safely removed.

In addition, the door-opening action at the time of the safety obstacle sensing is a lower-speed door-opening action than the normal door-opening action, and the door-closing action at the time of the safety-obstruction sensing is a lower-speed door-closing action than the normal door-closing action case, the cause of the safety obstacle sensing can be more safely ruled out.

(4) Other Embodiments

In addition, in the above-described embodiment, the safety obstacle sensing and counting unit 122 is provided, and the door opening and closing force nulling function that does not provide the moment for opening and closing the door is provided, but it may not have both of them or structure of either. For example, in the sequence diagram of FIG. 5, the structure which does not have both the safety obstacle detection counting part and the function of invalidating the door opening and closing force is shown. According to the sequence diagram, the door control unit 120 first confirms in step S2 whether the door opening operation is in progress, and when the door opening operation is in progress, confirms whether the door opening safety obstacle sensing unit 124 is activated (step S3 ). When the safety obstacle sensing unit 124 is not activated when the door is opened, the door is opened (step S8), and when it becomes the operation during the safety obstacle detection, it is switched to the normal speed, that is, the normal operation (step S9). and end processing. When the safety obstacle sensing unit 124 is activated at the time of opening the door, the door motor 130 is controlled so that the movement direction of the door leaf is reversed, and the door closing operation at a lower speed than the normal time, that is, the door closing operation during safety obstacle sensing ( step S6), and return to step S2.

When it is determined in step S2 that the door opening operation is not in progress, the process proceeds to step S13, and it is checked whether or not the safety obstacle detection unit 112 is activated when the door is closed. When the safety obstacle detection unit 112 is not activated when the door is closed, the door is closed (step S18 ), and when the operation during the safety obstacle detection is performed, it is switched to the normal speed, that is, the normal operation (step S9 ), and end processing. When the safety obstacle sensing unit 112 is activated when the door is closed, the door motor 130 is controlled so that the movement direction of the door leaf is reversed, and the door opening operation is performed at a lower speed than normal, that is, the door opening operation during safety obstacle sensing ( step S16), and return to step S2.

When the processing of the door control unit 120 is set as such, even if there is an object that may be pulled into the door cover after the safety device at the time of closing the door is activated, or after the safety device at the time of opening the door is activated, it may be caught by the door leaf Even in the presence of a living object, the door can be operated more safely. In addition, any one or more of the following functions may be provided in the control sequence of FIG. 5 : when the door opening safety obstacle sensing unit 124 and the door closing safety obstacle sensing unit 112 act simultaneously, the door opening and closing force is invalid. function; the function of continuing the door opening or closing operation when the count value of the safety obstacle detection counting unit 122 reaches the threshold value; and the function of invalidating the door opening and closing force when the count value of the safety obstacle sensing counting unit 122 reaches the threshold value .

Industrial Availability

The present invention can be applied to an elevator apparatus installed in a building.

Claims (5)

1. a kind of lift appliance carries out the opening and closing of door in stop-layer, which is characterized in that have:

Safety obstacle detecting part at closing time, in the presence for the object that sensing is clipped by door at closing time；

Safety obstacle detecting part when enabling, when opening the door, sensing is pulled into the presence of the object of door pocket；

Safety obstacle senses count section, safety obstacle detecting part and the safety obstacle detecting part at closing time in the enabling In any one starting in the case where, the number of starting is counted；And

Door control unit, door opening action when carrying out safety obstacle sensing in the detecting part of safety obstacle at closing time starting, Shutdown movement when safety obstacle sensing is carried out when safety obstacle detecting part starts when the enabling,

The safety obstacle sensing when door opening action during the enabling when safety obstacle detecting part start when, the door Control unit carries out shutdown movement when safety obstacle sensing,

When safety obstacle detecting part starts at closing time described in shutdown action process in safety obstacle sensing, the door Control unit carries out door opening action when safety obstacle sensing,

It is threshold value in the count value of safety obstacle sensing count section in the detecting part of safety obstacle at closing time starting In the case of, door opening action when the door control unit is sensed without the safety obstacle and continue the safety obstacle sense Shutdown movement when survey, completes to close the door,

It is threshold value in the count value of the safety obstacle sensing count section when in the enabling, safety obstacle detecting part starts In the case of, the shutdown when door control unit is sensed without the safety obstacle acts and continues the safety obstacle sense Door opening action when survey is completed to open the door.

2. lift appliance according to claim 1, which is characterized in that

When in the detecting part of safety obstacle at closing time or the enabling, safety obstacle detecting part starts, the safety obstacle sense The count value for surveying count section is the threshold value and is door control when safety obstacle senses in the case where torque invalid mode Portion is not provided the control of the torque of enabling and shutdown.

3. lift appliance according to claim 1 or 2, which is characterized in that

Door control unit safety obstacle detecting part when being judged as the safety obstacle detecting part at closing time and the enabling In the case where simultaneously operation, the control of the torque of enabling and shutdown is not provided.

4. lift appliance according to claim 1 or 2, which is characterized in that

The door opening action when safety obstacle senses is the door opening action of the lower speed compared with common door opening action,

Shutdown movement when the safety obstacle senses is the shutdown movement of the lower speed compared with common shutdown movement.

5. a kind of control method of lift appliance, which is characterized in that

When being sensed at closing time in the presence of the object being clipped by door, safety obstacle sensing number is counted, and carry out safety Door opening action when obstacle senses,

When sensed when opening the door in the presence of the object for being drawn into door pocket, safety obstacle sensing number is counted, and is pacified Shutdown movement when full obstacle sensing,

The safety obstacle sensing when door opening action during sense in the presence of be drawn into the door pocket object when, carry out Shutdown movement when the safety obstacle senses,

When sensing in the shutdown action process in safety obstacle sensing in the presence of the object clamped by the door, institute is carried out Door opening action when safety obstacle sensing is stated,

It is threshold value in the count value of safety obstacle sensing number when being sensed at closing time in the presence of the object being clipped by door In the case of, door opening action when without safety obstacle sensing and shutdown when continuing safety obstacle sensing is dynamic Make, complete to close the door,

It is threshold value in the count value of the safety obstacle sensing number when sensed when opening the door in the presence of the object for being drawn into door pocket In the case where, shutdown when without safety obstacle sensing acts and continues the enabling when safety obstacle senses Movement is completed to open the door.