JPH07110754B2 - Control device for elevator doors - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator door control device, and more particularly to an elevator door control device that limits a torque of a motor that drives an elevator door. .

[Prior Art] FIG. 4 is a schematic configuration diagram showing a conventional drive mechanism for an elevator door.

In FIG. 4, 1 is a door of an elevator, 2 is a motor which is a drive source of this door 1, 3 is a drive pulley which rotates integrally with the rotating shaft of the motor 2, 4 and 5 are reduction pulleys, and 6 is a reduction pulley 5. A secondary pulley arranged in a horizontal position, a driving belt 7 for driving force transmission mounted on the driving pulley 3 and the reduction pulley 4, and a driving belt 8 for driving force transmission mounted on the reduction pulley 5 and the reduction pulley 4. It is a belt. The door 1 is attached to the drive belt 8, and the drive belt 8 and the door 1 move integrally. Further, usually, these drive belts 7 and 8 are belts having no teeth in order to prevent generation of noise due to tooth crossing. Through the drive belts 7 and 8 and the reduction pulleys 4 and 5, the rotational force of the motor 2 is appropriately reduced to open and close the door 1 at an appropriate speed.

FIG. 5 is a block diagram showing a conventional elevator door control device.

In FIG. 5, 11 is a door position detector that detects the position of the door 1, 12 is a speed command generation circuit that generates a command of the opening / closing speed of the door 1 based on the command of the door position detector 11, 13 is a speed command generation A differential amplifier that calculates the deviation between the output of the circuit 12 and the tachometer 16, 14 is a limiter that limits the torque of the motor 2 according to both signals from the differential amplifier 13 and the door position detector 11, and 15 is a signal of the limiter 14. Amplifier that amplifies and transmits to the motor 2,
Reference numeral 16 is a tachometer for detecting the rotation speed of the motor 2.

As described above, this type of elevator door control device has the torque limiting means for limiting the torque of the motor 2 that drives the elevator door 1 according to the position of the door 1.

Next, a torque limiting operation of the motor 2 by the elevator door control device will be described.

FIG. 6 (a) is a characteristic diagram showing the relationship between the output of the speed command generation circuit of the elevator door control device of FIG. 5 and time, and FIG. 6 (b) is also the limit value of the limiter. It is a characteristic view which shows the relationship with time. 6 (a) and 6 (b) both show the case of the door closing operation.

In (a) of FIG. 6, the output of the speed command generating circuit 12 is from the fully open position of the door to the vicinity of the central position (to the A position),
A constant high speed command is issued. Then, the speed command is gradually decelerated as the position A approaches the position near the fully closed position (C position), and finally becomes a constant low speed command. The change in the speed command is configured to shift relatively smoothly by smoothing using a capacitor or the like.

On the other hand, in FIG. 6B, the limit value of the limiter 14 is a relatively small limit value near the fully open position of the door (between the fully open position and the B position). This is to suppress the start shock of the door 1 caused by applying a large torque, which is suppressed. However, at the central position (between position B and position C), the fixed limit value is a considerably large value due to the necessity of acceleration. Then, in the vicinity of the fully closed position (between the C position and the fully closed position), in order to prevent an excessive force from acting on the hand even if the passenger's hand is caught in the door 1,
It is a small limit value that is suppressed to the required minimum. In the torque suppression region near the fully closed position (between the C position and the fully closed position), passengers can easily pry open the door 1 due to mischief or the like, and it is extremely dangerous while the elevator is traveling.
The distance from the position to the fully closed position is extremely narrow.

Here, the prying-open operation of the elevator door by a mischief such as a passenger will be described.

FIG. 7 (a) is a characteristic diagram showing the relationship between anti-pry opening force of the elevator door control device of FIG. 5 and time during prying operation, and FIG. 7 (b) is also the output of the limiter. It is a characteristic view which shows the relationship between time and.

In FIG. 7 (a), the anti-pry opening force produces a small reaction force in the low torque region up to the C position near the fully closed position, but a large reaction force occurs in the high torque region after the C position. . And the change of the reaction force from this C position is
Due to the inertia of a small reaction force in the low torque range, the torque smoothly changes with a predetermined time interval.

On the other hand, in FIG. 7 (b), the output from the limiter 14 is a small output up to the C position near the fully closed position because it is in the low torque range, but after the C position it is a high torque range and becomes a large output. . Then, the change in the output from the C position changes abruptly in steps corresponding to the door closing operation of FIG. 6 (b).

As described above, in the elevator door control device of this type, in the case of the prying operation of the elevator door, the change in the anti-plucking force does not match the change in the output of the limiter 14.

It should be noted that the motor 2 has been conventionally used according to the door position of the elevator door.
The torque and the speed of the door 1 are appropriately changed to reduce the door stop sound and vibration. As an example of this, there is a technique described in JP-A-56-122782.

[Problems to be Solved by the Invention] In the conventional elevator door control device as described above, the door 1
The limit of the torque of the motor 2 for driving the door 1 is controlled by the limit value which is the output of the limiter 14 in accordance with the position of. Then, the change of the limit value of the limiter 14 is in a so-called step change state having a sharp step.

Therefore, for example, in the door closing operation, a wobbling phenomenon of the door 1 occurred at the torque change position, and the door 1 could not be opened and closed smoothly. Further, in the prying operation of the door 1 due to mischief or the like, the change of the torque is large, and further, the change of the anti-plucking force and the change of the output of the limiter 14 do not match at the changing position of the torque. A slip occurred on 8th magnitude. In particular, if the tensions of the drive belts 7 and 8 were low, the slip phenomenon continued for a long time, and the drive belts 7 and 8 were burned.

On the other hand, as a prior art, there is a technique described in JP-A-1-92191.

This kind of technology only works when the door drive load increases.
The door motor drive torque was increased to ensure the proper opening and closing of the door, and the increase in the door drive load prevented the elevator from becoming inoperable or causing a door failure. The present invention relates to an elevator door control device.

However, in this type of elevator door control device, when the elevator door is pry open, the torque changes greatly,
The belt slips, the door can be easily opened, the elevator stops in an emergency, and the elevator car can exit the hoistway, which is very dangerous.

Therefore, an object of the present invention is to provide an elevator door control device that is highly safe in that it suppresses door wobbling and prevents slippage of the drive belt and the like.

[Means for Solving the Problems] An elevator door control device according to the invention of claim 1 is a torque limiting means for limiting a torque of a motor for driving an elevator door according to a position of the door, and the torque limiting means. And a gradual control means for changing the change of the torque limit of the motor by the means with a predetermined time constant.

In the elevator door control device according to the invention of claim 2, the gradual control means changes the torque limit of the motor by giving a predetermined time constant corresponding to the prying force of the door according to the position of the door. It is what makes me.

[Operation] In the elevator door control device according to the invention of claim 1,
The torque limiting means limits the torque of the motor for driving the elevator door according to the position of the door, and the gradual control means smoothly changes the torque limitation for a predetermined time corresponding to the door position. Since this is done, a sudden change in the torque limit of the motor that drives the door is alleviated and a smooth change state is achieved. Therefore, in the opening / closing operation of the door, the door wobbling phenomenon does not occur at the torque change position.

Further, in the elevator door control apparatus according to the invention of claim 2, the torque limit by the gradual control means is changed smoothly by taking a predetermined time corresponding to the prying force of the door. Even in the operation, the change in the anti-prying force and the change in the output of the limiter substantially match at the torque change position, and the drive belt or the like does not slip.

[Embodiment] FIG. 1 is a block diagram showing an elevator door control apparatus according to an embodiment of the present invention. 2 and 11 to 16 in the figure
Is the same as or corresponds to the constituent part of the above-mentioned conventional example, and therefore, the duplicate description is omitted here.

In the figure, 20 is a limiter control circuit for smoothly controlling the change of the limit value of the limiter 14 with a predetermined time constant, and more specifically, a voltage limiter of the limiter 14 is controlled by a CR time constant circuit or the like. It is a circuit that smooths the step change with a predetermined time constant. In this embodiment, the limiter control circuit 20
Other than that, the configuration is the same as that of the conventional example, and the torque of the motor 2 for driving the door 1 of the elevator, which is the same as the conventional example, is applied to the door
It has a torque limiting means for limiting the position depending on the position.

Further, in this embodiment, the signal from the door position detector 11 is input to the limiter 14 via the limiter control circuit 20. Therefore, the change of the limit value of the limiter 14 is smoothed by the predetermined time constant. The limiter control circuit 20 that smoothly changes the torque limitation of the motor 2 by the torque limiting means with a predetermined time constant constitutes the gradual control means of this embodiment.

In the elevator door control device configured as described above, a sudden change in the torque limit of the motor 2 that drives the door 1 is alleviated and a smooth opening / closing operation is realized. Since the structure of the drive mechanism for the elevator door of this embodiment is the same as that of the conventional example (see FIG. 4), its explanation is omitted here.

Next, the torque limiting operation of the motor 2 by the elevator door control apparatus of this embodiment will be described. 2 (a) is a characteristic diagram showing the relationship between the output of the speed command generating circuit of the elevator door control device of FIG. 1 and time.
FIG. 6B is a characteristic diagram showing the relationship between the limiter limit value and time. Both (a) and (b) of FIG. 2 show the case of the door closing operation. The output of the speed command generating circuit 12 of FIG. 2 (a) is the same as that of the conventional example of FIG. 6 (a), and therefore its explanation is omitted here.

In FIG. 2B, the limit value of the limiter 14 is a relatively small limit value in the vicinity of the fully open position of the door (between the fully open position and the B position) as in the conventional example. Further, at the central position, as in the conventional example, due to the necessity of acceleration, the fixed limit value is a considerably large value. However, the changing state of the limit value is different from the conventional one. That is, a predetermined time (B
Ascend smoothly from position B1 to position B). Then, in the vicinity of the fully closed position (between the C position and the fully closed position), a small limit value is suppressed to a necessary minimum as in the conventional example, but the change state of the limit value is also different from the conventional one. To do. In other words, this change also takes time (C
From the position to the fully closed position) descends smoothly.

As described above, in this embodiment, the change of the rising and falling of the limit value of the limiter 14 is smooth, and the limiter control circuit 20
Is input to the limiter 14 via. Therefore, the change of the limit value of the limiter 14 is smoothed by a predetermined time constant, and the door 1 is placed at a position where the torque that is conventionally generated suddenly changes.
The phenomenon of flicker disappears. Therefore, the opening / closing operation of the door 1 becomes smooth.

Further, here, the prying operation of the elevator door by the mischief of passengers will be described.

FIG. 3 (a) is a characteristic diagram showing the relationship between anti-pry opening force of the elevator door control device of FIG. 1 and time during prying operation, and FIG. 3 (b) is also the output of the limiter. It is a characteristic view which shows the relationship between time and.

As shown in (a) of FIG. 3, due to the limit value of the limiter 14, the anti-pry opening force is a small reaction force up to the C position near the fully closed position because it is in a low torque range, but after the C position, It becomes a high torque region and a large reaction force is generated. Then, the change of the reaction force from the C position is caused by the limiter control circuit.
With a time constant of 20, it rises smoothly with a certain time interval.

On the other hand, as shown in FIG. 3 (b), the output from the limiter 14 is a small output as in the conventional case because it is in the low torque range up to the C position near the fully closed position. Then, after the C position, the torque is in the high torque range and the output is large. The change in the output from the C position smoothly rises over a predetermined time by the time constant of the limiter control circuit 20 set corresponding to the door closing operation of FIG. 2 (b).

At this time, depending on the setting of the time constant of the limiter control circuit 20, in response to the door opening operation and the door closing operation, the rise of the output from the limiter 14 and the rise of the anti-pry opening force are temporally about 0.1 seconds. Differences may occur. However, since the torque rises earlier than the passenger's prying operation, this difference does not hinder.

As described above, in this embodiment, even if the door 1 is opened by prying due to mischief or the like, the torque limiting means and the gradual control means alleviate the abrupt change in the torque limitation of the motor 2 for driving the door 1. The anti-pry opening force follows the pry opening force, and the change in the anti-pry opening force and the change in the output of the limiter 14 substantially match. Therefore, the slip phenomenon of the drive belts 7 and 8 does not occur. Therefore, burning of the drive belts 7 and 8 does not occur.

As described above, in the elevator door control apparatus according to this embodiment, the torque limiting means and the gradual control means alleviate an abrupt change in the torque limit of the motor 2 that drives the door 1, resulting in a smooth change state. In the case of the door closing operation, the wobbling phenomenon of the door 1 does not occur at the torque change position, and the opening / closing operation of the door 1 becomes smooth.

Further, even when the door 1 is pry open by mischief or the like, the change of the anti-pry open force and the limiter 14 are caused at this torque change position.
Since the drive belts 7, 8 and the like do not slip because the changes in the output of the drive belts 7 and 8 substantially coincide with each other, burnout of the drive belts 7, 8 does not occur, and efficient and highly safe control is possible.

By the way, although the door closing operation is described as an example of the normal opening / closing operation in the above-described embodiment, the same control is possible even in the case of the door opening operation, and the same effect is obtained.

[Advantages of the Invention] As described above, the control device for an elevator door according to the invention of claim 1 limits the torque of the motor for driving the elevator door according to the position of the door, and the torque limiting means. And a gradual control means for performing a change of the motor torque limit by a means with a predetermined time constant corresponding to the position of the door, the gradual control means controlling the torque of the motor for driving the door. The abrupt change of the limit is moderated by the time constant of the gradual control means, and becomes a smooth change state. Therefore, in the case of the prying operation of the elevator door, there is little change in the torque, the belt does not slip, it is difficult to prune the door, the elevator is stopped in an emergency, and it is possible to go out from the elevator car to the hoistway. It is difficult. Therefore, in the case of the door closing operation, the door wobbling phenomenon does not occur at the torque change position, and the door opening / closing operation becomes smooth.

In the elevator door control apparatus according to the invention of claim 2, in the case of the door prying operation, the gradual control means changes the torque limit of the motor with a predetermined time constant corresponding to the prying force of the door. In addition, since the change in the anti-prying force and the change in the output value of the limiter substantially match at the torque change position and the drive belt does not slip, the drive belt does not burn and the control is efficient and highly safe. You can Therefore, in the case of prying operation of the elevator door, there is little change in torque, the belt does not slip, it is difficult to prune the door, the elevator is stopped in an emergency, and it is possible to go out from the elevator car to the hoistway. It is difficult.

[Brief description of drawings]

FIG. 1 is a block diagram showing an elevator door control apparatus according to an embodiment of the present invention, and FIG. 2 is a characteristic showing a relationship between an output of a speed command generating circuit of the elevator door control apparatus shown in FIG. 1 and time. FIG. 3 is a characteristic diagram showing the relationship between the limiter limit value and time, and FIG. 3 is a characteristic diagram showing the relationship between anti-pry opening force and time of the elevator door control device of FIG. 1 during prying operation. FIG. 4 is a characteristic diagram showing the relationship between the output of the limiter and time, FIG. 4 is a schematic configuration diagram showing the drive mechanism of the elevator door of the embodiment of the present invention and the conventional example, and FIG. 5 is a conventional elevator door control device. Block diagram, FIG. 6 is a characteristic diagram showing the relationship between the output of the speed command generating circuit of the elevator door control device of FIG. 5 and time, and a characteristic diagram showing the relationship between the limiter limit value and time. Fig. 5 of Fig. 5 during prying operation Elevators is a characteristic diagram showing the relationship between the output and the time of anti-pry force and characteristic diagram and also a limiter showing the relationship between time and the door control device. In the figure, 1: door and 2: motor. In the drawings, the same reference numerals and symbols indicate the same or corresponding parts.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masanori Tawada 1 Hishimachi, Inazawa City, Aichi Prefecture Mitsubishi Electric Co., Ltd. (72) Inventor Tatsuji Takahashi 1 Hishimachi, Inazawa City, Aichi Mitsubishi Electric Corporation Inazawa Plant (72) Inventor Toshiyuki Kodera 1 Hishimachi, Inazawa City, Aichi Mitsubishi Electric Engineering Co., Ltd. Inazawa Plant (56) Reference JP-A-58-212581 (JP, A) JP-A-1-139489 ( JP, A) JP-A-1-92191 (JP, A)

Claims (2)

[Claims] 1. A torque limiting means for limiting the torque of a motor for driving an elevator door in accordance with the position of the door, and a change in the limitation of the torque of the motor by the torque limiting means corresponding to the position of the door. An elevator door control device, comprising: a gradual control means that is operated with a predetermined time constant. 2. A torque limiting means for limiting the torque of a motor for driving an elevator door according to the position of the door, and a change of the limitation of the torque of the motor by the torque limiting means depending on the position of the door. And a gradual control means for changing the door with a predetermined time constant corresponding to the prying force of the door.