Elevator door device

Abstract

Provided is an elevator door device that can detect a position serving as a reference for the absolute position of a door while suppressing the occurrence of a detection time lag without using a dedicated device for detecting the absolute position of the door. 【Solution means】The elevator door device includes a motor, a rotation angle sensor, a speed command unit that outputs a rotation speed command value for the motor, a speed control unit that calculates a torque command value so that the rotation speed of the motor matches the rotation speed command value, a door position detection unit that detects the position of the door based on the rotation angle, and load torque application means that applies a mechanical load torque to the motor when the door during opening / closing movement passes through a preset reference position between the fully open position and the fully closed position. The door position detection unit specifies a reference rotation angle, which is the rotation angle when the door is at the reference position, based on a change in the torque command value corresponding to the load torque, and detects the absolute position of the door based on the specified reference rotation angle and the rotation angle.

Description

Technical Field

[0001] The present disclosure relates to an elevator door device.

Background Art

[0002] When the door control device is in the fully closed state, the car door is operated in the door opening direction at a door speed lower than the reference speed. When the door speed becomes zero and the door drive unit detects a state of torque saturation, the position is defined as the door open end position. When the door control device is in the fully open state, the car door is operated in the door closing direction at a door speed lower than the reference speed. When the door speed becomes zero and the door drive unit detects a state of torque saturation, the position is defined as the door closed end position (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the elevator door device as shown in Patent Document 1, unless the door is further pressed in the fully open state or the fully closed state and the door drive unit reaches a state of torque saturation, the fully open position or the fully closed position of the door cannot be detected. For this reason, a time lag occurs from when the door reaches the fully open position or the fully closed position until this is detected. Also, since the door cannot be pressed at positions between the fully closed position and the fully open position, the absolute position of the door cannot be detected.

[0005] The present disclosure has been made to solve such problems. The object is to provide an elevator door device that can detect a position serving as a reference for the absolute position of a door without using a dedicated sensor, a device such as a switch, etc. for detecting the absolute position of the door, and can suppress the occurrence of a time lag in this detection.

Means for Solving the Problems

[0006] The elevator door device according to the present disclosure includes a motor that drives the opening and closing of an elevator door, a rotation angle sensor that detects the rotation angle of the motor, a speed command unit that outputs a rotation speed command value of the motor, a speed control unit that calculates a torque command value so that the rotation speed of the motor matches the rotation speed command value output from the speed command unit, a door position detection unit that detects the position of the door based on the rotation angle, and load torque applying means that applies a mechanical load torque to the motor when the door during opening and closing movement passes through a preset reference position between the fully open position and the fully closed position. The door position detection unit specifies a reference rotation angle, which is the rotation angle when the door is at the reference position, based on a change in the torque command value corresponding to the load torque, and detects the absolute position of the door based on the specified reference rotation angle and the rotation angle.

Effects of the Invention

[0007] According to the elevator door device according to the present disclosure, it is possible to detect a position serving as a reference for the absolute position of the door without using a dedicated sensor, a device such as a switch, etc. for detecting the absolute position of the door, and it is possible to suppress the occurrence of a time lag in this detection.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0009] A mode for implementing the elevator door apparatus according to the present disclosure will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and overlapping descriptions are appropriately simplified or omitted. In the following description, for convenience, the positional relationship of each structure may be expressed based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and within the scope not departing from the gist of the present disclosure, a free combination of each embodiment, a modification of any component of each embodiment, or an omission of any component of each embodiment is possible.

[0010] Embodiment 1. Referring to FIGS. 1 to 9, Embodiment 1 of the present disclosure will be described. FIG. 1 is a diagram showing the overall configuration of an elevator door device. FIG. 2 is a diagram showing an example of the speed, torque, torque change amount of a door motor, and the movement amount of a door when the door in the elevator door device opens. FIG. 3 is a flowchart showing an example of the operation of the elevator door device. FIG. 4 is a diagram showing an example of the speed, torque, torque change amount of a door motor, and the movement amount of a door when the door in the first modification of the elevator door device opens. FIG. 5 is a flowchart showing an example of the operation in the first modification of the elevator door device. Each of FIGS. 6 and 7 is a diagram showing an example of the speed, torque, torque change amount of a door motor, and the movement amount of a door when the door in the second modification of the elevator door device opens. FIG. 8 is a flowchart showing an example of the operation in the second modification of the elevator door device. FIG. 9 is a diagram showing an example of a configuration for realizing the functions of the control device of the elevator door device.

[0011] The elevator door device according to this embodiment opens and closes the entrance and exit of the elevator car and the landing. A door device 1 as shown in FIG. 1 is provided in the elevator car (not shown).

[0012] An opening serving as an entrance and exit is provided in the front part of the car. A pair of door panels 6 constituting the car doors are provided at the entrance and exit of the car so as to be openable and closable along a substantially horizontal direction. A door hanger 7 is attached to the upper end of the door panel 6. Door rollers are attached to the upper parts of these door hangers 7. A hanger rail 8 is attached above the entrance and exit of the car. This hanger rail 8 is attached substantially horizontally along the opening and closing direction of the door panel. Door rollers are engaged with the hanger rail 8 so as to be rollable.

[0013] In this way, the pair of left and right door panels 6 are suspended by the hanger rail 8 via the door hanger 7 and the door rollers. Then, as the door rollers are guided by the hanger rail 8 and roll on the hanger rail 8, the left and right door panels 6 open and close the entrance and exit of the car.

[0014] Above the hanger rail 8 in the car, a door motor 3 is arranged. The door motor 3 is a motor that drives the opening and closing of the elevator door. This door motor 3 is arranged on one side along the opening and closing direction of the door panel 6 above the hanger rail 8. One of a pair of left and right pulleys is fixed to the drive shaft of the door motor 3. Also, the other of the pair of left and right pulleys is attached to the other side along the opening and closing direction of the door panel 6 above the hanger rail 8. Among the pair of left and right pulleys, the one fixed to the drive shaft of the door motor 3 is the drive pulley. Also, the other pulley is the driven pulley.

[0015] An endless loop-shaped drive belt 5 is wound between these pair of pulleys. In this way, a winding transmission mechanism is configured in which the rotational drive of the door motor 3 is transmitted to the circulating movement of the drive belt 5. In such a winding transmission mechanism, the upper drive belt 5 and the lower drive belt 5 in the loop shape move in opposite directions to each other due to the rotation of the door motor 3.

[0016] At the upper end of the door hanger 7 of each door panel 6, a belt gripper 11 is attached. The belt gripper 11 provided on one of the pair of left and right door panels 6 is locked to one of the upper and lower sides of the drive belt 5 wound between the pulleys. Also, the belt gripper 11 provided on the other of the pair of left and right door panels 6 is locked to the other of the upper and lower sides of the drive belt 5 wound between the pulleys. With such a configuration, the forward and reverse rotational drives of the door motor 3 are converted into the circulating movement of the drive belt 5 in both directions, and the pair of left and right door panels 6 move in opposite directions to each other to open and close the entrance and exit of the car.

[0017] At the lower front part of the car, a threshold 9 that forms the lower edge of the entrance of the car is attached. The threshold 9 forms the lower edge of the entrance of the car. The threshold 9 is attached substantially horizontally along the opening and closing direction of the door panel 6. The threshold 9 is provided with guide grooves longitudinally. At the lower ends of the pair of left and right door panels, door guide shoes (not shown) are attached. These door guide shoes are slidably engaged in the guide grooves of the threshold 9. Also, at the upper front part of the car, a cross member 10 is provided. The door motor 3, the driven pulley, and the hanger rail 8 are attached to the cross member 10.

[0018] On the floor where the car stops, a landing is provided. An opening, which is an entrance, is provided in the wall portion between the landing and the hoistway. The entrance of this landing is provided at a position facing the entrance of the car stopped on the floor of this landing. A pair of landing doors is provided at the entrance of this landing so as to be openable and closable substantially along the horizontal direction.

[0019] On the hoistway side surface of each door panel 6 and the hoistway side surface of the door panel of the landing door, a connecting device (not shown) is provided. This connecting device is composed of, for example, a car side roller and a landing side plate. The car side roller is a roller attached to the tip of a rod-shaped member protruding toward the hoistway side on the hoistway side surface of the door panel 6. The landing side plate is a pair of plates protruding toward the hoistway side on the hoistway side surface of the door panel of the landing door. The car side roller and the landing side plate are arranged at positions facing each other when the car stops on the floor.

[0020] When the car stops on the floor, the car side roller and the landing side plate of the connecting device engage with each other, and the door panel 6 and the door panel of the landing door are mechanically connected. Then, when the door panel 6 is opened and closed by the power of the door motor 3, the door panel and the door panel of the landing door are interlocked and opened and closed integrally.

[0021] In the configuration example described here, the door device 1 is a double-opening door, but the form of the door device 1 is not limited to this. The door device 1 may be of any form such as a single-opening door, for example. Also, the components of the door device 1 are not limited to those described above.

[0022] The door motor 3 is, for example, a permanent magnet synchronous motor that is rotationally driven by three-phase alternating current. The rotational position θ, rotational speed, rotational torque, etc. of the door motor 3 are controlled by the electric power supplied to the door motor 3. Note that in the elevator door device according to the present disclosure, the door motor 3 may be an induction motor or another type of electric motor instead of a permanent magnet synchronous motor.

[0023] The door motor 3 is provided with a rotation sensor 4. The rotation sensor 4 detects the rotational position θ of the door motor 3. An encoder or a resolver can be used as the rotation sensor 4. Other types of rotation sensors may be employed as the rotation sensor 4. The information on the rotational position θ detected by the rotation sensor 4 is used for controlling the rotational position and rotational speed of the door motor 3 and as a control reference for current, etc. Note that in the present disclosure, the rotational position θ of the door motor 3 is also referred to as the rotation angle of the door motor 3.

[0024] The elevator door device according to the present disclosure includes a control device 2. The control device 2 controls the operation of the door motor 3, etc. As shown in FIG. 1, the control device 2 includes a speed command unit 13, a speed control unit 14, a current control unit 15, a power converter 16, a current sensor 17, a speed calculation unit 18, a door position detection unit 19, and a storage unit 20.

[0025] The rotational position θ of the door motor 3 detected by the rotation sensor 4 is input to the speed calculation unit 18. The speed calculation unit 18 calculates the rotational speed of the door motor 3 by differentiating the rotational position θ of the door motor 3 with respect to time.

[0026] The speed command unit 13 generates an opening / closing speed command for the door panel 6. The speed command value generated by the speed command unit 13 is output to the speed control unit 14. Here, the opening / closing speed command for the door panel 6 can be rephrased as a rotation speed command for the door motor 3. Therefore, the speed command unit 13 outputs a rotation speed command value for the door motor 3.

[0027] The speed control unit 14 receives a difference value between the speed command value of the door motor 3 output from the speed command unit 13 and the actual rotation speed of the door motor 3 calculated by the speed calculation unit 18. The speed control unit 14 calculates a torque command value so that the rotation speed of the door motor 3 matches the rotation speed command value output from the speed command unit 13. The torque command value generated by the speed control unit 14 is output to the current control unit 15.

[0028] Note that the speed control unit 14 may generate and output a current command value for the door motor 3 instead of the torque command value of the door motor 3. By multiplying the current value of the door motor 3 by the torque constant, the torque value of the door motor 3 can be calculated. That is, the torque of the door motor 3 is in a proportional relationship with the current flowing through the door motor 3. For this reason, the current command value can be treated as substantially the same as the torque command value. Based on this, in the present disclosure, the current command value may also be included in the torque command value.

[0029] The current sensor 17 is a sensor that detects the current value flowing through the door motor 3. The current control unit 15 determines the drive voltage of the door motor 3 based on the command value output from the speed control unit 14 and the current value of the door motor 3 detected by the current sensor 17, and calculates a command value for the voltage to be applied to the door motor 3. The voltage command value calculated by the current control unit 15 is output to the power converter 16.

[0030] For example, the current control unit 15 calculates a torque value by multiplying the current value of the door motor 3 detected by the current sensor 17 by the torque constant. Then, based on the difference between the torque command value output from the speed control unit 14 and the torque value calculated by multiplying the detected current value by the torque constant, the current control unit 15 determines the drive voltage of the door motor 3 so that the torque value calculated from the detected current value matches the torque command value.

[0031] Alternatively, the current control unit 15 converts the torque command value output from the speed control unit 14 into a current command value. This conversion can be performed by obtaining the current value required to generate the torque indicated by the torque command value. That is, the current command value can be calculated by dividing the torque command value by the torque constant. Then, based on the difference between the current command value converted from the torque command value and the current value detected by the current sensor 17, the current control unit 15 determines the drive voltage of the door motor 3 so that the detected current value matches the current command value. When the speed control unit 14 outputs a current command value, the current control unit 15 determines the drive voltage of the door motor 3 based on the difference between the current command value output from the speed control unit 14 and the current value detected by the current sensor 17 so that the detected current value matches the current command value.

[0032] The power converter 16 is an amplifier that applies a voltage to the door motor 3 according to the voltage command output from the current control unit 15. As the power converter 16, for example, a PWM (Pulse Width Modulation) inverter can be used.

[0033] The rotational position θ of the door motor 3 detected by the rotation sensor 4 is also input to the door position detection unit 19. The door position detection unit 19 detects the movement amount and position of the door panel 6, that is, the movement amount and position of the door, based on the rotational position θ of the door motor 3. The door position detection unit 19 may further use the command value output from the speed control unit 14 to detect the movement amount and position of the door.

[0034] Here, the position of the door in the present disclosure refers to the position of the door (door panel 6) when the door is in a state between the fully closed state and the fully open state. Specifically, for example, in the case of a double-opening door with an entrance / exit width of 1000 mm, the left and right door panels 6 each move 500 mm from the fully closed state to the fully open state. In this case, assuming the fully closed position is 0 mm and the fully open position is 500 mm, the door position detected by the door position detection unit 19 is a value in the range from 0 mm to 500 mm.

[0035] The elevator door device according to this embodiment further includes a load applying unit 12. The load applying unit 12 is a load torque applying means that applies a mechanical load torque to the door motor 3 when the door during opening and closing movement passes through a reference position. The reference position is predetermined between the fully open position and the fully closed position.

[0036] The load applying unit 12 physically contacts a component of the door device that is displaced during the opening and closing of the door, thereby becoming a resistance to the displacement of the component. In other words, the load applying unit 12 applies a force in a direction opposite to the displacement direction of the component to the component. That is, the load applying unit 12 applies a force in the door closing direction when the door is opening, and a force in the door opening direction when the door is closing, to the component. And due to the resistance of the load applying unit 12, the torque that the door motor 3 should generate increases.

[0037] In this way, the load applying unit 12 applies a mechanical load torque to the door motor 3. And the speed control unit 14 changes the torque command value so as to resist the resistance of the load applying unit 12 in order to make the moving speed of the door panel 6 follow the speed command value from the speed command unit 13.

[0038] Next, a specific example of the installation position of the load applying unit 12 will be described. The first example of the installation position of the load applying unit 12 is the threshold 9. In this case, when the door during opening and closing movement passes through the aforementioned reference position, the installation position of the load applying unit 12 on the threshold 9 is adjusted so that the load applying unit 12 contacts the lower part of the door panel 6.

[0039] The second example of the installation position of the load applying unit 12 is the hanger rail 8. In this case, when the door during the opening and closing movement passes through the above-mentioned reference position, the installation position of the load applying unit 12 on the hanger rail 8 is adjusted so that the load applying unit 12 contacts the door hanger 7 or the door roller provided on the door hanger 7.

[0040] The third example of the installation position of the load applying unit 12 is the crossbar 10. In this case, when the door during the opening and closing movement passes through the above-mentioned reference position, the installation position of the load applying unit 12 on the crossbar 10 is adjusted so that the load applying unit 12 contacts the belt gripper 11 or the drive belt 5.

[0041] Note that the installation location of the load applying unit 12 is not limited to the above examples. As long as a load torque can be applied to the door motor 3 during the opening and closing of the door, the load applying unit 12 can be provided at any location of the door device 1. However, in view of the design of the elevator, it is desirable to provide the load applying unit 12 at a location where it is not visible to the user. This is not the case if the load applying unit 12 also serves as a design element.

[0042] The door position detection unit 19 identifies the reference rotation angle based on a change in the torque command value corresponding to the load torque applied to the load applying unit 12. The reference rotation angle is the rotation angle θ of the door motor 3 when the door is in the above-mentioned reference position. The reference rotation angle identified by the door position detection unit 19 is stored in the storage unit 20. Then, the door position detection unit 19 detects the absolute position of the door based on the reference rotation angle thus identified and the rotation angle θ of the door motor 3 detected by the rotation sensor 4.

[0043] Next, an example of the absolute position detection operation of the door by the door position detection unit 19 will be described with reference to FIG. 2. FIG. 2 shows an example of the speed, torque, torque change amount of the door motor 3 when the door opens, and the movement amount of the door. In this example, the above-mentioned reference position is the position immediately before the door panel 6 is fully opened.

[0044] When the door starts to open, the door motor 3 first accelerates the moving speed of the door panel 6. Then, after continuing to open the door at a constant speed, the door motor 3 decelerates the moving speed of the door panel 6. When the door panel 6 reaches the reference position where the load applying unit 12 is installed, a load is applied to the door motor 3, causing a speed change. The speed control unit 14 operates to correct this speed change, resulting in a change in the torque command.

[0045] Here, an offset due to the running resistance of the door panel 6, other mechanical forces, etc. is superimposed on the torque command generated by the speed control unit 14. Therefore, by focusing on the change amount of the torque command, the influence of such an offset superimposed on the torque command can be eliminated. As shown in FIG. 2, when the door panel 6 passes through the reference position where the load applying unit 12 is installed, a sharp change occurs in the torque command.

[0046] The door position detection unit 19 identifies the reference position by detecting this sharp change in the torque command. In this example, the reference position is immediately before the fully open position, but this can be regarded as the fully open position. Therefore, the door position detection unit 19 can detect the fully open position from the change in the torque command.

[0047] The door position detection unit 19 identifies the reference position, for example, based on the magnitude of the change in the torque command. That is, the door position detection unit 19 identifies the rotation angle θ when the change in the torque command value becomes equal to or greater than a preset reference change amount as the reference rotation angle. Then, the identified reference rotation angle is stored in the storage unit 20. In the example described here, with the fully closed state as the reference, that is, the rotation angle θ = 0, the rotation angle θ (movement amount) from the fully closed state is stored as the reference rotation angle corresponding to the fully open position.

[0048] For example, the door position detector 19 may identify the reference rotation angle corresponding to the reference position by detecting the peak of the change amount of the torque command. In this case, when the change amount of the torque command changes from an increase to a decrease, or from a decrease to an increase, the door position detector 19 determines that the door panel 6 has passed the reference position, and identifies the position at that time, that is, the rotation angle θ (movement amount) from the fully closed state as the reference rotation angle (fully open position).

[0049] As can also be seen from FIG. 2, the change in the torque command also occurs due to the acceleration and deceleration of the door motor 3 that is independent of the influence of the load torque applied by the load applying unit 12. In order to prevent the incorrect identification of the reference rotation angle due to such a change in the torque command, the section in which the door position detector 19 identifies the reference position (reference rotation angle) based on the change amount of the torque command may be limited.

[0050] That is, since the entrance / exit width and the reference position of the door device 1 are known, even if the reference rotation angle has not yet been identified, the approximate rotation angle at which the door panel 6 passes the reference position can be known in advance. Therefore, by allowing the door position detector 19 to identify the reference rotation angle based on the change amount of the torque command only in the section including such a rotation angle, it is possible to suppress the incorrect identification of the reference rotation angle.

[0051] For example, when the reference position is set immediately before full open, the reference rotation angle may be identified only in the section 100 mm before full open. Further, for example, in the section where the reference rotation angle is identified, the door motor 3 may be operated at a constant speed so that acceleration and deceleration do not occur. By doing so, it is possible to detect the change in the torque command due to the influence of the load torque applied by the load applying unit 12 in a state where the change in the torque command due to the acceleration and deceleration of the door motor 3 is suppressed. Therefore, it is possible to improve the identification accuracy of the reference rotation angle.

[0052] Next, while referring to the flowchart of FIG. 3, an example of the operation of specifying the reference rotation angle by the elevator door apparatus configured as described above will be described. In the example described here, similar to the example of FIG. 2, it is assumed that the reference position is the fully open position, more precisely, the position immediately before the fully open position. First, in step S001, the door position detector 19 starts measuring the amount of movement from the fully closed position, that is, the rotation angle θ, based on the detection result by the rotation sensor 4. In the subsequent step S002, the door position detector 19 calculates the change amount of the torque command output from the speed control unit 14. After step S002, the door position detector 19 then performs the process of step S003.

[0053] In step S003, the door position detector 19 determines whether or not the rotation angle θ started to be measured in step S001 has entered the section near the fully open position. If the rotation angle θ is not in the section near the fully open position, the door position detector 19 returns to step S001 to continue the process. On the other hand, if the rotation angle θ is in the section near the fully open position, the door position detector 19 then performs the process of step S004.

[0054] In step S004, the door position detector 19 determines whether or not the change amount of the torque command calculated in S002 is equal to or greater than the above-described reference change amount. If the change amount of the torque command is not equal to or greater than the reference change amount, the door position detector 19 returns to step S001 to continue the process. On the other hand, if the change amount of the torque command is equal to or greater than the reference change amount, the door position detector 19 then performs the process of step S005.

[0055] In step S005, the door position detector 19 specifies the amount of movement from the fully closed position started to be measured in step S001 as the fully open position. In other words, the door position detector 19 specifies the rotation angle θ started to be measured in step S001 as the reference rotation angle corresponding to the fully open position. Then, the specified fully open position, that is, the reference rotation angle, is stored in the storage unit 20.

[0056] According to the elevator door device configured as described above, it is possible to detect the position serving as a reference for the absolute position of the door without using dedicated sensors, switches, or other devices for detecting the absolute position of the door. Therefore, devices such as sensors, switches, wiring, and the I / O of the substrate are unnecessary, and the hardware configuration can be simplified. Also, at this time, for example, as in Patent Document 1 above, there is no need to cause torque saturation, so the occurrence of a time lag in this detection can be suppressed. Furthermore, the reference position can be set to any position from the fully closed position to the fully open position, and even at a position between the fully closed position and the fully open position, the position serving as a reference for the absolute position of the door can be detected.

[0057] And once the reference rotation angle can be specified, for example, the speed command unit 13 can generate a speed command using the reference position corresponding to the specified reference rotation angle. As a result, it is possible to quickly detect that the door panel 6 has reached the fully open position, easily switch the control sequence such as switching the control mode from speed control to torque control and entering the pressing operation, and avoid events such as the door panel 6 opening too much and mechanically colliding.

[0058] Next, several modification examples of the elevator door device according to this embodiment will be described. First, with reference to FIGS. 4 and 5, a first modification example of the elevator door device according to this embodiment will be described. In this first modification example, a plurality of load applying units 12 are installed. These plurality of load applying units 12 are arranged at a preset fixed interval. Therefore, the load applying unit 12, which is a load torque applying means, applies a mechanical load torque that varies periodically to the door motor 3 when the door during opening and closing movement passes through the reference position.

[0059] Then, the door position detector 19 specifies the reference rotation angle θ when the fluctuation frequency of the change amount of the torque command value output from the speed control unit 14 becomes the reference frequency. The reference frequency used at this time is preset according to the installation intervals of the plurality of load applying units 12. More precisely, the reference frequency is set according to the speed when the door passes through the reference position. Alternatively, the door position detector 19 may detect that a frequency component is represented in the fluctuation amount of the torque command value output from the speed control unit 14, and specify the rotation angle θ at that time as the reference rotation angle. Here, whether or not a frequency component is represented in the fluctuation amount of the torque command value can be determined, for example, by whether or not a periodic change occurs within a certain time interval in the fluctuation amount of the torque command value.

[0060] FIG. 4 shows an example of the speed, torque, torque change amount of the door motor 3, and the movement amount of the door when the door opens in the first modification of the elevator door apparatus according to this embodiment. In this example, the above-described reference position is the position immediately before the door panel 6 is fully opened.

[0061] When the door starts to open, the door motor 3 first accelerates the moving speed of the door panel 6. Then, after continuing to open the door at a constant speed, the door motor 3 decelerates the moving speed of the door panel 6. When the door panel 6 reaches the reference position where the plurality of load applying units 12 are installed, a periodic speed change occurs due to a load being applied to the door motor 3, and the speed control unit 14 operates to correct this speed change, resulting in a periodic change in the torque command as well. In this first modification, as shown in FIG. 4, when the door panel 6 passes through the reference position where the plurality of load applying units 12 are installed, a sharp and periodic change occurs in the change amount of the torque command.

[0062] The door position detector 19 specifies the reference position by detecting this sharp and periodic change in the change amount of the torque command. In this example, the reference position is immediately before the fully opened position, but this can be regarded as the fully opened position. Therefore, the door position detector 19 can detect the fully opened position from the change in the torque command.

[0063] The door position detector 19 specifies, for example, the rotation angle θ at the time when the fluctuation frequency of the change amount of the torque command value output from the speed controller 14 becomes the aforementioned reference frequency as the reference rotation angle. Alternatively, the door position detector 19 specifies the rotation angle θ at the time when a frequency component appears in the torque command value output from the speed controller 14 as the reference rotation angle. Then, the specified reference rotation angle is stored in the storage unit 20. In the example described here, with the fully closed state as the reference, that is, the rotation angle θ = 0, the rotation angle θ (movement amount) from the fully closed state is stored as the reference rotation angle corresponding to the fully open position. According to such a first modification example, it is possible to improve the detection accuracy of the position serving as the reference for the absolute position of the door without using a dedicated sensor, switch, or other device for detecting the absolute position of the door.

[0064] Next, with reference to the flowchart of FIG. 5, an operation example in the first modification example will be described. In the example described here, similar to the example of FIG. 2, it is assumed that the reference position is the fully open position, more precisely, the position immediately before the fully open position. First, in step S101, the door position detector 19 starts measuring the movement amount from the fully closed position, that is, the rotation angle θ, based on the detection result by the rotation sensor 4. In the subsequent step S102, the door position detector 19 calculates the change amount of the torque command output from the speed controller 14. After step S102, the door position detector 19 then performs the process of step S103.

[0065] In step S103, the door position detector 19 determines whether or not the rotation angle θ started to be measured in step S101 has entered the section near the fully open position. If the rotation angle θ is not in the section near the fully open position, the door position detector 19 returns to step S101 to continue the process. On the other hand, if the rotation angle θ is in the section near the fully open position, the door position detector 19 then performs the process of step S104.

[0066] In step S104, the door position detection unit 19 determines whether a frequency component appears in the change of the torque command calculated in S102. If no frequency component appears in the change amount of the torque command, the door position detection unit 19 returns to step S101 to continue the process. On the other hand, when a frequency component appears in the change amount of the torque command, the door position detection unit 19 then performs the process of step S105.

[0067] In step S105, the door position detection unit 19 specifies the movement amount from the fully closed position where the measurement started in step S101 as the fully open position. In other words, the door position detection unit 19 specifies the rotation angle θ that started being measured in step S101 as the reference rotation angle corresponding to the fully open position. Then, the specified fully open position, that is, the reference rotation angle, is stored in the storage unit 20.

[0068] Next, with reference to FIGS. 6 to 8, a second modification of the elevator door apparatus according to this embodiment will be described. In this second modification, a plurality of reference positions are set. In the example described here, four reference positions from the first to the fourth are set as the reference positions. And a plurality of load applying units 12 are also installed corresponding to the respective reference positions. That is, as the load applying unit 12, a first load applying unit, a second load applying unit, a third load applying unit, and a fourth load applying unit are installed corresponding to the first reference position, the second reference position, the third reference position, and the fourth reference position, respectively. Note that the fourth reference position is the fully open position (more precisely, the position immediately before the fully open position), and the first reference position, the second reference position, and the third reference position are set approximately at equal intervals at intermediate positions from the fully closed position to the fully open position.

[0069] In this way, in this second modification, the load applying unit 12, which is the load torque applying means, applies a mechanical load torque to the door motor 3 when the door during the opening and closing movement passes each of the plurality of reference positions. Then, the door position detection unit 19 specifies a plurality of reference rotation angles based on the change in the torque command value according to the load torque. The specified plurality of reference rotation angles respectively correspond to the plurality of reference positions. Also, the specified plurality of reference rotation angles are stored in the storage unit 20.

[0070] Shown in Fig. 6 is an example of the speed, torque, torque change amount of the door motor 3, and the movement amount of the door when the door opens in the second modification of the elevator door apparatus according to this embodiment.

[0071] When the door starts to open, the door motor 3 first accelerates the moving speed of the door panel 6. Then, after continuing to open the door at a constant speed, the door motor 3 decelerates the moving speed of the door panel 6. When the door panel 6 reaches each reference position where the load applying portion 12 is installed, a load is applied to the door motor 3, causing a speed change. The speed control unit 14 operates to correct this speed change, resulting in a change in the torque command. In this second modification, as shown in Fig. 6, each time the door panel 6 passes through each reference position where the load applying portion 12 is installed, a sharp change occurs in the change amount of the torque command.

[0072] The door position detection unit 19 identifies a plurality of reference rotation angles corresponding to a plurality of reference positions by detecting each sharp change in the change amount of the torque command. The detection of the change in the change amount of the torque command may be performed, for example, by determining whether the change amount is equal to or greater than a reference change amount, by detecting the peak of the change amount, or by applying the first modification and using the fluctuation frequency of the change amount of the torque command value.

[0073] For example, in a large-capacity elevator or the like, the door opening and closing width is wide, and the time required for door opening and closing becomes long. On the other hand, in such an elevator with a wide door opening and closing width, when there are few passengers, it is possible to secure a width sufficient for passengers to enter and exit without fully opening the door. Therefore, it is conceivable to shorten the time required for door opening and closing and improve the operation efficiency by suppressing the door opening amount to the minimum according to the number of passengers.

[0074] According to this second modification example, the speed command unit 13 can generate and output a rotational speed command value with the reference position corresponding to the reference rotation angle selected from among a plurality of reference rotation angles specified by the door position detection unit 19 as the target. Thereby, it is possible to detect a plurality of reference positions with a simple hardware configuration without the need for sensors, switches, wiring, I / O of a substrate, etc. for detecting a plurality of reference positions. And, door opening control can be performed with the reference position selected from among these plurality of reference positions as the target, and it is possible to limit the door opening amount according to the number of passengers.

[0075] FIG. 7 shows an example of the operation of the door during door opening when the door opening amount is limited in this second modification example. FIG. 7 shows an example of opening the door up to the stored second reference position. The speed command unit 13 generates a speed command for the door motor 3 so as to move by a distance up to the reference rotation angle corresponding to the second reference position specified by the door position detection unit 19, that is, stored in the storage unit 20. Door opening is performed by the speed command generated with the second reference position as the target, and when the second reference position is detected, that position is recognized as the fully open position and the door opening operation is completed. Thereby, the door can be operated with a width smaller than the width of the entrance / exit. In this way, by providing a plurality of load applying units 12, it becomes possible to detect a plurality of door positions and utilize them for door control.

[0076] Next, with reference to the flowchart of FIG. 8, an example of the operation of the door with the door opening amount limited in the second modification example will be described. First, when restricting the door opening amount, in step S201, the control device 2 grasps the number of passengers. For grasping the number of passengers, for example, an elevator weighing device may be used, or cameras installed in one or both of the car and the landing may be used. Next, in step S202, the control device 2 determines the door opening amount according to the number of passengers grasped in step S201. Here, it is assumed that it is determined to open the door up to the second reference position as in the example of FIG. 7. After step S202, the control device 2 then performs the process of step S203.

[0077] In step S203, the control device 2 starts to open the door. In the subsequent step S204, the control device 2 determines whether it is detected by the door position detection unit 19 that the door has reached the second reference position. If it is not detected that the door has reached the second reference position, the process returns to step S203 and the control device 2 continues the door opening operation. On the other hand, if it is detected that the door has reached the second reference position, the control device 2 then performs the process of step 205. In step S205, the control device 2 determines that the restricted door opening amount has been reached and completes the door opening.

[0078] In the elevator door device according to this embodiment, when the elevator is not in normal operation, a door position learning operation may be performed. The door position learning operation is an operation in which the door is opened and closed, and based on the change in the torque command value corresponding to the load torque applied by the load applying unit 12, the door position detection unit 19 specifies the reference rotation angle corresponding to the reference position. In the door position learning operation, the specified reference rotation angle may be stored in the storage unit 20.

[0079] In the door position learning operation, the speed command unit 13 may generate a learning speed command with less acceleration and deceleration. Thereby, the change in the torque command value by the load applying unit 12 becomes easier to detect, and the detection of the reference rotation angle corresponding to the reference position becomes easier.

[0080] The control device 2 may perform the door position learning operation when the elevator is installed. Also, the control device 2 may perform the door position learning operation when the elevator is powered on. When the power supply of the elevator is cut off, the control device 2 cannot grasp the door position, so it is preferable to perform the door position learning operation when changing from the power-off state to the power-on state. Further, after the door position learning operation is performed, the door position detection unit 19 may detect the absolute position of the door only before and after the specified reference rotation angle.

[0081] The control device 2 may compare the reference rotation angle specified and memorized during the door position learning operation with the reference rotation angle specified by the door position detection unit 19 during normal operation, and determine the presence or absence of an abnormality in the door device 1. In this case, for example, the control device 2 further includes an abnormality determination unit (not shown). Then, the abnormality determination unit compares the reference rotation angle specified by the door position detection unit 19 during normal operation with the reference rotation angle specified during the door position learning operation and memorized in the storage unit 20 to detect an abnormality in the door device 1.

[0082] For example, if the difference between the reference rotation angle specified by the door position detection unit 19 during normal operation and the reference rotation angle specified during the door position learning operation and memorized in the storage unit 20 is within a preset allowable range, the abnormality determination unit determines that the door device 1 is normal. On the other hand, if the difference between the reference rotation angle specified by the door position detection unit 19 during normal operation and the reference rotation angle specified during the door position learning operation and memorized in the storage unit 20 exceeds the aforementioned allowable range, the abnormality determination unit detects an abnormality in the door device 1.

[0083] Furthermore, when the abnormality determination unit determines that the door device 1 is normal, the reference rotation angle memorized in the storage unit 20 may be overwritten and updated with the latest reference rotation angle specified by the door position detection unit 19 during normal operation. By doing so, for example, it is possible to reflect changes in the reference rotation angle due to aging and the like, and improve the absolute position detection accuracy of the door.

[0084] FIG. 9 is a diagram showing an example of a configuration for realizing the functions of the control device 2 in this embodiment. The functions of the control device 2 are realized, for example, by a processing circuit. The processing circuit may include a processor 101 and a memory 102. The processing circuit may be dedicated hardware 103. A part of the processing circuit may be formed as dedicated hardware 103, and the processing circuit may further include a processor 101 and a memory 102. In the example shown in the figure, a part of the processing circuit is formed as dedicated hardware 103. Also, in the example shown in the figure, the processing circuit further includes a processor 101 and a memory 102.

[0085] The processing circuit, one part of which is at least one dedicated hardware 103, includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC, an FPGA, or a combination thereof. When the processing circuit includes at least one processor 101 and at least one memory 102, the functions of the control device 2 are realized by software, firmware, or a combination of software and firmware.

[0086] Software and firmware are described as programs and stored in the memory 102. The processor 101 realizes the functions of each part by reading and executing the programs stored in the memory 102. The processor 101 is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP. The memory 102 includes, for example, non-volatile or volatile semiconductor memories such as RAM, ROM, flash memory, EPROM, and EEPROM, or magnetic disks, flexible disks, optical disks, compact disks, mini disks, and DVDs.

[0087] In this way, the processing circuit of the control device 2 can realize each function of the control device 2 by hardware, software, firmware, or a combination thereof. When the processing circuit of the control device 2 includes at least the processor 101 and the memory 102, the processor 101 executes the programs stored in the memory 102 in the control device 2, and the hardware and software of the control device 2 cooperate to realize the functions of each part included in the control device 2. Note that the elevator door device is not limited to a configuration in which the operation is controlled by a single control device 2. The elevator door device may be controlled by the cooperation of a plurality of devices.

[0088] In the present disclosure, various embodiments, various configuration examples, various modification examples, etc. may be arbitrarily combined without departing from the spirit of the present disclosure. Examples of various aspects of the present disclosure are collectively described below as appendices. (Appendix 1) A motor that drives the opening and closing of an elevator door, A rotation angle sensor that detects the rotation angle of the motor, A speed command unit that outputs a rotation speed command value for the motor, A speed control unit that calculates a torque command value so that the rotation speed of the motor matches the rotation speed command value output from the speed command unit, A door position detection unit that detects the position of the door based on the rotation angle, and further includes a load torque applying means for applying a mechanical load torque to the motor when the door during opening and closing movement passes through a preset reference position between the fully open position and the fully closed position, The door position detection unit, specifies a reference rotation angle, which is the rotation angle when the door is at the reference position, based on a change in the torque command value corresponding to the load torque, An elevator door device that detects the absolute position of the door based on the specified reference rotation angle and the rotation angle. (Appendix 2) The elevator door device according to Appendix 1, wherein the door position detection unit specifies the rotation angle when the change in the torque command value becomes equal to or greater than a preset reference change amount as the reference rotation angle. (Appendix 3) The load torque applying means applies a mechanical load torque that periodically varies to the motor when the door during opening and closing movement passes through the reference position, The elevator door device according to Appendix 1, wherein the door position detection unit specifies the rotation angle when the fluctuation frequency of the change amount of the torque command value becomes a preset reference frequency as the reference rotation angle. (Appendix 4) A plurality of the reference positions are set, The load torque applying means applies mechanical load torque to the motor when the door during opening and closing movement passes through each of the plurality of reference positions. The door position detector is an elevator door device according to any one of Appendices 1 to 3 that specifies a plurality of the reference rotation angles based on a change in the torque command value according to the load torque. (Appendix 5) The speed command unit outputs the rotation speed command value with the reference position corresponding to the reference rotation angle selected from among the plurality of reference rotation angles specified by the door position detector as a target, which is an elevator door device according to Appendix 4. (Appendix 6) When the elevator is not in normal operation, the door is opened and closed, and a door position learning operation is performed in which the door position detector specifies the reference rotation angle corresponding to the reference position based on a change in the torque command value according to the load torque, which is an elevator door device according to any one of Appendices 1 to 5. (Appendix 7) An elevator door device according to Appendix 6 that performs the door position learning operation when the elevator is installed. (Appendix 8) When the elevator is powered on sometimes An elevator door device according to Appendix 6 or 7 that performs the door position learning operation. (Appendix 9) An elevator door device according to any one of Appendices 6 to 8, further comprising an abnormality determination unit that compares the reference rotation angle specified by the door position detector during normal operation with the reference rotation angle specified by the door position detector during the door position learning operation to determine the presence or absence of an abnormality in the door device. (Appendix 10) The elevator door device further comprises a storage unit that stores the reference rotation angle specified by the door position detector. When the abnormality determination unit determines that the door device is normal, the reference rotation angle stored in the storage unit is updated with the reference rotation angle specified by the door position detector during normal operation, which is an elevator door device according to Appendix 9.

Explanation of symbols

[0089] 1 Door device 2 Control device 3 Door motor 4 Rotation sensor 5 Driving belt 6 Door panel 7 Door hanger 8 Hanger rail 9 Threshold 10 Digit 11 Belt gripper 12 Load applying unit 13 Speed command unit 14 Speed control unit 15 Current control unit 16 Power converter 17 Current sensor 18 Speed calculation unit 19 Door position detection unit 20 Memory unit 101 Processor 102 Memory 103 Dedicated hardware

Claims

1. A motor that drives the opening and closing of the elevator doors; a rotation angle sensor for detecting a rotation angle of the motor; a speed command unit that outputs a rotation speed command value of the motor; a speed control unit that calculates a torque command value so that the rotation speed of the motor coincides with the rotation speed command value output from the speed command unit; a door position detection unit that detects the position of the door based on the rotation angle; a load torque applying means for applying a mechanical load torque to the motor when the door passes through a preset reference position between a fully open position and a fully closed position during opening / closing movement, The door position detection unit determining a reference rotation angle, which is the rotation angle when the door is in the reference position, based on a change in the torque command value corresponding to the load torque; An elevator door device that detects the absolute position of the door based on the specified reference rotation angle and the rotation angle.

2. 2. The elevator door apparatus according to claim 1, wherein the door position detector specifies, as the reference rotation angle, the rotation angle at which the change in the torque command value becomes equal to or greater than a preset reference change amount.

3. the load torque applying means applies a periodically varying mechanical load torque to the motor when the door passes through the reference position during opening / closing movement; 2. The elevator door apparatus according to claim 1, wherein the door position detector specifies, as the reference rotation angle, the rotation angle at which a fluctuating frequency of the amount of change in the torque command value becomes a preset reference frequency.

4. A plurality of the reference positions are set, the load torque applying means applies a mechanical load torque to the motor when the door passes through each of the plurality of reference positions during opening / closing movement; 4. The elevator door apparatus according to claim 1, wherein the door position detector identifies a plurality of the reference rotation angles based on a change in the torque command value according to the load torque.

5. 5. The elevator door apparatus according to claim 4, wherein the speed command unit outputs the rotational speed command value by targeting the reference position corresponding to the reference rotation angle selected from the plurality of reference rotation angles identified by the door position detection unit.

6. 4. The elevator door device according to claim 1, wherein, when the elevator is not performing normal operation, the door is opened and closed to perform a door position learning operation in which the door position detection unit identifies the reference rotation angle corresponding to the reference position based on a change in the torque command value according to the load torque.

7. 7. The elevator door apparatus according to claim 6, wherein the door position learning operation is performed when the elevator is installed.

8. 7. The elevator door apparatus according to claim 6, wherein the door position learning operation is performed when the elevator is powered on.

9. 7. The elevator door apparatus according to claim 6, further comprising an abnormality determination unit that determines whether or not there is an abnormality in the door apparatus by comparing the reference rotation angle determined by the door position detection unit during the normal operation with the reference rotation angle determined by the door position detection unit during the door position learning operation.

10. A storage unit that stores the reference rotation angle specified by the door position detection unit, 10. The elevator door apparatus according to claim 9, wherein when the abnormality determination unit determines that the door apparatus is normal, the reference rotation angle stored in the memory unit is updated with the reference rotation angle identified by the door position detection unit during the normal operation.

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