CN102862903A - Point inspection apparatus for elevator door and point inspection method for elevator door - Google Patents
Point inspection apparatus for elevator door and point inspection method for elevator door Download PDFInfo
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- CN102862903A CN102862903A CN2012102360799A CN201210236079A CN102862903A CN 102862903 A CN102862903 A CN 102862903A CN 2012102360799 A CN2012102360799 A CN 2012102360799A CN 201210236079 A CN201210236079 A CN 201210236079A CN 102862903 A CN102862903 A CN 102862903A
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Abstract
The present invention relates to a point inspection apparatus for an elevator door and a point inspection method for an elevator door in the processing of detecting the opening and closing of the elevator door, wherein the point inspection apparatus for an elevator door and for detecting the opening and closing abnormity of the elevator door is provided with a door control portion (21) performing speed control on a drive motor (1) according to the fixed point inspection speed and controlling the opening and closing motions of the elevator door in the process of point inspection for controlling the opening and closing abnormity of the elevator door; and a point inspection portion (22) extracting the real speed of the drive motor controlled by the door control portion in the processing of opening and closing motion control with a predetermined sampling speed, obtaining the difference between the extracted real speed and the point inspection speed, and accumulating the absolute value of the difference in a predetermined point inspection range in the opening and closing motions, thereby calculating the speed difference accumulation value and determining the opening and closing abnormity of the elevator door under the condition that the speed difference accumulation value exceeds the predetermined reference value.
Description
Technical field
The present invention relates to the point inspection device of elevator door and the detecting method of elevator door, unusual when the speed responsive result during according to spot check detects the elevator door opening-closing that causes because of laying dust etc. accurately.
Background technology
Past is carried out control as described below in the method for detecting abnormality of the elevator door that opens and closes fault for detection of the door that causes because of laying dust etc.At first, controlled motor carries out on-off action with speed command by examining according to the doors of low speed, and obtains the deviation of using speed command with the door action of this moment through a motor speed that changes and doors inspection.Then, this velocity deviation and pre-stored datum drift in memory device are compared, when the difference of its comparative result was not in specialized range, being judged to be door had unusual (for example, with reference to patent documentation 1).
In addition, in the another kind of method for detecting abnormality of elevator door in the past, measure the time of the sub section post cost of door, whether within predefined fiducial time, decision gate has or not unusually (for example, with reference to patent documentation 2) according to this opening/closing time.
In addition, in another method for detecting abnormality of elevator door in the past, the temporal evolution of consideration door and the Resistance Value at the different stop door of each floor, obtain the absolute value of above-mentioned velocity deviation, from pre-stored gain table, adopt the suitable gain of determining according to this absolute value, obtain the current-order of the switching that is best suited for door and export to motor, in order to carry out the optimal control (for example, with reference to patent documentation 3) of door.
[patent documentation 1] Japanese kokai publication hei 2-310284 communique
[patent documentation 2] Japanese kokai publication hei 11-029278 communique
[patent documentation 3] TOHKEMY 2005-255364 communique
But there is the problem of the following stated in prior art.
In the point inspection device of elevator door in the past, no matter being which kind of method, all is to adjust current value etc. when the door abnormal, so that control system makes drive motor to rotate with the speed of speed command corresponding to spot check.Therefore, if small unusual, then the speed of drive motor is almost constant, in the method that spot check is compared with velocity deviation and a reference value of speed command and motor speed, can not detect small unusually, existence can not open and close that fault is this larger to detect unusual problem before unusual door occurs.
In addition, in the method that time and a reference value of opposite house sub section post cost compares, also there is identical problem.Therefore, for abnormal not, must regularly be carried out by service personnel the dust removal treatment of gate slot etc., have the cost problem in man-hour.
Summary of the invention
The present invention proposes in order to address the above problem just, and its purpose is, obtains a kind of point inspection device of the unusual elevator door can detect elevator door opening-closing accurately time the and the detecting method of elevator door.
The point inspection device of elevator door of the present invention is unusual for detection of the switching of elevator door, the point inspection device of this elevator door has: gate control section, its spot check according to fixed speed carries out speed control, the on-off action of the elevator door when control opens and closes abnormal point thus with speed to drive motor; And spot check section, it extracts the actual speed of the drive motor in the on-off action of being controlled by gate control section with the predetermined sampling interval, obtain the actual speed extracted and spot check with the deviation of speed, absolute value to the deviation in the predetermined spot check interval in the on-off action adds up, computation speed deviation aggregate-value thus, surpass at the velocity deviation aggregate-value in the situation of predetermined a reference value, be judged to be the switching that elevator door has occured unusual.
And, the detecting method of elevator door of the present invention is used for speed drive motor being carried out speed control according to the spot check of fixed speed, the on-off action of the elevator door when control opens and closes abnormal point thus, and the switching that detects elevator door is unusual, and the detecting method of this elevator door comprises the steps: to be extracted in the predetermined sampling interval actual speed of the drive motor in the on-off action when opening and closing abnormal point; Obtain the actual speed extracted and spot check with the deviation of speed, the absolute value of the deviation in the predetermined spot check interval in the on-off action is added up, thus computation speed deviation aggregate-value; And surpass at the velocity deviation aggregate-value in the situation of predetermined a reference value, be judged to be the switching that elevator door has occured unusual.
According to the point inspection device of elevator door of the present invention and the detecting method of elevator door, speed value when opening and closing as spot check adopts the fixed value that does not have speed fluctuations, the a reference value that whether surpasses the aggregate-value of the absolute value of the velocity deviation during according to on-off action detects and opens and closes unusually, can access thus the point inspection device of the unusual elevator door in the time of can detecting elevator door opening-closing accurately and the detecting method of elevator door.
Description of drawings
Fig. 1 is the front view of point inspection device of the elevator door of embodiments of the present invention 1.
Fig. 2 is the integral structure figure of an example of point inspection device of the elevator door of expression embodiments of the present invention 1.
Fig. 3 is the instruction diagram of the normal/abnormal decision method of the velocity deviation when opening and closing based on spot check in the point inspection device of the elevator door of embodiments of the present invention 1.
Fig. 4 is the different instruction diagram that is illustrated in when opening the door in the point inspection device of elevator door of embodiments of the present invention 2 from closing time velocity deviation.
Fig. 5 is the integral structure figure of an example of point inspection device of the elevator door of expression embodiments of the present invention 3.
Fig. 6 is the integral structure figure of an example of point inspection device of the elevator door of expression embodiments of the present invention 4.
Fig. 7 is illustrated in the instruction diagram of implementing the effect of current limit in the point inspection device of elevator door of embodiments of the present invention 4.
Fig. 8 is the integral structure figure of an example of point inspection device of the elevator door of expression embodiments of the present invention 5.
Label declaration
1 drive motor; 2 door gears; 4 rotating bands; 5 drive pulleys; 6 loose pulleys; 7 car doors; 8 hanger planks; 8a drive side hanger plank; 8b slave end hanger plank; 9 car sills; 10 pin; 11 control parts; The 11a drive side is controlled parts; The 11b slave end is controlled parts; 12 suspension bracket rollers; 13 guide rail brackets; 14 clamping close devices; The 14a fastening plate; 16 driven rollers; 20 running switching parts; 21 controlling device for doors (gate control section); 211 speed command generating units; 212 speed controlling portions; 213 current control divisions; 214 speed operational parts; 215 position operational parts; 216 current limit control parts; 22 point inspection devices (spot check section); 221 velocity deviation calculating parts; 222 velocity deviation accumulative total sections; 223 abnormality juding sections; 224 storage parts; 225 spot check position control section; 226 spot check ride gain storage parts; 23 result of determination notification units; 24 coders; 25 current probes; 26 fully open/closed detector switches; 26a door full cut-off detector switch; 26b door standard-sized sheet detector switch.
The specific embodiment
Below, the preferred implementation of the point inspection device of use description of drawings elevator door of the present invention and the detecting method of elevator door.
Fig. 1 is the front view of point inspection device of the elevator door of embodiments of the present invention 1, specifically, represents the front view (state of observing from the stop reveal) of the device integral body of common flygate.Therefore, according to this Fig. 1, the structure of the point inspection device of the elevator door of present embodiment 1 is described.
The drive pulley 5 of door gear 2 and be arranged at and the locational loose pulley 6 of these drive pulley 5 symmetries between, volume is hung the rotating band 4 that ring-type is set up.And drive motor 1 is connected with drive pulley 5, and the rotation of drive motor 1 is delivered to drive pulley 5.
At drive side hanger plank 8a the drive side of controlling rotating band 4 is installed and controls parts 11a, the bottom of rotating band 4 is controlled.On the other hand, the slave end that at slave end hanger plank 8b the top of controlling rotating band 4 is installed is controlled parts 11b.And, in the bottom of car door 7 pin 10 being installed, this pin 10 is inserted in the groove of car sill 9, and the end portion when car door 7 is opened and closed guides.
And, at car door 7 clamping close device 14 being installed, stop door (not shown) has the driven roller 16 that engages by clamping close device 14 when door opens and closes.When car door 7 full cut-off, the fastening plate 14a of clamping close device 14 separates with driven roller 16, so that do not conflict when elevator moves up and down.
On the other hand, when the drive motor 1 by door gear 2 opens the door action, according to the action of drive motor 1, the rotating band 4 that volume hangs on drive pulley 5 and the loose pulley 6 moves along left and right directions, makes car door 7 to the direction action of opening the door by controlling parts 11.Thus, car door 7 begins to open wide from full-shut position.
Then, when the gap value of car door 7 moving blockage plywood 14a and driven roller 16, the fastening plate 14a of clamping close device 14 engages with the driven roller 16 that is positioned at the stop door.As a result, the power that opens the door is delivered to the stop door, the action of opening the door together of car door 7 and stop door.In addition, door moves to full open position of coupler and is detected by door standard-sized sheet detector switch 26b.
In addition, opposite with this movement at closing time, car door 7 and stop door are closed under the state of driven roller 16 engagings at clamping close device 14.Before car door 7 was about to full cut-off, the stop door shifted to an earlier date the gap value ground full cut-off of fastening plate 14a and driven roller 16 than car door 7, and engaging is disengaged, and then only has car door 7 to be driven into and is full-shut position.In addition, door moves to full close position and is detected by door full cut-off detector switch 26a.
Fig. 2 is the integral structure figure of an example of point inspection device of the elevator door of expression embodiments of the present invention 1.The point inspection device of the elevator door of present embodiment 1 has drive motor 1, door gear 2, running switching part 20, controlling device for doors 21, point inspection device 22, result of determination notification unit 23, coder 24, current probe 25 and the fully open/closed detector switch 26 of door.Wherein, the fully open/closed detector switch 26 of door is in front door standard-sized sheet detector switch 26b illustrated in fig. 1 and the general name of full cut-off detector switch 26a.
And, controlling device for doors 21 constitute have speed command generating unit 211, speed controlling portion 212, current control division 213 and speed operational part 214.And, point inspection device 22 constitute have velocity deviation calculating part 221, velocity deviation accumulative total section 222, abnormality juding section 223 and storage part 224.
Below, the function of each inscape of the point inspection device of the elevator door of the structure of this Fig. 2 of having is specifically described.Make the drive motor 1 of a switching as Fig. 1 explanation of using the front, be installed in door gear 2, by drive pulley 5 car door 7 of door gear 2 is moved.
Running switching part 20 is to the usually running of controlling device for doors 21 outputs of the open and close controlling of carrying out door, the switching command of spot check running.On the other hand, controlling device for doors 21 is according to the switching command from running switching part 20, usually turns round or the gate control of spot check running.
Specifically, speed command generating unit 211 in the controlling device for doors 21 stores common door opening and closing speed director data and spot check speed command data etc., according to the switching command from running switching part 20, generate the speed command corresponding with common/spot check running.
Below, the function of point inspection device 22 is described.When the velocity deviation calculating part 221 in the point inspection device 22 carries out the spot check running at door, according to the actual speed of the drive motor 1 that calculates from the speed value of speed command generating unit 211 with by speed operational part 214, computation speed deviation.
222 pairs in velocity deviation accumulative total section is added up and record successively by the absolute value of the velocity deviation that velocity deviation calculating part 221 calculates.On the other hand, in storage part 224, store the accumulated result of the absolute value of the velocity deviation when door does not have to carry out the spot check running when unusual.And the value (measured value) that 223 pairs in abnormality juding section obtains in velocity deviation accumulative total section 222 and the value (normal value) that does not have the accumulated result when unusual that is stored in the storage part 224 compare, and carry out normal/abnormal judgement according to magnitude relationship.
In addition, abnormality juding section 223 notifies normal/abnormal result of determination to service center etc. by result of determination notification unit 23.
Below, a series of actions when the common switching of carrying out elevator door and spot check are opened and closed describes.A series of actions during at first to common switching describes.
When running switching part 20 was selected usually running, its instruction was sent to the speed command generating unit 211 in the controlling device for doors 21.
Speed command generating unit 211 is read common door according to the instruction of common switching and is opened and closed the speed command of usefulness, and sends to speed controlling portion 212.Speed controlling portion 212 will be from the speed command of speed command generating unit 211 as the Velocity Reference value, the actual speed of the drive motor 1 that will be calculated by speed operational part 214 is as speed feedback value, carry out speed control and obtain controlling quantity, export as the current reference value.
Relative therewith, current control division 213 will be from the controlling quantity of speed controlling portion 212 as the current reference value, the actual current value that offers drive motor 1 that will be measured by current probe 25 carries out the electric current that current control and control offer drive motor 1 as the current feedback value.As a result, controlling device for doors 21 makes drive motor 1 be rotated according to speed command, and door is opened wide or closing movement.
A series of actions when the below is turned round to spot check describes.
Set in the situation that becomes the spot check running according to switching from the spot check instruction (not shown) of service center at running switching part 20, the identical processing of being undertaken by controlling device for doors 21, point inspection device 22 is also implemented the processing of doors inspection usefulness except with above-mentioned common switching the time.That is, when running switching part 20 selected spot check to open and close, its instruction was sent to the speed command generating unit 211 in the controlling device for doors 21.
The spot check switching speed command of the fixed speed that does not have speed fluctuations is read in the instruction that speed command generating unit 211 opens and closes according to spot check.The control henceforth of being undertaken by controlling device for doors 21 identical flow process according to above-mentioned common switching the time is carried out.Meanwhile, controlling device for doors 21 actual speed that will be opened and closed by the spot check that speed command generating unit 211 generates the drive motor 1 that calculates with speed command with by speed operational part 214 is exported to the interior velocity deviation calculating part 221 of point inspection device 22.
On the other hand, the velocity deviation calculating part in the point inspection device 22 221 calculates the spot check that gets from controlling device for doors 21 side-draws and opens and closes the deviation of using speed value and actual speed.
Then, velocity deviation accumulative total section 222 is handled as follows: closing the door from beginning to open the door to of detecting of the fully open/closed detector switch 26 by door complete during, with predefined interval the velocity deviation that is calculated by velocity deviation calculating part 221 is sampled, and the absolute value of the velocity deviation that sampling is obtained adds up successively, thus, computation speed deviation aggregate-value ε.
Then, abnormality juding section 223 carries out the velocity deviation aggregate-value ε and the pre-stored a reference value ε in storage part 224 that are calculated by velocity deviation accumulative total section 222
0Comparison, Zai ε＜=ε
0Situation under be judged to be normal, at ε〉ε
0Situation under be judged to be unusual.And abnormality juding section 223 notifies result of determination to service center by result of determination notification unit 23.
Below, use Fig. 3 detailed description based on the normal/abnormal decision method of velocity deviation aggregate-value ε.Fig. 3 is the instruction diagram of the normal/abnormal decision method of the velocity deviation when opening and closing based on spot check in the point inspection device of the elevator door of embodiments of the present invention 1.(a) expression of Fig. 3 is judged to be normal situation, and (b) expression of Fig. 3 is judged to be unusual situation.
When spot check opened and closed, in the same manner enforcement speed controlled to follow speed value when controlling device for doors 21 and common the switching.Therefore, in present embodiment 1, shown in Fig. 3 (a), the speed value when spot check is opened and closed is made as the fixed value that does not have speed fluctuations.
When using this speed value, in the normal situation of door, shown in the left side of Fig. 3 (a), obtain almost not producing the result of the difference of speed value and motor actual speed.Carefully observe, shown in the right side of Fig. 3 (a), become the state that speed value and motor actual speed produce difference, yet the aggregate-value of the absolute value of velocity deviation is approximate 0 less value.
Relative therewith, in the situation that door has is unusual, shown in Fig. 3 (b), having occured, unusual position produced load outside the anticipation, produce thus the deceleration with respect to the speed of speed value, when between unusual generating region, finishing, want to make the speed of between exceptions area, slowing down to be restored to the corrective action of command value excessive, produce the acceleration with respect to speed value.Therefore, the aggregate-value the during aggregate-value of the absolute value of velocity deviation and Fig. 3 of front (a) normal is compared and is become larger value.
Therefore, by a reference value ε when normal
0The aggregate-value of the actual measurement with as spot check time the and the magnitude relationship of the ε that obtains compares can easily be found the unusual of door.
As mentioned above, according to embodiment 1, speed value when opening and closing as spot check adopts the fixed value that does not have speed fluctuations, whether the aggregate-value of the absolute value of the velocity deviation when judging on-off action surpasses a reference value, can be easily and detect accurately the minor anomaly of the door that is difficult to find in the past the detecting method.
In addition, illustrated that in present embodiment 1 basis turns round usually from the instruction of service center and the example of the switching of spot check running, but also can be that service personnel switches at the scene.
In addition, about definite method of a reference value special record not, yet can regularly learn the velocity deviation aggregate-value when normal and be stored in the storage part 224, can also adopt the value of in advance determining, and it is stored in the storage part 224.And, in order to prevent error detection, also the value that doubly obtains with coefficient on duty when normal can be adjusted detection sensitivity as a reference value.
And, illustrated that in present embodiment 1 low fixed speed command value is carried out the example that spot check opens and closes when using than common door switching.But, increasing although exist owing to speed fluctuations makes the numerical value of a reference value, the impact that accuracy of detection descends also can be adopted the instruction of common door opening and closing speed.
And the spot check interval of be used for calculating aggregate-value not necessarily door opens and closes interval wholely, and the predetermined interval that also can only door be opened and closed in the interval is set as the spot check interval.
In the embodiment 1 in front, illustrated that the aggregate-value ε with the whole velocity deviation in door switching interval comes decision gate that N/R situation is arranged when carrying out the spot check of door.Relative therewith, in present embodiment 2, illustrate in order to improve the spot check precision and distinguish when opening the door, carry out spot check and decision gate at closing time N/R situation is arranged.
For example, obtain velocity deviation aggregate-value ε when opening the door
OpVelocity deviation aggregate-value ε at closing time
Cl, and when opening the door and be stored at closing time a reference value ε in the storage part 224
0', ε
0" compare, can have or not unusually by decision gate thus.
Like this, when opening the door by differentiation, computation speed deviation aggregate-value at closing time, and compare with separately a reference value, for example such as only obviously occuring under the abnormal condition of laying dust at closing time, open and close interval whole velocity deviation aggregate-value and compare with the situation of a reference value comparison with obtaining, can improve accuracy of detection.
Fig. 4 is the different instruction diagram that is illustrated in when opening the door in the point inspection device of elevator door of embodiments of the present invention 2 from closing time velocity deviation.As shown in Figure 4, elevator door being carried out spot check when opening and closing, in the side of opening the door, speed command is for accelerating up to fixed speed V car door from beginning to open the door
0, then with fixed speed V
0Move to full open position of coupler.On the other hand, closing reveal, speed command is for accelerating up to fixed speed-V car door from beginning to close the door
0, then with fixed speed-V
0Move to full close position.
Car door is at the side direction V that opens the door
0In the way of accelerating or reaching fixed speed V
0After, close with the stop badge.Usually, based on the power of closing of counterweight etc. along closing the door directive effect in the stop door, thereby the large big retarding of the actual speed of drive motor 1.Then, the current value that flows to drive motor 1 is proofreaied and correct, adjustment becomes makes actual speed reach fixed speed V
0Owing to carry out this movement, thereby a reference value ε of the velocity deviation aggregate-value of the actual speed of the speed command of the side of opening the door and drive motor 1
0' have an increase tendency.
On the other hand, closing reveal, because the state that closes from car door and stop badge begins movement, and the door closing force of stop door plays a role, thereby drive motor 1 can be with less power driving gate.Then, the engaging of the position of engaging is disengaged when opening the door, and the door closing force of stop door disappears.But 1 need of drive motor move car door and get final product, thereby can be with less power driving gate.Like this, at the larger load change that can not produce at closing time before and after engaging like that when opening the door, thereby close a reference value ε of the velocity deviation aggregate-value of the speed command of reveal and actual speed
0" have the trend of reducing.
The difference of this movement when opening and closing as the utilization door improves accuracy of detection and reduces the method for spot check speed, also can only implement spot check at closing time.That is, can be only implementing spot check at closing time, door is moved according to the speed command that the spot check of explanation in the embodiment 1 in front opens and closes, when not implementing the opening the door of spot check, can open the door with common speed.
As mentioned above, according to embodiment 2, can focus on when opening the door and mobile different of door at closing time, distinguish when opening the door and carry out at closing time spot check or only carry out spot check at closing time.Thus, can improve accuracy of detection, and shorten the spot check time.
In addition, whole zone when not necessarily opening the door for the spot check interval of calculating aggregate-value or whole zone at closing time, the predetermined spot check predetermined spot check interval and at closing time that can independently set when opening the door is interval, can implement based on the suitable spot check of independently judging index according to open the door action and the action of closing the door.
Embodiment 3
In present embodiment 3, clamshell doors not is described or the whole interval overall decision gate of closing the door unusual, but is distinguished into the unusual situation that decision gate is come in specific each interval.
When carrying out the spot check of door, there is the situation of the engaging of basis such as stop door, learnt the situation that produces partly the interval of velocity deviation increase shown in Figure 4 such as the front.Therefore, in present embodiment 3, not use the velocity deviation aggregate-value ε decision gate in the whole interval of opening the door or closing the door, calculate unusual, but be divided into several intervals according to the position of door, come the unusual of decision gate according to the velocity deviation aggregate-value of obtaining in each interval and a reference value of setting in each interval.
That is, interval division is become N part (N is the integer 2 or more), will be in each interval velocity deviation aggregate-value ε during the normal movement of door
0nBe defined as determinating reference, the velocity deviation aggregate-value ε that each that will calculate is interval when spot check opens and closes
nWith the ε as benchmark
0nCompare, judge thus spot check result (wherein, n is the integer of 1～N).
Fig. 5 is the integral structure figure of an example of point inspection device of the elevator door of expression embodiments of the present invention 3.Compare with the structure of Fig. 2 of the embodiment 1 of front, the difference of Fig. 5 of present embodiment 3 is also have spot check position control section 225 in point inspection device 22.Therefore, the below describes centered by this difference.
Spot check position control section 225 monitors standard-sized sheet, the full cut-off of door according to the fully open/closed detector switch 26 of door, and according to the position of grasping door from the pulse of coder 24.And, spot check position control section 225 door open and close during the predefined spot check of identification interval, and export the spot check block information to velocity deviation accumulative total section.
After running switching part 20 selected spot checks to open and close, controlling device for doors 21 made door open and close with fixed speed according to the step identical with the embodiment 1 of front by drive motor 1.On the other hand, the velocity deviation calculating part 221 of point inspection device 22 calculates the deviation that the spot check that is generated by speed command generating unit 211 opens and closes the actual speed of the drive motor 1 of calculating according to the pulsimeter of coder 24 with speed value and by speed operational part 214.
Velocity deviation accumulative total section 222 is according to the spot check block information from spot check position control section 225, and the absolute value that carries out the velocity deviation that will be obtained by velocity deviation calculating part 221 carries out the processing of accumulative total successively, and calculates the velocity deviation aggregate-value ε in spot check interval
n
Then, abnormality juding section 223 carries out the velocity deviation aggregate-value ε that calculates according to each spot check interval
nA reference value ε with pre-stored each spot check interval in storage part 224
0nComparison, and by result of determination notification unit 23 result of determination is notified to service center.
In addition, also can with from the information of the fully open/closed detector switch 26 of door as the beginning of calculating, the information of end, processed by velocity deviation accumulative total section 222.
Below, use Fig. 4 explanation of front that the spot check interval division is become to engage example interval and the interval interval in addition of engaging.Interval by such setting spot check, can be interval according to engaging, the interval of engaging beyond interval come spot check when opening the door and have or not at closing time unusual.As a result, unusual for what only obviously occur when opening the door or at closing time, can detect more accurately unusual.
And, owing to carry out spot check so that the mode that reduces as the velocity deviation aggregate-value of benchmark shortens the interval, thereby at velocity deviation aggregate-value ε
nDuring because of unusual the variation, as the ε of a reference value
0nWith ε
nDifference easily increase.Therefore, shown in the embodiment 2 of front, compare with opening and closing at door when judging in the interval integral body, can detect accurately.In addition, owing to becoming the interval of the interval and engaging of engaging beyond interval to judge interval division, thereby can also detect in which interval and occured unusually.
In addition, interval about the judgement among Fig. 4, be not limited to be divided into the situation of snap portions and these two parts of part in addition, also can be divided into meticulousr interval, and a reference value be set independently in each interval judged.
And, based on improving the purpose of judging precision, and the velocity deviation aggregate-value in order can to dwindle as benchmark normal the time, when opening the door for each interval selection or any one party at closing time, these intervals are connected, also can carry out thus the abnormality detection that opens and closes about whole interval door.
As mentioned above, according to embodiment 3, become a plurality of the unusual of decision gate that come by the interval division that will open the door or close the door, can realize the raising of abnormality detection precision.In addition, can also determine in which interval to have occured unusually.
Explanation is implemented current limit to the open and close controlling of being undertaken by controlling device for doors in present embodiment 4, improves the method for the unusual precision of detecting gate.Fig. 6 is the integral structure figure of an example of point inspection device of the elevator door of expression embodiments of the present invention 4.Compare with the structure of Fig. 5 in the embodiment 3 of front, the difference of the Fig. 6 in the present embodiment 4 is also have position operational part 215 and current limit control part 216 in controlling device for doors 21.Therefore, the below describes centered by these differences.
Position operational part 215 calculates a position according to the pulse from coder 24, and generates a door location information.And current limit control part 216 is located at the rear class of current control division 213, for the current-order from current control division 213, offers the restriction of the current value of drive motor 1.
Running switching part 20 provides to speed command generating unit 211 to make its input that produces the speed command that spot check opens and closes when having selected spot check to open and close, and makes simultaneously current limit control part 216 read in current limit value I based on the door position
Mn, in order to according to the position of door the electric current that offers drive motor 1 is applied restriction.
And current limit control part 216 is also from position operational part 215 input gate location informations.Then, the door location information that obtains according to the current instruction value that is calculated by current control division 213, by position operational part 215 of current limit control part 216 and corresponding to the current limit value I of door position
MnInformation, carry out correction calculation, and the current-order compensation value after will proofreading and correct sends to drive motor 1.
Fig. 7 is illustrated in the instruction diagram of implementing the effect of current limit in the point inspection device of elevator door of embodiments of the present invention 4.Doors checking device according to the elevator of the embodiment 1～3 of front shown in Fig. 7 (a), has unusually at door, when the actual speed of drive motor 1 is slowed down, makes the electric current that offers drive motor 1 from I from current control division 213 outputs
0The instruction that increases, and control so that the actual speed of drive motor 1 and speed value V
0Unanimously.
On the other hand, by possessing shown in present embodiment 4 structure of implementing current limit, do not have to open and close not variation with common spot check when unusual at door, still, since door unusual so that load reaches setpoint torque when above, shown in Fig. 7 (b), move.That is, drive motor 1 is not supplied to current limit value I
MnAbove electric current, thereby the slack-off state of maintenance speed and not recovering.And, although breaking away between exceptions area of short duration lasting actual speed specific rate command value V
0Behind the slow state, owing to overshoot becomes motor actual speed specific rate command value V
0Fast state.
And in the situation larger based on the unusual load of door, electric current is because current limit value I
MnAnd not enough, cause the movement of door to stop.As a result, velocity deviation aggregate-value ε and a reference value ε
0Difference increase, come the unusual precision of detecting gate to improve by spot check.
In addition, the torque of necessity of learning in advance according to the door position refers to that the acceleration and deceleration of door, door close power, make the needed torque of a movement, is to determine according to position and the direction of action of door, is to learn the torque that it is big or small by calculate or actual measurement etc.Current limit value I
MnTo calculate to make according to the door position to determine that the necessary torque of the output torque of drive motor 1 has the value of big or small suitable surplus, such as necessary torque times after with coefficients such as 1.1 times or 1.2 times value and the current value that obtains.
About the method to the current settings limits value that offers this drive motor 1, by and with the embodiment 1～3 of front, can improve the unusual accuracy of detection in the spot check.
As mentioned above, according to embodiment 4, by possessing the structure of implementing current limit in control during drive motor, make when mobile with speed command according to the doors inspection, the state that movement stops, speed is slack-off of door becomes obviously during torque more than applying setpoint torque.As a result, motor speed and spot check with the absolute value sum of the difference of speed command and a reference value relatively in, the difference increase of the comparative figure during abnormal can easily note abnormalities.
Ride gain when explanation is by the change spot check in embodiment 5 improves the method for the unusual precision of detecting gate.Fig. 8 is the integral structure figure of an example of point inspection device of the elevator door of expression embodiments of the present invention 5.Compare with the structure of Fig. 2 in the embodiment 1 of front, the difference of the Fig. 8 in the present embodiment 5 is also have spot check ride gain storage part 226 in point inspection device 22.Therefore, the below describes centered by this difference.
In spot check ride gain storage part 226, store the ride gain of when spot check opens and closes, using.In addition, the function of other structure in the point inspection device 22 is identical with the embodiment 1 of front, thereby description is omitted.
In present embodiment 5, when being switched to spot check and open and close from common switching by running switching part 20, speed controlling portion 212 is altered to the ride gain that the spot check that reads in from spot check ride gain storage part 226 is used from the ride gain of using common door open and close controlling.
Usually, the ride gain of when common door opens and closes, using be the tracing property of the speed command of considering that opposite house opens and closes and reduce owing to the external disturbance such as laying dust cause with respect to the deviation of speed command and definite.Therefore, if carrying out adopting the ride gain of using when spot check opens and closes when common door opens and closes, velocity deviation reduces unusually owing to small laying dust etc. sometimes.
Therefore, in present embodiment 5, use the index different from the ride gain of when common door opens and closes, using to design the ride gain of when spot check opens and closes, using, be stored in the spot check ride gain storage part, in order to when spot check opens and closes, use.
Specifically, as the ride gain of when spot check opens and closes, using, at the tracing property of keeping the speed command that door that spot check is used opens and closes and occured in the situation of the external disturbance such as laying dust, the ride gain that adopts the deviation with respect to speed command to increase.
As mentioned above, according to embodiment 5, the ride gain that to use when common door opens and closes when spot check opens and closes changes spot check into and carries out spot check with ride gain, thus in the situation that spot check exists when opening and closing laying dust etc. unusual, deviation with respect to speed command increases, and be used for judging that unusual velocity deviation aggregate-value also increases, can easily find small unusually, carry out high-precision spot check and open and close.
In addition, in above-mentioned embodiment 5, the situation of having appended the handoff functionality of ride gain for the embodiment 1 of front has been described, but also can have appended to embodiment 2～4 handoff functionality of ride gain, and can access identical effect.
And, as shown in Figure 4, when carrying out opening and closing, exist in the position that car door and stop badge close and the deviation of speed command.Therefore, can be contemplated to deviation increases with ride gain by changing spot check into.Therefore, can not be made as the whole zone of a switching with the position of ride gain with switching spot check yet, but come the zoning to carry out the spot check switching in the mode that is applicable to snap portions part in addition.
Claims (7)
1. the point inspection device of an elevator door is unusual for detection of the switching of elevator door, it is characterized in that, the point inspection device of this elevator door has:
Gate control section, its spot check according to fixed speed carries out speed control, the on-off action of the described elevator door when control opens and closes abnormal point thus with speed to drive motor; And
Spot check section, it extracts actual speed by the described drive motor in the on-off action of described gate control section control with the predetermined sampling interval, obtain the described actual speed extracted and described spot check with the deviation of speed, absolute value to the described deviation in the predetermined spot check interval in the described on-off action adds up, computation speed deviation aggregate-value thus, surpass at described velocity deviation aggregate-value in the situation of predetermined a reference value, be judged to be the switching that elevator door has occured unusual.
2. the point inspection device of elevator door according to claim 1, it is characterized in that, described spot check section door open the door during action and when closing the door action, as respectively independently the spot check interval have the action of opening the door with spot check the interval and action of closing the door with the spot check interval, and, as respectively independently a reference value have the action of opening the door and use a reference value with a reference value and the action of closing the door, open the door during action and the described employing of closing the door during action judges that independently the switching of index judgement elevator door is unusual described.
3. the point inspection device of elevator door according to claim 2, it is characterized in that, interval and the described action of closing the door is divided into the spot check interval and comprises the interval that engages the interval and the plural at least interval in interval in addition with spot check with the described action of opening the door in described spot check section, and, each interval after cutting apart has independently a reference value, described open the door when action and described closing the door during action, adopt according to described a plurality of interval after cutting apart and to judge that independently index judges that the switching of elevator door is unusual.
4. the point inspection device of the described elevator door of any one according to claim 1～3, it is characterized in that, described gate control section implements restriction to the electric current that flows through described drive motor when the speed control of carrying out described drive motor, needed torque added the torque behind the predetermined torque margin when known door opened and closed in advance to be restricted to according to the position of described elevator door.
5. the point inspection device of the described elevator door of any one according to claim 1～3, it is characterized in that, described gate control section has the 1st ride gain and the 2nd ride gain independently, when described switching abnormal point, switch to described the 2nd ride gain and carry out speed control, described the 1st ride gain is used for carrying out the speed control of described drive motor when usually turning round, described the 2nd ride gain is used for carrying out the speed control of described drive motor when described switching abnormal point.
6. the point inspection device of elevator door according to claim 5 is characterized in that, described gate control section has and is configured to the ride gain that when producing the external disturbance such as laying dust described deviation increased, as the 2nd ride gain.
7. the detecting method of an elevator door, be used for speed drive motor being carried out speed control according to the spot check of fixed speed, the on-off action of the elevator door when control opens and closes abnormal point thus, and the switching that detects elevator door is unusual, it is characterized in that, the detecting method of this elevator door comprises the steps:
The actual speed of the described drive motor in the on-off action when being extracted in described switching abnormal point with the predetermined sampling interval;
Obtain the described actual speed extracted and described spot check with the deviation of speed, the absolute value of the described deviation in the predetermined spot check interval in the described on-off action is added up, thus computation speed deviation aggregate-value; And
Surpass at described velocity deviation aggregate-value in the situation of predetermined a reference value, be judged to be the switching that elevator door has occured unusual.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-151439 | 2011-07-08 | ||
| JP2011151439A JP5783824B2 (en) | 2011-07-08 | 2011-07-08 | Elevator door inspection device and elevator door inspection method |
Publications (2)
| Publication Number | Publication Date |
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| CN102862903A true CN102862903A (en) | 2013-01-09 |
| CN102862903B CN102862903B (en) | 2014-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210236079.9A Active CN102862903B (en) | 2011-07-08 | 2012-07-06 | Point inspection apparatus for elevator door and point inspection method for elevator door |
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| Country | Link |
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| JP (1) | JP5783824B2 (en) |
| CN (1) | CN102862903B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104291174A (en) * | 2013-07-19 | 2015-01-21 | 三菱电机株式会社 | Elevator door diagnostic device and elevator door diagnostic method |
| CN104444681A (en) * | 2014-11-07 | 2015-03-25 | 广州特种机电设备检测研究院 | Security detection method and system used for elevator door system |
| CN105026299A (en) * | 2013-03-12 | 2015-11-04 | 三菱电机株式会社 | Elevator door control device |
| CN106415419A (en) * | 2014-05-30 | 2017-02-15 | 三菱电机株式会社 | Inspection result verification device, inspection result verification method, and elevator |
| CN106477417A (en) * | 2015-08-27 | 2017-03-08 | 株式会社日立大厦*** | Elevator door is opened and closed abnormity determining device |
| CN109071160A (en) * | 2016-04-26 | 2018-12-21 | 三菱电机株式会社 | The point of elevator examines rotating device |
| CN115298126A (en) * | 2020-03-30 | 2022-11-04 | 三菱电机株式会社 | Door control system for elevator |
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| JP2013049550A (en) * | 2011-08-31 | 2013-03-14 | Hitachi Building Systems Co Ltd | Elevator door diagnostic system |
| JP6565781B2 (en) * | 2016-04-19 | 2019-08-28 | 三菱電機ビルテクノサービス株式会社 | Elevator door open / close diagnosis system |
| JP6479949B1 (en) * | 2017-12-14 | 2019-03-06 | 東芝エレベータ株式会社 | Elevator door abnormality diagnosis system and abnormality diagnosis method |
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| WO2021059500A1 (en) * | 2019-09-27 | 2021-04-01 | 三菱電機ビルテクノサービス株式会社 | Elevator apparatus and anomaly detection method |
| CN113086796B (en) * | 2021-04-02 | 2023-03-17 | 巨人通力电梯有限公司 | Elevator landing door lock roller and door knife distance monitoring system and method |
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| CN105026299A (en) * | 2013-03-12 | 2015-11-04 | 三菱电机株式会社 | Elevator door control device |
| CN105026299B (en) * | 2013-03-12 | 2017-03-08 | 三菱电机株式会社 | Control device for elevator door |
| CN104291174A (en) * | 2013-07-19 | 2015-01-21 | 三菱电机株式会社 | Elevator door diagnostic device and elevator door diagnostic method |
| CN106415419A (en) * | 2014-05-30 | 2017-02-15 | 三菱电机株式会社 | Inspection result verification device, inspection result verification method, and elevator |
| CN104444681A (en) * | 2014-11-07 | 2015-03-25 | 广州特种机电设备检测研究院 | Security detection method and system used for elevator door system |
| CN106477417A (en) * | 2015-08-27 | 2017-03-08 | 株式会社日立大厦*** | Elevator door is opened and closed abnormity determining device |
| CN106477417B (en) * | 2015-08-27 | 2018-09-25 | 株式会社日立大厦*** | Elevator is opened and closed abnormity determining device with door |
| CN109071160A (en) * | 2016-04-26 | 2018-12-21 | 三菱电机株式会社 | The point of elevator examines rotating device |
| CN109071160B (en) * | 2016-04-26 | 2020-03-17 | 三菱电机株式会社 | Point inspection operation device of elevator |
| CN115298126A (en) * | 2020-03-30 | 2022-11-04 | 三菱电机株式会社 | Door control system for elevator |
| CN115298126B (en) * | 2020-03-30 | 2024-02-09 | 三菱电机株式会社 | Door control system of elevator |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5783824B2 (en) | 2015-09-24 |
| JP2013018577A (en) | 2013-01-31 |
| CN102862903B (en) | 2014-09-03 |
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Address after: Tokyo, Japan Patentee after: MITSUBISHI ELECTRIC Corp. Patentee after: Mitsubishi Electric Building Solutions Co.,Ltd. Address before: Tokyo, Japan Patentee before: MITSUBISHI ELECTRIC Corp. Patentee before: MITSUBISHI ELECTRIC BUILDING TECHNO-SERVICE Co.,Ltd. |